Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

2 files changed, 32 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 475f63795..f568f9816 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -1,3 +1,7 @@
+
+#ifndef MODULES_THREAD_THREAD_H_
+#define MODULES_THREAD_THREAD_H_
+
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
@@ -41,7 +45,18 @@ typedef struct
     int32_t pulsepermmspring;
     int id;  //HardwareDancerType
 }DancerConfigStruc;
-#define MAX_THREAD_MOTORS_NUM  HARDWARE_MOTOR_TYPE__WinderMotor +1
+
+typedef enum threadMotorsEnum
+{
+    FEEDER_MOTOR,
+    DRYER_MOTOR,
+    POOLER_MOTOR,
+    WINDER_MOTOR,
+    SCREW_MOTOR,
+    MAX_THREAD_MOTORS_NUM
+}threadMotorsEnum;
+
+extern uint32_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
 
 
 extern MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM];
@@ -53,3 +68,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request);
 uint32_t InternalWindingConfigMessage(JobSpool* request);
 
 uint32_t DancerConfigMessage(HardwareDancer * request);
+
+
+#endif //MODULES_THREAD_THREAD_H_
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 13c81fb39..89ff63363 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -10,6 +10,9 @@
 #include "../control/pidalgo.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/Heater/TemperatureSensor.h"
+#include "drivers/Heater/Heater.h"
 ////////////////////////////////State machine operation////////////////////////////////////
 //the state machine operation is used to operate in runtime correct profile flow execution
 //by recieved esign flow of the user from the UI
@@ -23,6 +26,9 @@ typedef enum
     Stop
 } ReturnCode;
 
+
+uint32_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {MOTOR_RDRIVING,MOTOR_DRYER_DRIVING,MOTOR_LDRIVING,MOTOR_WINDER,MOTOR_SCREW};
+
 /********************************************************************************************
 * functions describes motor operation flow and movement state during profile execution
 * used to operate in runtime correct profileflow execution
@@ -186,8 +192,9 @@ static ReturnCode PrepareState(void *JobDetails)
         MotorControlConfig[Motor_i].m_mesuredParam = 0;
         MotorControlConfig[Motor_i].m_preError = 0;
         MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
-        AddControlCallback(DeviceId2Motor[Motor_i], ThreadControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,Motor_i);
+        AddControlCallback(ThreadControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,Motor_i,0);
     }
+
     //set 3 dancers to the profile positions
     return NextState;
 }
@@ -196,10 +203,10 @@ static ReturnCode PrepareState(void *JobDetails)
 static ReturnCode PreSegmentState(void *JobDetails)
 {
 
-    int Motor_i;
+    TimerMotors_t Motor_i;
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
-        MotorControlConfig[Motor_i].m_SetParam = getMotorFreq(Motor_i);//need to update SetParams on presegment stage
+        MotorControlConfig[Motor_i].m_SetParam = MotorGetSpeed(getMotorId(Motor_i));//need to update SetParams on presegment stage
     }
     // set the new speed in the dryer motor to the speed of the new segment
     // activate control fr all motors
@@ -278,20 +285,9 @@ bool ThreadPrintingIterate(void *JobDetails)
     //    screw_movement[gPrintingState[_motorId]]++;
     ReturnCode returnCode = state_fun(JobDetails);
 
-    /*if ((_motorId == SCREW_MOTOR)&&(pause_active))
-    {
-        tick = UsersysTickGet();
-        len = usnprintf(str, 60, "\r\n PrintingIterate  tick %d state %d retcode %d ",tick, gPrintingState[_motorId],returnCode);
-        cb_push_back (str, len);
-        //SendInterruptMessageToHost(10+gPrintingState[_motorId],returnCode);
-    }*/
     gPrintingState = LookupTransitions(gPrintingState, returnCode);
-    if (keepstate != gPrintingState){
-        tick = UsersysTickGet();
-        len = usnprintf(str, 60, "\r\n changed state tick %d state %d retcode %d ", tick, gPrintingState,returnCode);
-        cb_push_back (str, len);
-
-    }
+//    if (keepstate != gPrintingState){
+//    }
 
     //
     // Enable all interrupts.