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

4 files changed, 19 insertions, 12 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 7690b131f..0bda4964b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -15,6 +15,7 @@
 #include "drivers/Motors/Motor.h"
 #include "drivers/Danser_SSI/ssi_comm.h"
 
+#include "thread_ex.h"
 
 typedef struct
 {
@@ -37,6 +38,7 @@ typedef enum threadMotorsEnum
     SCREW_MOTOR,
     MAX_THREAD_MOTORS_NUM
 }threadMotorsEnum;
+
 #define MAX_THREAD_FEED_MOTORS WINDER_MOTOR+1
 #define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 5f49c7d10..3fb78d2f0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -1,6 +1,15 @@
 
 #ifndef MODULES_THREAD_THREAD_EX_H_
 #define MODULES_THREAD_THREAD_EX_H_
+
+typedef enum
+{
+    WINDER_DANCER,
+    POOLER_DANCER,
+    FEEDER_DANCER,
+    NUM_OF_DANCERS
+} DANCER_ENUM;
+
 uint32_t ThreadPrepareState(void *JobDetails);
 uint32_t ThreadPreSegmentState(void *JobDetails);
 uint32_t ThreadSegmentState(void *JobDetails, int SegmentId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 5a8c3df76..0e276fe92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -51,7 +51,6 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
 {
     uint32_t status = PASSED;
     TimerMotors_t Motor_i;
-    MotorDriverConfigStruc MotorDriverConfig;
     Motor_i = request->hardwaremotortype;
     /*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
     {
@@ -69,15 +68,8 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
     //if (Motor_i< MAX_THREAD_MOTORS_NUM)
     //{
         memcpy (&MotorsCfg[Motor_i],request,sizeof(HardwareMotor));
-        MotorDriverConfig.ACC = MotorsCfg[Motor_i].maxchangeslope;
-        MotorDriverConfig.DEC = MotorsCfg[Motor_i].maxchangeslope;
-        MotorDriverConfig.MaxSpeed = MotorsCfg[Motor_i].maxfrequency;
-        MotorDriverConfig.HasMicroStep = MotorsCfg[Motor_i].has_microstep;
-        MotorDriverConfig.Microstep = MotorsCfg[Motor_i].microstep;
-        MotorDriverConfig.HasConfigWord = MotorsCfg[Motor_i].has_configword;
-        MotorDriverConfig.ConfigWord = MotorsCfg[Motor_i].configword;
 
-        status = MotorConfig( Motor_i,  &MotorDriverConfig);
+        status = MotorConfig( Motor_i,  &MotorsCfg[Motor_i]);
 //        if (Motor_i == MOTOR_RDRIVING)
 //            ThreadInitialTestStub(request);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 0e68a6406..92939dfe4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -216,7 +216,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
-if (index != 0) return OK;
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
@@ -282,7 +281,7 @@ bool InitialProcess = false;
 
             MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
     #ifdef DEBUG_TEST_FUNCTIONS
-
+/*
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadLengthCBFunction, eOneMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
@@ -316,7 +315,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 
     int process_speed = JobTicket->processparameters->dyeingspeed;
 
-    process_speed = 10; //debug
+    process_speed = 50; //debug
 
     for (Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
     {
@@ -329,6 +328,11 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     //ControlStart();
     // set the new speed in the dryer motor to the speed of the new segment
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING].microstep);
+ //only for testing - when control works, these motors will take their speed from the dryer
+    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING, OriginalMotorSpd_2PPS[POOLER_MOTOR],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].microstep);
+ //only for testing - when control works, these motors will take their speed from the dryer
+    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].microstep);
+
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1, 1);
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1,1);