1. Idle task - test real time usage

2. improve and fix heaters test
3. motor/dancer test preparations

5 files changed, 92 insertions, 53 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index fca12d50e..913b38df8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -69,6 +69,7 @@ extern InternalWinderConfigStruc InternalWinderCfg;
 uint32_t InternalWinderConfigMessage(HardwareWinder* request);
 uint32_t MotorsConfigMessage(HardwareMotor * request);
 uint32_t InternalWindingConfigMessage(JobSpool* request);
+uint32_t ThreadInitialTestStub(HardwareMotor * request);
 
 uint32_t DancerConfigMessage(HardwareDancer * request);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 9474ee44d..eacdd2ed9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -53,7 +53,12 @@ uint32_t Winder_PrepareStage2(void)
         return status;
 
 }
-uint32_t Winder_Print(void *JobDetails)
+
+uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
+{
+    return PreSegmentReady(Module_Winder,OK);
+}
+uint32_t Winder_Presegment(void *JobDetails)
 {
     JobTicket* JobTicket = JobDetails;
     int process_speed = JobTicket->processparameters->dyeingspeed;
@@ -87,6 +92,7 @@ uint32_t Winder_Print(void *JobDetails)
 //     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
 
     //MotorMove (InternalWinderCfg.segmentoffsetpulses,screw_speed); process: set point 0, set max speed, move to the specified length, return back.
+     MotorSetSpeedWithCallback (MOTOR_SCREW, screw_speed, MotorsCfg[SCREW_MOTOR].minmicrostep,WinderPresegmentReady);
     //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
 
     return OK;
@@ -94,7 +100,7 @@ uint32_t Winder_Print(void *JobDetails)
 uint32_t Winder_End(void)
 {
     //stop screw
-    StopMotor (MOTOR_SCREW,1);
+    return StopMotor (MOTOR_SCREW,1);
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index e69de29bb..9b371ae07 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -0,0 +1,11 @@
+
+#ifndef MODULES_THREAD_THREAD_EX_H_
+#define MODULES_THREAD_THREAD_EX_H_
+uint32_t ThreadPreSegmentState(void *JobDetails);
+uint32_t ThreadSegmentState(void *JobDetails);
+uint32_t ThreadEndState(void *JobDetails);
+uint32_t ThreadInitialTestStub();
+
+
+
+#endif
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index db32b7ba7..5b0f034f4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -12,9 +12,9 @@
 
 #include "thread.h"
 #define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
-MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM];
-InternalWinderConfigStruc InternalWinderCfg;
-DancerConfigStruc DancersCfg[MAX_SYSTEM_DANCERS];
+MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM]={0};
+InternalWinderConfigStruc InternalWinderCfg = {0};
+DancerConfigStruc DancersCfg[MAX_SYSTEM_DANCERS] = {0};
 
 
 
@@ -47,7 +47,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
     int Motor_i;
 
     Motor_i = request->hardwaremotortype;
-    if ((Motor_i)&&(Motor_i< MAX_THREAD_MOTORS_NUM))
+    if (Motor_i< MAX_THREAD_MOTORS_NUM)
     {
         MotorsCfg[Motor_i].id               = request->hardwaremotortype;
         MotorsCfg[Motor_i].minfreq          = request->minfrequency;
@@ -63,6 +63,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
         MotorsCfg[Motor_i].kd               = request->kd;
         MotorsCfg[Motor_i].changeslope      = request->changeslope;
         MotorsCfg[Motor_i].hightimeoutusec  = request->highlengthmicrosecond;
+        ThreadInitialTestStub(request);
         return status;
     }
     else return Motor_i;
@@ -74,7 +75,7 @@ uint32_t DancerConfigMessage(HardwareDancer * request)
     int Dancer_i;
 
     Dancer_i = request->hardwaredancertype;
-    if ((Dancer_i)&&(Dancer_i<MAX_SYSTEM_DANCERS ))
+    if (Dancer_i<MAX_SYSTEM_DANCERS )
     {
         DancersCfg[Dancer_i].id = Dancer_i;
         DancersCfg[Dancer_i].fixorgradual = request->gradual;
@@ -90,8 +91,8 @@ uint32_t DancerConfigMessage(HardwareDancer * request)
 
 uint32_t thread_init(void)
 {
-    memset (MotorsCfg,0,sizeof(MotorsCfg));
-    memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));
+    //memset (MotorsCfg,0,sizeof(MotorsCfg));
+    //memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));
 
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index e850ad776..366ce827b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -13,6 +13,8 @@
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
 
+#include "StateMachines/Printing/PrintingSTM.h"
+
 #include "drivers/Motors/Motor.h"
 #include "drivers/Danser_SSI/ssi_comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
@@ -21,14 +23,6 @@
 //the state machine operation is used to operate in runtime correct profile flow execution
 //by recieved esign flow of the user from the UI
 ///////////////////////////////////////////////////////////////////////////////////////////
-typedef enum
-{
-    NextState = 0,
-    Repeat,
-    Inter,
-    Home,
-    Stop
-} ReturnCode;
 
 
 uint32_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {MOTOR_RDRIVING,MOTOR_DRYER_DRIVING,MOTOR_LDRIVING,MOTOR_WINDER,MOTOR_SCREW};
@@ -49,6 +43,7 @@ typedef struct
 MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM];
 uint32_t DeviceId2Motor[MAX_THREAD_MOTORS_NUM];
 ////////////////////////Slow Motor State////////////////////////////////////
+uint32_t ThreadPreSegmentState(void *JobDetails);
 
 ////////////////////////////////////////////////////////////////////////////
 
@@ -57,7 +52,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
     //read value is the dancer angle
     int i,index=MAX_THREAD_MOTORS_NUM;
     for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
-        if (DeviceId2Motor[i] == deviceID)
+        if (ThreadMotorIdToDancerId[i] == deviceID)
         {
             index = i;
             break;
@@ -90,8 +85,9 @@ uint32_t ThreadControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
 {
     //read value is the dancer angle
     int i,index=MAX_THREAD_MOTORS_NUM;
+    uint32_t TranslatedReadValue = ReadValue - 8740;
     for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
-        if (DeviceId2Motor[i] == deviceID)
+        if (ThreadMotorIdToDancerId[i] == deviceID)
         {
             index = i;
             break;
@@ -101,9 +97,9 @@ uint32_t ThreadControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
         LOG_ERROR (deviceID, "No motor  for device");
         return 0xFFFFFFFF;
     }
-    if(MotorControlConfig[index].m_isEnabled && (MotorControlConfig[index].m_SetParam != 0))
+    if(MotorControlConfig[index].m_isEnabled )
     {
-        MotorControlConfig[index].m_mesuredParam = ReadValue;
+        MotorControlConfig[index].m_mesuredParam = TranslatedReadValue;
         MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation(MotorControlConfig[index].m_SetParam , MotorControlConfig[index].m_mesuredParam,
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
         if (MotorControlConfig[index].m_calculatedError >= MotorControlConfig[index].m_params.MAX)
@@ -131,71 +127,94 @@ uint32_t Debug_Get_Dancer_Read(uint32_t DancerId, uint32_t Parameter1, uint32_t
     return (rand() % (103 + 1 + 103) - 103);
 }
 #endif
+uint32_t ThreadInitialTestStub(HardwareMotor * request)
+{
+
+
+    //MotorsConfigMessage(request);
+     ThreadPrepareState(request);
+     ThreadPreSegmentState(request);
+    return OK;
+}
 //********************************************************************************************************************
  uint32_t ThreadPrepareState(void *JobDetails)
 {
-    int Motor_i;
+    int Motor_i, HW_Motor_Id;
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
-        MotorControlConfig[Motor_i].m_params.MAX = MotorsCfg[Motor_i].maxfreq;
-        MotorControlConfig[Motor_i].m_params.MIN = MotorsCfg[Motor_i].minfreq;
-        MotorControlConfig[Motor_i].m_params.Kd = MotorsCfg[Motor_i].kd;
-        MotorControlConfig[Motor_i].m_params.Kp = MotorsCfg[Motor_i].kp;
-        MotorControlConfig[Motor_i].m_params.Ki = MotorsCfg[Motor_i].ki;
-        MotorControlConfig[Motor_i].m_params.dt = eOneMillisecond;
-        MotorControlConfig[Motor_i].m_calculatedError = 0;
-        MotorControlConfig[Motor_i].m_integral = 0;
-        MotorControlConfig[Motor_i].m_isEnabled = true;
-        MotorControlConfig[Motor_i].m_isReady = true;
-        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
-#ifdef DEBUG_TEST_FUNCTIONS
-        if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
-            AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,ThreadMotorIdToMotorId[Motor_i],0);
-        else
-            AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Debug_Get_Dancer_Read,ThreadMotorIdToDancerId[Motor_i],0);
-#else
-        if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
-            continue;
-            //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,ThreadMotorIdToMotorId[Motor_i],0);
-        else
-            AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],0);
-#endif
+        HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];
+            MotorControlConfig[Motor_i].m_params.MAX = MotorsCfg[HW_Motor_Id].maxfreq;
+            MotorControlConfig[Motor_i].m_params.MIN = MotorsCfg[HW_Motor_Id].minfreq;
+            MotorControlConfig[Motor_i].m_params.Kd = MotorsCfg[HW_Motor_Id].kd;
+            MotorControlConfig[Motor_i].m_params.Kp = MotorsCfg[HW_Motor_Id].kp;
+            MotorControlConfig[Motor_i].m_params.Ki = MotorsCfg[HW_Motor_Id].ki;
+            MotorControlConfig[Motor_i].m_params.dt = eOneMillisecond;
+            MotorControlConfig[Motor_i].m_calculatedError = 0;
+            MotorControlConfig[Motor_i].m_integral = 0;
+            MotorControlConfig[Motor_i].m_isEnabled = true;
+            MotorControlConfig[Motor_i].m_isReady = true;
+            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
+    #ifdef DEBUG_TEST_FUNCTIONS
+            if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
+                //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,ThreadMotorIdToMotorId[Motor_i],0);
+    //            continue;
+                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
+            else if ((Motor_i == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
+                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
+    #else
+            if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
+                continue;
+                //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,ThreadMotorIdToMotorId[Motor_i],Motor_i);
+            else if ((Motor_i == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
+                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
+    #endif
     }
     Winder_Prepare();
     //set 3 dancers to the profile positions
+    ControlStart();
     return OK;
 }
 
 //********************************************************************************************************************
-ReturnCode PreSegmentState(void *JobDetails)
+uint32_t ThreadPreSegmentState(void *JobDetails)
 {
 //set the speed only before the first segment, speed is constant accros job
     JobTicket* JobTicket = JobDetails;
-    int process_speed = JobTicket->processparameters->dyeingspeed;
-    int dryer_speed = process_speed * MotorsCfg[DRYER_MOTOR].ratio2dryerspeed; //set dryer_speed_translation_here
+//    int process_speed = JobTicket->processparameters->dyeingspeed;
+    int process_speed = 500;
+
+    int dryer_speed = process_speed * MotorsCfg[MOTOR_DRYER_DRIVING].ratio2dryerspeed; //set dryer_speed_translation_here
 
     // set the new speed in the dryer motor to the speed of the new segment
-    MotorSetSpeed(MOTOR_DRYER_DRIVING, process_speed,  MotorsCfg[DRYER_MOTOR].minmicrostep);
+    MotorSetSpeed(MOTOR_DRYER_DRIVING, process_speed,  MotorsCfg[MOTOR_DRYER_DRIVING].minmicrostep);
 
     // activate control fr all motors
     //set speed for both rocker motors
     //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
+    PreSegmentReady(Module_Thread,OK);
+
     return OK;
 }
 
 //********************************************************************************************************************
- ReturnCode SegmentState(void *JobDetails)
+ uint32_t ThreadSegmentState(void *JobDetails)
 {
     return OK;
 }
 
 //********************************************************************************************************************
- ReturnCode EndState(void *JobDetails)
+ uint32_t ThreadEndState(void *JobDetails)
 {
+     int Motor_i;
+     for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
+     {
+        StopMotor(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
+     }
+
     return OK;
 }
 
@@ -215,3 +234,4 @@ void ThreadStopPrinting(void)
 {
     //PrintingIterate();
 }
+