merge confilct heater.c

1 files changed, 19 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index c036f4913..1e2203abb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -21,6 +21,9 @@
 #include "drivers/Danser_SSI/ssi_comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
+#include "drivers/Motors/Motor.h"
+#include "modules/heaters/heaters.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
@@ -186,6 +189,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     //read value is the dancer angle
     int i,index=MAX_THREAD_MOTORS_NUM;
     int DancerId;
+    static int pooler_counter = 0;
     int32_t TranslatedReadValue, avreageSampleValue = 0;
     double NormalizedError;
     if (IfIndex>>8 != IfTypeThread)
@@ -238,6 +242,15 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed,  MotorsCfg[ThreadMotorIdToMotorId[index]].microstep);
         }
     }
+    if (index == POOLER_MOTOR)
+    {
+        pooler_counter++;
+        if (pooler_counter>=1000)
+        {
+            HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
+                pooler_counter = 0;
+        }
+    }
 
  return OK;
 }
@@ -245,13 +258,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 //********************************************************************************************************************
 
 //********************************************************************************************************************
-/*#ifdef DEBUG_TEST_FUNCTIONS
-uint32_t Debug_Get_Dancer_Read(uint32_t DancerId, uint32_t Parameter1, uint32_t Parameter2)
-{
-
-    return (rand() % (103 + 1 + 103) - 103);
-}
-#endif*/
 uint32_t ThreadInitialTestStub(HardwareMotor * request)
 {
 
@@ -276,7 +282,7 @@ bool InitialProcess = false;
             MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime;
             MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain;
             MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime;
-            MotorControlConfig[Motor_i].m_params.epsilon = 0.01;
+            MotorControlConfig[Motor_i].m_params.epsilon = 0.1;
             MotorControlConfig[Motor_i].m_params.dt = 50;
             MotorControlConfig[Motor_i].m_calculatedError = 0;
             MotorControlConfig[Motor_i].m_integral = 0;
@@ -287,13 +293,14 @@ bool InitialProcess = false;
             MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
 
             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, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             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(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(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
+            if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+            if (Motor_i == WINDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             /*if (HW_Motor_Id == 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,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0);
@@ -301,15 +308,12 @@ bool InitialProcess = false;
                 AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
             else if ((HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
                 AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),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,(IfTypeThread*0x100+Motor_i),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,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
-    #endif
+//            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,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
     }
-    Winder_Prepare();
     PrepareReady(Module_Thread,ModuleDone);
     //set 3 dancers to the profile positions
     InitialProcess = true;
@@ -325,8 +329,6 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 
     int process_speed = JobTicket->processparameters->dyeingspeed;
 
-    process_speed = 50; //debug
-
     for (Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
     {
         HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];