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

2 files changed, 6 insertions, 24 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index ccc9623a3..c7dd4f7ae 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -107,7 +107,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
     uint32_t status=OK;
     uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
-    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency);
+    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
     REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2");
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index b9a1f4e27..bbe537263 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -14,7 +14,6 @@
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
-#include "PMR/common/ErrorCode.pb-c.h"
 #include  <PMR/Diagnostics/EventType.pb-c.h>
 
 #include <utils/ustdlib.h>
@@ -311,14 +310,14 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     return OK;
 }
-double calculatedError[1000];
 //double eNormalizedError[100];
+//int    TranslatedreadValue[100];
+/*double calculatedError[1000];
 int    MotorId[1000];
 int    readValue[1000];
-//int    TranslatedreadValue[100];
 int    AveragereadValue[1000];
 int    calculatedspeed[1000];
-int    timestamp[1000];
+int    timestamp[1000];*/
 int controlIndex = 0;
 bool keepdata = true;
 /*int32_t KeepReadValue = 0;
@@ -462,36 +461,19 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             //KeepNormalizedError = NormalizedError;
         }
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-        /*if (index == FEEDER_MOTOR)
-        {
-            if (KeepReadValue != TranslatedReadValue)
-            {
-                eNormalizedError[controlIndex] = NormalizedError;
-                calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
-                readValue[controlIndex] = ReadValue;
-                TranslatedreadValue[controlIndex] = TranslatedReadValue;
-                AveragereadValue[controlIndex] = avreageSampleValue;
-                calculatedspeed[controlIndex] = calculated_speed;
-                controlIndex++;
-                if (controlIndex >= 99) controlIndex = 0;
-                KeepReadValue = TranslatedReadValue;
-            }
-        }*/
         if (abs(calculated_speed-CurrentControlledSpeed[index])>2)
         {
-            if (keepdata == true)
+            /*if (keepdata == true)
             {
                  calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
-                //double eNormalizedError[100];
                     MotorId[controlIndex] = index;
                     readValue[controlIndex] = ReadValue;
-                //int    TranslatedreadValue[100];
                     AveragereadValue[controlIndex] = avreageSampleValue;
                     calculatedspeed[controlIndex] = calculated_speed;
                     timestamp[controlIndex] = HibernateRTCSSGet();
                  if (controlIndex++>=999)
                      controlIndex = 0;
-            }
+            }*/
             CurrentControlledSpeed[index] = calculated_speed;
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
         }