merge conflicts

2 files changed, 15 insertions, 9 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index b6392249a..c7d303f9a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -219,7 +219,9 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             winderspeed+=WinderMotorSpeed[i];
         }
         winderspeed/=MAX_WINDER_SPEED_CALCULATION;
-        LOG_ERROR(winderspeed, "WinderSpeedUpdated");
+        //LOG_ERROR(winderspeed, "WinderSpeedUpdated");
+        Report("WinderSpeedUpdated",__FILE__,__LINE__,winderspeed,RpWarning,ScrewNumberOfSteps,0);
+
         WinderReferenceSpeed = winderspeed;
     }
     screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
@@ -231,7 +233,8 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     temp /= ScrewSpeed;
     if (ScrewRunningTime != temp)
     {
-        LOG_ERROR(temp , "new winder speed");
+        //LOG_ERROR(temp , "new winder speed");
+        Report("new winder speed",__FILE__,__LINE__,temp,RpWarning,ScrewSpeed,0);
     }
     ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 5390ed0a7..6db7f616e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -319,7 +319,7 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
 #define MAX_THREAD_CONTROL_LOG 300
 double calculatedError[MAX_THREAD_CONTROL_LOG+1];
 double NormError[MAX_THREAD_CONTROL_LOG+1];
-double Integral[MAX_THREAD_CONTROL_LOG+1];
+double mIntegral[MAX_THREAD_CONTROL_LOG+1];
 int    MotorId[MAX_THREAD_CONTROL_LOG+1];
 int    readValue[MAX_THREAD_CONTROL_LOG+1];
 int    AveragereadValue[MAX_THREAD_CONTROL_LOG+1];
@@ -452,13 +452,13 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             //EndState(CurrentJob,Message );
             SegmentReady(Module_Thread,ModuleFail);
             AlarmHandlingSetAlarm(EVENT_TYPE__ThreadTensionControlFailure,true);
-            LOG_ERROR (index, "Dancer Failure");
+            LOG_ERROR (DancerId, "Dancer Failure");
             return OK;
         }
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         DancerError[DancerId] = NormalizedError;
-        MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
+        MotorControlConfig[index].m_calculatedError = /*Advanced*/PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
         if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
         {
@@ -478,9 +478,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                     readValue[controlIndex] = ReadValue;
                     AveragereadValue[controlIndex] = avreageSampleValue;
                     calculatedspeed[controlIndex] = calculated_speed;
+                    NormError[controlIndex]
+                                    = MotorControlConfig[index].m_mesuredParam;
+                    mIntegral[controlIndex] = MotorControlConfig[index].m_integral;
                     timestamp[controlIndex] = msec_millisecondCounter;
-                    NormError[controlIndex]= NormalizedError;
-                    Integral[controlIndex] = MotorControlConfig[index].m_integral;
                  if (controlIndex++>=MAX_THREAD_CONTROL_LOG)
                      controlIndex = 0;
             }
@@ -555,8 +556,10 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             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 = 0.1;
-            MotorControlConfig[Motor_i].m_params.dt = 1000;
+            MotorControlConfig[Motor_i].m_params.IntegralErrorMultiplier = MotorsControl[Pid_Id].setpointramprateorsoftstartramp;
+            MotorControlConfig[Motor_i].m_params.ProportionalErrorMultiplier = MotorsControl[Pid_Id].outputonoffhysteresisvalue;
+            MotorControlConfig[Motor_i].m_params.epsilon = MotorsControl[Pid_Id].epsilon;
+            MotorControlConfig[Motor_i].m_params.dt = MotorsControl[Pid_Id].controloutputtype;
             MotorControlConfig[Motor_i].m_calculatedError = 0;
             MotorControlConfig[Motor_i].m_integral = 0;
             MotorControlConfig[Motor_i].m_isEnabled = true;