minor changes

4 files changed, 2 insertions, 83 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 4ff47b56c..f9ba6f46b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -68,21 +68,6 @@ typedef struct MillisecMessage{
     uint32_t tick;
     uint8_t messageData[20];
 }MillisecMessageStruc;
-typedef enum
-{
-    ScrewMessage,
-    //ScrewCalculateTemperature,
-}ScrewMessages;
-
-typedef struct ScrewMessage{
-    uint16_t messageId;
-    uint16_t msglen;
-    uint32_t tick;
-  //  uint32_t SensorId;
-  //  uint32_t Data;
-}ScrewMessageStruc;
-Task_Handle Screw_Task_Handle;
-Mailbox_Handle          ScrewMsgQ = NULL;
 
 //uint32_t  ADC_Data[MAX_ADC_DEVICES] = {0};
 //uint32_t  TemperatureSensor_Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
@@ -128,8 +113,6 @@ void MillisecInit(void)
     Error_init(&eb);
 
     MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 5, NULL,&eb);
-    ScrewMsgQ = Mailbox_create(sizeof(ScrewMessageStruc), 5, NULL,&eb);
-
     for (i=0;i<NUM_OF_MOTORS;i++)
     {
         MotorsMsgQ[i] = Mailbox_create(sizeof(MillisecMotorDataStruc), 5, NULL,&eb);
@@ -170,16 +153,6 @@ void MillisecStart(void)
     ROM_TimerIntEnable(Millisec_timerBase, TIMER_TIMA_TIMEOUT);
     ADCAcquireStart(0,1);
 }
-void ScrewFreeInterrupt(void)
-{
-    MillisecMessageStruc Message;
-    Message.messageId = ScrewMessage;
-    if (ScrewMsgQ != NULL)
-        Mailbox_post(ScrewMsgQ , &Message, BIOS_NO_WAIT);
-
-    ROM_IntMasterEnable();
-    return ;
-}
 
 void OneMilliSecondMillisecInterrupt(UArg arg0)
 {
@@ -535,27 +508,6 @@ uint32_t MillisecLoop(uint32_t tick)
 
     return OK;
 }
-int SendNextScrewMessage()
-{
-    volatile uint32_t temp; // read the busy value
-
-    if (Mailbox_pend(MotorsMsgQ[HARDWARE_MOTOR_TYPE__MOTO_SCREW] , &MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW], BIOS_NO_WAIT)==true)
-    {
-        if (MotorSendFPGARequest((HardwareMotorType)HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Data,MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Length) != OK) //sent the data to the FPGA
-        {
-            LOG_ERROR(MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Data,"SCREW Send message failed");
-        }
-        else
-        {
-            LOG_ERROR(MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Data,"SCREW Send message OK");
-            MotorActivity--;
-        }
-    }
-    ROM_SysCtlDelay(SYS_CLK_FREQ / 50000);
-
-    temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value (read it after moving to prevent interrupt before movement)
-
-}
 /******************************************************************************
  *  ======== messageTsk ========
  *  Task for this function is created statically. See the project's .cfg file.
@@ -616,30 +568,3 @@ uint32_t getDrawerFansStatus(void)
 {
     return DrawerFansStatus;
 }
-
-/******************************************************************************
- *  ======== messageTsk ========
- *  Task for this function is created statically. See the project's .cfg file.
- *  this message task is created statically in system initialization,
- ******************************************************************************/
-void ScrewTask(UArg arg0, UArg arg1)
-{
-    ScrewMessageStruc Message;
-    //char str[60];
-    //uint16_t length;
-    //Clock_setTimeout(HostKAClock, 1000);
-    //Clock_start(HostKAClock);
-    Screw_Task_Handle = Task_self();
-    while(1)
-    {
-        Mailbox_pend(ScrewMsgQ , &Message, BIOS_WAIT_FOREVER);
-        switch (Message.messageId)
-        {
-        case ScrewMessage:
-            SendNextScrewMessage();
-            break;
-            default:
-                break;
-        }
-    }
-}
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 6e11471cc..517716c08 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -35,7 +35,6 @@ uint32_t getDrawerFansStatus(void);
 void MillisecInit(void);
 void MillisecStop(void);
 void MillisecStart(void);
-void ScrewFreeInterrupt(void);
 
 extern bool watchdogCriticalAlarm;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 3caf91de4..2e9b1ad0c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -629,7 +629,7 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 //        len = usnprintf(logmsg[index], 254, "PID%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
 //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
 
-        //#warning PID is now only proportional (above)
+        #warning PID is now only proportional (above)
         //HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError/100));
     }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index effa8b2c7..c7dd4f7ae 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -8,8 +8,6 @@
 #include "thread.h"
 
 #include "drivers/Motors/Motor.h"
-#include <drivers/FPGA/FPGA_INTERRUPTS/fpga_interrupts.h>
-
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "Modules/Control/Control.h"
 #include "Modules/Control/MillisecTask.h"
@@ -23,8 +21,6 @@
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
-
-
 bool Winder_ScrewHoming = false;
 //bool Winder_Active = false;
 
@@ -132,7 +128,7 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     ScrewNumberOfSteps = 0;
     DirectionChangeCounter = 0;
     REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback");
-    //Screw_Interrupt(true,ScrewFreeInterrupt);
+
     PrepareReady(Module_Winder, ModuleDone);
     return OK;
 }
@@ -342,7 +338,6 @@ uint32_t Winder_End(void)
         RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
     CurrentControlledSpeed[SCREW_MOTOR] = 0;
     pend = MillisecFlushMsgQ(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    //Screw_Interrupt(false,NULL);
     return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)