Use only motor hardware enum + stop using the AMT_OF_Words in the spi communication

2 files changed, 50 insertions, 41 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index fef551748..e6c47597a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -48,11 +48,13 @@
 #include "Modules/thread/thread.h"
 #include "Drivers/Motors/Motor.h"
 
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+
 
 extern unsigned long Run_Value ;
 extern unsigned long Pos_Value ;
 extern bool Direction ;
-unsigned char Stop_Command = 0 ;
+STOP_TYPE_ENUM Stop_Command;
 
 int Global_EVB_Motor_Id;
 
@@ -71,30 +73,51 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
     init_BUSY_Pin();
     //while(SSIBusy(SSI2_BASE)){};
     //init_BUSY_Pin();
-/*
- * typedef struct
-{
-  uint32_t ACC; //set
-  uint32_t DEC;  //set
-  uint32_t MaxSpeed; //set
-  bool HasMicroStep;
-  uint32_t Microstep; //set
-  bool HasConfigWord;
-  uint16_t ConfigWord; //set
-}MotorDriverConfigStruc;
- * */
+
+#else
+
+    MotorsInit();
+    SysCtlDelay(20000);
+    //MotorConfig(request->motor_id, &MotorConfig);
+
+#endif
+
 //  MotorsConfigMessage already calls setup!!!!!!!!!
      MotorDriverConfigStruc MotorDriverConfig;
-    MotorDriverConfig.ACC = request->acc;
-    MotorDriverConfig.DEC = request->dec;
-    MotorDriverConfig.MaxSpeed = request->max_speed;
-    MotorDriverConfig.HasMicroStep = request->has_micro_steps;
-    MotorDriverConfig.HasConfigWord = false;
-    if ( MotorDriverConfig.HasMicroStep)
-        MotorDriverConfig.Microstep = request->micro_steps;
+    MotorDriverConfig.maxchangeslope = request->acc;
+    MotorDriverConfig.maxchangeslope = request->dec;
+    MotorDriverConfig.maxfrequency = request->max_speed;
+    MotorDriverConfig.has_setmicrostep = request->has_micro_steps;
+
+    if ( MotorDriverConfig.has_setmicrostep)
+        MotorDriverConfig.microstep = request->micro_steps;
 //    else
 //        MotorDriverConfig.Microstep = 2;
+    //MotorDriverConfig.HasConfigWord = false;
+
+
+    MotorDriverConfig.has_configword =  request->has_config;
+    MotorDriverConfig.configword =  request->config;
+    MotorDriverConfig.has_lowspeedoptimization =  request->has_min_speed_lspd_opt;
+    MotorDriverConfig.lowspeedoptimization =  request->has_min_speed_lspd_opt;
+    MotorDriverConfig.kvalhold =  request->kval_hold;
+    MotorDriverConfig.kvalrun =   request->kval_run;
+    MotorDriverConfig.kvalacc =    request->kval_acc;
+    MotorDriverConfig.kvaldec =    request->kval_dec;
+    MotorDriverConfig.stslp =      request->st_slp;
+    MotorDriverConfig.intspd =     request->int_spd;
+    MotorDriverConfig.fnslpacc =  request->fn_slp_acc;
+    MotorDriverConfig.fnslpdec =  request->fn_slp_dec;
+
+
+#ifdef EVALUATION_BOARD
+    Global_EVB_Motor_Id = request->motor_id;
     setup(&MotorDriverConfig);
+#else
+    TimerMotors_t MotorId =(TimerMotors_t) request->motor_id;
+
+    //MotorConfig(MotorId, &MotorDriverConfig); ------------------------------ to open !!!!!!!!!!!!!!!!!!!!!!1
+#endif
 
     //setup();
 
@@ -116,19 +139,10 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
     //SPI_Control();
 
     //temp_init_spi2();
-#endif
-
-
-#ifndef EVALUATION_BOARD
-
-MotorsInit();
-SysCtlDelay(20000);
-//MotorConfig(request->motor_id, &MotorConfig);
-
-#endif
 
 
 
+/*
     HardwareMotor MotorConfig;
 
     HardwareMotorType Motor_Id  = (HardwareMotorType)request->motor_id;
@@ -137,8 +151,8 @@ SysCtlDelay(20000);
     MotorConfig.maxfrequency = request->max_speed;
     MotorConfig.microstep = request->micro_steps;
     MotorsConfigMessage(&MotorConfig);
+*/
 
-    Global_EVB_Motor_Id = request->motor_id;
 
 
 
@@ -197,6 +211,9 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
     //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
 #else
     TimerMotors_t Motor_Id  = (TimerMotors_t)request->motor_id; //to remove warning
+
+    FPGA_GetBusy();
+
     MotorSetDirection(Motor_Id,Direction);
     MotorSetSpeed(Motor_Id, Run_Value, 1);
 #endif
@@ -270,7 +287,7 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     StubMotorStopRequest* request = stub_motor_stop_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
     
-    Stop_Command = request->stop_cmd;
+    Stop_Command = (STOP_TYPE_ENUM)request->stop_cmd;
 
 #ifdef EVALUATION_BOARD
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 5a8c3df76..0e276fe92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -51,7 +51,6 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
 {
     uint32_t status = PASSED;
     TimerMotors_t Motor_i;
-    MotorDriverConfigStruc MotorDriverConfig;
     Motor_i = request->hardwaremotortype;
     /*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
     {
@@ -69,15 +68,8 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
     //if (Motor_i< MAX_THREAD_MOTORS_NUM)
     //{
         memcpy (&MotorsCfg[Motor_i],request,sizeof(HardwareMotor));
-        MotorDriverConfig.ACC = MotorsCfg[Motor_i].maxchangeslope;
-        MotorDriverConfig.DEC = MotorsCfg[Motor_i].maxchangeslope;
-        MotorDriverConfig.MaxSpeed = MotorsCfg[Motor_i].maxfrequency;
-        MotorDriverConfig.HasMicroStep = MotorsCfg[Motor_i].has_microstep;
-        MotorDriverConfig.Microstep = MotorsCfg[Motor_i].microstep;
-        MotorDriverConfig.HasConfigWord = MotorsCfg[Motor_i].has_configword;
-        MotorDriverConfig.ConfigWord = MotorsCfg[Motor_i].configword;
 
-        status = MotorConfig( Motor_i,  &MotorDriverConfig);
+        status = MotorConfig( Motor_i,  &MotorsCfg[Motor_i]);
 //        if (Motor_i == MOTOR_RDRIVING)
 //            ThreadInitialTestStub(request);