From 0e9b372b364a9d8307dd194ac06e7d9a22c58576 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Thu, 2 Jan 2020 14:52:39 +0200
Subject: some fixes from Beta +

---
 .../Embedded/Modules/Control/MillisecTask.c        |  3 +-
 .../Embedded_SW/Embedded/Modules/Control/PIDAlgo.c | 44 +++-------------------
 .../Embedded_SW/Embedded/Modules/Control/PIDAlgo.h |  1 -
 .../Embedded_SW/Embedded/Modules/Control/control.c |  9 +++--
 4 files changed, 13 insertions(+), 44 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Control')

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index aa8f29451..5cccc5b45 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -54,6 +54,7 @@
 
 #include "Communication/Connection.h"
 #include "Modules/General/buttons.h"
+#include "Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.h"
 
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
@@ -527,7 +528,7 @@ int MillisecGetTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId)
         return 0;
     return TemperatureCalc[SensorId];
 }
-bool RapidPressureRead = false;
+bool RapidPressureRead = true;
 float PressureSum[MAX_SYSTEM_DISPENSERS];
 float PressureMin[MAX_SYSTEM_DISPENSERS];
 float PressureMax[MAX_SYSTEM_DISPENSERS];
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
index 6c1b647be..3d1d353c2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
@@ -2,41 +2,6 @@
 #include "PIDAlgo.h"
 
 float PIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral)
-{
-	float error;
-	float derivative;
-	float output;
-
-	//Calculate P,I,D
-	error = _setPoint - _mesuredParam;
-
-	//In case of error too small then stop integration
-	if(fabs(error) > params->epsilon)
-	{
-		*_integral = *_integral + error*params->dt;
-	}
-
-	derivative = (error - *_pre_error)/params->dt;
-
-	output = params->Kp*error + params->Ki**_integral + params->Kd*derivative;
-
-	//Saturation Filter
-	if(output > params->MAX)
-	{
-		output = params->MAX;
-	}
-	else if(output < params->MIN)
-	{
-		output = params->MIN;
-	}
-
-	//Update error
-	*_pre_error = error;
-
-	return output;
-}
-
-float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral)
 {
     float error;
     float derivative;
@@ -70,7 +35,7 @@ float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_
 
     return output;
 }
-
+/*
 float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral)
 {
     float error;
@@ -81,14 +46,14 @@ float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Conf
     error = _setPoint - _mesuredParam;
     //ITerm+= (ki * error);
     *_integral = *_integral + (error*params->Ki);
-    /*  if(ITerm > outMax)
+    /`*  if(ITerm > outMax)
       {
           ITerm= outMax;
       }
       else if(ITerm < outMin)
       {
           ITerm= outMin;
-      } */
+      } *`/
     if(*_integral > params->MAX)
     {
         *_integral = params->MAX;
@@ -100,7 +65,7 @@ float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Conf
     //  double dInput = (input - lastInput);
     derivative = error - *_pre_error;
 
-      /*Compute PID Output*/
+      /`*Compute PID Output*`/
     //  double output = kp * error + ITerm- kd * dInput;
     output = params->Kp*error/params->ProportionalErrorMultiplier + *_integral/params->IntegralErrorMultiplier + params->Kd*derivative;
 
@@ -119,3 +84,4 @@ float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Conf
 
     return output;
 }
+*/
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.h b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.h
index 4792be9ec..4f94f3612 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.h
@@ -17,6 +17,5 @@ typedef struct
 
 }PID_Config_Params;
 float PIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral);
-float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral);
 
 #endif /* MODULES_PIDALGO_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index b75e44001..0d73c9c93 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -181,9 +181,12 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
         {
             FPGA_WD_Occurred = false;
             AlarmHandlingSetAlarm(EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED,true);
-            JobEndReason = JOB_MOTOR_ALARM;
-            SendJobProgress(0.0,0,false, "Hardware Failure Error");
-            AbortJob("FPGA Watchdog Error");
+            if (JobIsActive())
+            {
+                JobEndReason = JOB_MOTOR_ALARM;
+                SendJobProgress(0.0,0,false, "Hardware Failure Error");
+                AbortJob("FPGA Watchdog Error");
+            }
             ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0);
 
             ACTIVITY_GREEN_LED_ON;
-- 
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