merge

2 files changed, 523 insertions, 141 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
index 92337080d..0fe1ca152 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
@@ -25,12 +25,9 @@
 #include "driverlib/interrupt.h"
 #include "utils/uartstdio.h"
 #include "driverlib/uart.h"
-
-//#include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h>
 #include "Modules/Control/MillisecTask.h"
 #include <DataDef.h>
 #include <Drivers/I2C_Communication/I2C_Task.h>
-//#include "Drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.h"
 #include "Drivers/FPGA/FPGA_Comm.h"
 #include "Drivers/Uart_Comm/BTSR/BTSR.h"
 
@@ -41,6 +38,8 @@ uint8_t BTSR_RX_Buff[Max_BTSR_RX_Bytes];
 uint16_t  TX_Timeout = 0xFFFF;//6250
 uint16_t  RX_Timeout = 0xFFFF;//1
 
+BTSR_t BTSR[MaxUFeeders];
+
 typedef enum
 {
     BTSR_UART_CONFIG_PAR_1 = (UART_CONFIG_WLEN_8 |UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_ONE),
@@ -71,13 +70,10 @@ void U4RX()
     UARTIntEnable(UART4_BASE, UART_INT_TX);
     BTSR_RX_Buff[rxcounter] = ROM_UARTCharGetNonBlocking(UART4_BASE);//Receive data
     rxcounter++;
-
-
 }
 
 void uart4_intHandler()
 {
-    //static uint8_t nop = 0;
     //Get interrupt flags
     unsigned long status = UARTIntStatus(UART4_BASE, 1);
 
@@ -137,7 +133,6 @@ void InitConsole_BTSR_UART4(int32_t ui32SysClock)
     SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
     //
     // Enable GPIO port A which is used for UART4 pins.
-    // TODO: change this to whichever GPIO port you are using.
     //
     SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
 
@@ -366,6 +361,7 @@ uint8_t Check_Received_CheckSum(uint8_t CODE_STRING, uint8_t Function_Code, uint
             (Buf[size_include_Checksum - 1] != (Sum >> 8))      )
         {
             Status = ERROR;
+            ReportWithPackageFilter(ThreadFilter,"BTSR Get Wrong Checksum",__FILE__,__LINE__,(int)CODE_STRING,RpError,(int)Function_Code,0);
         }
     }
     return Status;
@@ -405,56 +401,6 @@ uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size)
     return TxResult;
 }
 
-
-/*
-uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size)
-{
-    int TxResult = 0;
-    uint8_t i = 1;//change to ADD0 and send the rest of bytes (1..Size)
-    const uint8_t Save_Size = size;
-
-    BTSR_Change_Comm_Mode(TX_FIRST_BYTE);
-    Task_sleep (eOneMillisecond);
-    TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[0]);
-
-    BTSR_Change_Comm_Mode(TX_NOT_FIRST_BYTE);
-    Task_sleep (eOneMillisecond);
-
-    while(size)
-    {
-        if(size <= 16) //FIFO is working for data up to 16 bytes
-        {
-            for(; i < Save_Size; i++)
-            {
-                TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
-            }
-            size = 0;// all sent
-        }
-        else
-        {
-            for(; i < 16; i++)
-            {
-                TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
-            }
-            size -= 16;
-        }
-
-        while(HWREG(UART4_BASE + UART_O_FR) & UART_FR_BUSY)//UARTFR
-        {
-            if(TX_Timeout)
-            {
-                TX_Timeout--;
-            }
-            else
-                return ERROR;
-        }
-    }
-
-    UART4_RS485_Direction(RX);
-
-    return TxResult;
-}
-*/
 uint8_t BTSR_Send_Buf_3xADD1(uint8_t *Buf, uint8_t size)//Only for commands with 3 bytes with Address 1 (0x06/0xFD)
 {
     int TxResult = 0;
@@ -630,90 +576,279 @@ uint8_t BTSR_Read_Status(uint8_t BTSR_Id, uint8_t Application, uint8_t Yarn_Type
 //----------------------------------------------------------------------------------------------------------------
 //----------------------------------------------------------------------------------------------------------------
 
-//BTSR_ALARM_AND_ENABLING_STATUS_READ
-typedef struct
+
+
+typedef union
 {
-    bool D0 : 1;//0
-    bool D1 : 1;//1
-    bool D2 : 1;//2
-    bool D3 : 1;//3
-    bool D4 : 1;//4
-    bool D5 : 1;//5
-    bool D6 : 1;//6
-    bool D7 : 1;//7
-}BITS;
+    struct
+    {
+        uint8_t CODE_STRING    ;
+        uint8_t FUNCTION_STRING;
 
+        //DATA_STRING
+        uint16_t WORK_TENSION  ;//1° - 2°
+        uint16_t OUTPUT_TENSION;//3° - 4°
+        uint16_t RELAX_YARN    ;//5° - 6°
+        uint8_t INC_DEC_TENSION;//7°
+        uint8_t INC_DEC_STRETCH;//8°
+        uint16_t TENSION_ERROR ;//9° -  10°
+        uint16_t TIME_ALARM    ;//11° - 12°
+        uint8_t RELAX_SPEED    ;//13°
+        uint8_t APPLICATION    ;//14°
+        uint8_t YARN_TYPE      ;//15°
+        uint8_t SPARE[4]       ;//16°
+        uint8_t ALARM_ENABLING ;//20°
+        uint8_t ABILITAZIONE   ;//21°
+
+        uint16_t CHECKSUM      ;
+    }Byte;
+uint8_t Buf[25];
+}BTSR_ADVANCED_STYLE_LOAD;
+
+BTSR_ADVANCED_STYLE_LOAD BTSR_AdvStyle_Load;
 
 typedef union
 {
-    BITS Bit[4];
-    uint8_t Byte[4];
-}BTSR_ALARM_AND_ENABLING_STATUS_READ;
+    struct
+    {
+        uint8_t CODE_STRING      ;
+        uint8_t FUNCTION_STRING  ;
+
+        //DATA_STRING
+        uint16_t OUTPUT_TENSION  ;
+        uint16_t WORK_TENSION    ;
+        uint16_t RELAX_YARN      ;
+        uint8_t  INC_DEC_TENSION ;
+        uint8_t  INC_DEC_STRETCH ;
+        uint32_t METER_START     ;
+        uint32_t INC_DEC_METER   ;
+        uint32_t TARGET          ;
+        uint16_t TENSION_ERROR   ;
+        uint16_t ALARM_TIME      ;
+        uint8_t  SPARE1[2]       ;
+        uint8_t  ALARM_ENABLING  ;
+        uint8_t  TARGET_ENABLING ;
+        uint8_t  RELAX_YARN_SPEED;
+        uint8_t  SPARE2[6]       ;
+
+        uint16_t CHECKSUM        ;
+    }Byte;
+uint8_t Buf[39];
+}BTSR_ADVANCED_TENSION_PROGRAMMING;
 
-BTSR_ALARM_AND_ENABLING_STATUS_READ BTSR_Status;
+BTSR_ADVANCED_TENSION_PROGRAMMING BTSR_Adv_Tension_Prog;
 
-void BTSR_Configuration_Set(uint8_t UFeeder_ID)
+void BTSR_Configuration_Set(UFeeder_Index UFeeder_i)//15
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x36;
-    BTSR_TX_Buff[2] = 0x80;//CCW
+    BTSR_TX_Buff[2] = BTSR[UFeeder_i].DirectionCCW << 7;
     BTSR_TX_Buff[3] = 0x01;//YYT OFF, UNICO OFF
-    BTSR_TX_Buff[4] = 0x40;//FLIP DISPLAY
+    BTSR_TX_Buff[4] = BTSR[UFeeder_i].Flip_Display << 6;
+    BTSR_TX_Buff[5] = BTSR[UFeeder_i].Lock_Keyboard_Menue;// ‘1’ EDITOR LOCKED
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,18);
 
-    BTSR_Send_Buf(Typology_Set.Buf, 20);
+    BTSR_Send_Buf(BTSR_TX_Buff, 20);
+
+}
+
+void BTSR_Advanced_Style_Load(UFeeder_Index UFeeder_i)
+{
+    //memset(BTSR_AdvStyle_Load.Buf, 0, Size);
+    /*
+    uint8_t Size = sizeof(BTSR_AdvStyle_Load.Buf);
+
+    memset(BTSR_AdvStyle_Load.Buf, 0, Size);
+/
+    BTSR_AdvStyle_Load.Byte.CODE_STRING = UFeeder_ID;
+    BTSR_AdvStyle_Load.Byte.FUNCTION_STRING = 0x4B;
+
+    BTSR_AdvStyle_Load.Byte.WORK_TENSION = Tension;
+    BTSR_AdvStyle_Load.Byte.TENSION_ERROR = Tension_Error;
+    BTSR_AdvStyle_Load.Byte.TIME_ALARM = Time_Alarm;
+    BTSR_AdvStyle_Load.Byte.APPLICATION = Application;
+    BTSR_AdvStyle_Load.Byte.YARN_TYPE = YarnType;
+    BTSR_AdvStyle_Load.Byte.ALARM_ENABLING = 0x03; // OUTPUT TENSION ENABLED + TENSION ERROR ENABLED
+*/
+    //BTSR_Calculate_CheckSum(BTSR_AdvStyle_Load.Buf,Size - 2);
+
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+    BTSR_TX_Buff[1] = 0x4B;
+
+    BTSR_TX_Buff[2] = BTSR[UFeeder_i].Tension & 0XFF;//1
+    BTSR_TX_Buff[3] = BTSR[UFeeder_i].Tension >> 8;//2
+
+    BTSR_TX_Buff[10] = BTSR[UFeeder_i].Tension_Err & 0XFF;//9
+    BTSR_TX_Buff[11] = BTSR[UFeeder_i].Tension_Err >> 8;//10
+    BTSR_TX_Buff[12] = BTSR[UFeeder_i].Alarm_Time & 0XFF;//11
+    BTSR_TX_Buff[13] = BTSR[UFeeder_i].Alarm_Time >> 8;//12
+
+
+    BTSR_TX_Buff[15] = BTSR[UFeeder_i].Application;//14
+    BTSR_TX_Buff[16] = BTSR[UFeeder_i].Yarn_Type;//15
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,23);
+
+    BTSR_Send_Buf(BTSR_TX_Buff,25);
+
+}
+
+void BTSR_Advanced_Tension_Prog(UFeeder_Index UFeeder_i )
+{
+
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+    BTSR_TX_Buff[1] = 0x39;
+
+    BTSR_TX_Buff[4] = BTSR[UFeeder_i].Tension & 0XFF;//3
+    BTSR_TX_Buff[5] = BTSR[UFeeder_i].Tension >> 8;//4
+
+    BTSR_TX_Buff[22] = BTSR[UFeeder_i].Tension_Err & 0XFF;//21
+    BTSR_TX_Buff[23] = BTSR[UFeeder_i].Tension_Err >> 8;//22
+
+    BTSR_TX_Buff[24] = BTSR[UFeeder_i].Alarm_Time & 0XFF;//23
+    BTSR_TX_Buff[25] = BTSR[UFeeder_i].Alarm_Time >> 8;//24
+
+    BTSR_TX_Buff[28] = 0x01;//27  ‘1’ TENSION ERROR ENABLED
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,37);
+
+    BTSR_Send_Buf(BTSR_TX_Buff,39);
+}
+
+void BTSR_Application_Yarn_Type_Set(UFeeder_Index UFeeder_i)
+{
+    //APPLICATION_AND_YARN_TYPOLOGY_SET_27
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+    BTSR_TX_Buff[1] = 0x3F;
+    BTSR_TX_Buff[2] = BTSR[UFeeder_i].Application;
+    BTSR_TX_Buff[3] = BTSR[UFeeder_i].Yarn_Type;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,4);
 
+    BTSR_Send_Buf(BTSR_TX_Buff, 6);
 }
 
-void BTSR_Alarm_and_Enabling_Status_Read(uint8_t UFeeder_ID)
+
+void BTSR_Status_Reset(UFeeder_Index UFeeder_i)//35
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+    BTSR_TX_Buff[1] = 0x27;
+
+    BTSR_TX_Buff[2] = 0x07;//RESET_0
+    BTSR_TX_Buff[3] = 0x00;//RESET_1
+    BTSR_TX_Buff[4] = 0x00;//SPARE
+    BTSR_TX_Buff[5] = 0x00;//SPARE
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,6);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 8);
+
+}
+
+void BTSR_Errors_Counter_Reset(UFeeder_Index UFeeder_i)//36
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+    BTSR_TX_Buff[1] = 0x29;
+    BTSR_TX_Buff[2] = 0x00;//00 - RESETS ALL THE COUNTERS
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,3);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 5);
+
+}
+
+void BTSR_Meters_Total_Counter_Reset(UFeeder_Index UFeeder_i , uint8_t Resolution)//37/39/41
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+
+    if(Resolution == LOW)
+        BTSR_TX_Buff[1] = 0x06;
+    else
+    if(Resolution == HIGH)
+        BTSR_TX_Buff[1] = 0x1E;
+    else
+    if(Resolution == HIGHEST)
+        BTSR_TX_Buff[1] = 0x48;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
+}
+
+void BTSR_Info_Read(UFeeder_Index UFeeder_i)
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+    BTSR_TX_Buff[1] = 0x3E;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
+
+}
+
+void BTSR_Meters_Total_Counter_Read(UFeeder_Index UFeeder_i , uint8_t Resolution)//37/39/41
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
+
+    if(Resolution == LOW)
+        BTSR_TX_Buff[1] = 0x16;
+    else
+    if(Resolution == HIGH)
+        BTSR_TX_Buff[1] = 0x1D;
+    else
+    if(Resolution == HIGHEST)
+        BTSR_TX_Buff[1] = 0x47;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
+}
+
+void BTSR_Alarm_and_Enabling_Status_Read(UFeeder_Index UFeeder_i)//30
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x1C;
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
 
-    BTSR_Send_Buf(Typology_Set.Buf, 4);
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
 }
 
-typedef enum
+
+
+typedef union
 {
-    //BTSR_READ
-    DEVICE_INFORMATION_READ_10               ,
-    ADVANCED_PROGRAMMING_READ_18             ,
-    ADVANCED_TENSION_READ_23                 ,
-    APPLICATION_AND_YARN_TYPOLOGY_READ_28    ,
-    ALARM_AND_ENABLING_STATUS_READ_30        ,
-    PC_LINK_READ_32                          ,
-    METERS_TOTAL_COUNTER_READ_LOW_37         ,
-    METERS_TOTAL_COUNTER_READ_HIGH_39        ,
-    METER_TOTAL_COUNTER_READ_HIGHEST_41      ,
-    MAX_BTSR_READ                            ,
+    struct
+    {
+        uint32_t Uint32;
+        uint16_t CheckSum;
+    }Data;
+    uint8_t Buf[6];
+}BTSR_METERS;
+
+BTSR_METERS BTSR_Meters;
 
-    //BTSR_SET
-    //return 0xFA/0xFB/0xF9
-    DEVICE_CALIBRATION_11                    ,
-    BAUDRATE_SET_13                          ,
-    DISPLAY_LANGUAGE_SET_14                  ,
-    CONFIGURATION_SET_15                     ,
-    ADVANCED_CONFIGURATION_SET_17            ,
-    INPUT_CURRENT_CONTROL_SET_20             ,
-    ADVANCED_TENSION_PROGRAMMING_21          ,
-    ADVANCED_STYLE_LOAD_25                   ,
-    APPLICATION_AND_YARN_TYPOLOGY_SET_27     ,
-    WORK_TENSION_AND_OPERATION_STATUS_SET_29 ,
-    ALARM_STATUS_RESET_35                    ,
-    RESETS_ALL_THE_COUNTERS_36               ,
-    //return device + Function code
-    METERS_TOTAL_COUNTER_RESET_LOW_38        ,
-    METERS_TOTAL_COUNTER_RESET_HIGH_40       ,
-    METERS_TOTAL_COUNTER_RESET_HIGHEST_42    ,
-    MAX_BTSR_SET
-}BTSR_CMD;
 
 #define Get_Set_resp 5
 #define Set_Command 6
@@ -721,43 +856,61 @@ typedef enum
 #define Get_Read_resp 7
 #define Read_Command 8
 
-BTSR_CMD BTSR_command_Stage[MAX_BTSR_SET];
-
-uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
+uint8_t BTSR_State_Machine(UFeeder_Index UFeeder_i)
 {
     uint8_t status = OK;
-    uint8_t i;
+    uint8_t i,j;
+    float temp = 0.0;
+
+    //BTSR_Init();
 
     for(i = DEVICE_CALIBRATION_11; i < MAX_BTSR_SET; i++)
     {
-        if(BTSR_command_Stage[i] == Get_Set_resp)
+        if(BTSR[UFeeder_i].Command[i] == Get_Set_resp)
         {
-            if((i >= DEVICE_CALIBRATION_11) && (i <= RESETS_ALL_THE_COUNTERS_36) /*&& (BTSR_RX_Buff[0] != BTSR_RISP_OK)*/)
+            if((i >= DEVICE_CALIBRATION_11) && (i <= RESETS_ALL_THE_COUNTERS_36) && (BTSR_RX_Buff[0] != BTSR_RISP_OK))
             {
                     status = ERROR;
-                    BTSR_command_Stage[i] = BTSR_RX_Buff[0];
+                    BTSR[UFeeder_i].Command[i] = BTSR_RX_Buff[0];
                     //print response + command ID
             }
-            else if(((i == METERS_TOTAL_COUNTER_RESET_LOW_38)     && (BTSR_RX_Buff[1] != 0x06)) ||
-                    ((i == METERS_TOTAL_COUNTER_RESET_HIGH_40)    && (BTSR_RX_Buff[1] != 0x1E)) ||
-                    ((i == METERS_TOTAL_COUNTER_RESET_HIGHEST_42) && (BTSR_RX_Buff[1] != 0x48))   )
+            else if( (i == METERS_TOTAL_COUNTER_RESET_38_40_42)        &&
+                     ( ((BTSR[UFeeder_i].Length_Resolution == LOW)     && (BTSR_RX_Buff[1] != 0x06)) ||
+                       ((BTSR[UFeeder_i].Length_Resolution == HIGH)    && (BTSR_RX_Buff[1] != 0x1E)) ||
+                       ((BTSR[UFeeder_i].Length_Resolution == HIGHEST) && (BTSR_RX_Buff[1] != 0x48))   ) )
             {
                     status = ERROR;
-                    BTSR_command_Stage[i] = BTSR_RX_Buff[1];
+                    BTSR[UFeeder_i].Command[i] = BTSR_RX_Buff[1];
                     //print response + command ID
             }
-            //print response + command ID
-            BTSR_command_Stage[i] = OK;
+            else//print response + command ID
+                BTSR[UFeeder_i].Command[i] = BTSR_RX_Buff[0];//OK;
         }
 
-        if(BTSR_command_Stage[i] == Set_Command)
+        if(BTSR[UFeeder_i].Command[i] == Set_Command)
         {
-            if(i == CONFIGURATION_SET_15)
+            switch(i)
             {
-                BTSR_Configuration_Set(UFeeder_ID);
+                case CONFIGURATION_SET_15:
+                    BTSR_Configuration_Set(UFeeder_i);
+                break;
+                case ADVANCED_TENSION_PROGRAMMING_21:
+                    BTSR_Advanced_Tension_Prog(UFeeder_i);
+                break;
+                case APPLICATION_AND_YARN_TYPOLOGY_SET_27:
+                    BTSR_Application_Yarn_Type_Set(UFeeder_i);
+                break;
+                case ALARM_STATUS_RESET_35:
+                    BTSR_Status_Reset(UFeeder_i);
+                break;
+                case RESETS_ALL_THE_COUNTERS_36:
+                    BTSR_Errors_Counter_Reset(UFeeder_i);
+                break;
+                case METERS_TOTAL_COUNTER_RESET_38_40_42:
+                    BTSR_Meters_Total_Counter_Reset(UFeeder_i, BTSR[UFeeder_i].Length_Resolution);
+                break;
             }
-
-            BTSR_command_Stage[i] = Get_Set_resp;
+            BTSR[UFeeder_i].Command[i] = Get_Set_resp;
             return status;//Only one command in cycle
         }
     }
@@ -765,25 +918,60 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
 
     for(i = DEVICE_INFORMATION_READ_10; i < MAX_BTSR_READ; i++)
     {
-        if(BTSR_command_Stage[i] == Get_Read_resp)
+        if(BTSR[UFeeder_i].Command[i] == Get_Read_resp)
         {
             // Add CRC check
             if(i == ALARM_AND_ENABLING_STATUS_READ_30)
             {
-                for(i = 0; i < 4; i++)
-                    BTSR_Status.Byte[i] = BTSR_RX_Buff[i];
+                for(j = 0; j < 6; j++)
+                    BTSR[UFeeder_i].Status.Byte[j] = BTSR_RX_Buff[j];
+            }
+            else
+            if(i == DEVICE_INFORMATION_READ_10)
+            {
+                for(j = 0; j < 12; j++)
+                    BTSR[UFeeder_i].Info.Buf[j] = BTSR_RX_Buff[j];
+                status |= Check_Received_CheckSum(BTSR[UFeeder_i].ID, 0x3E, BTSR[UFeeder_i].Info.Buf, 12);
+                ReportWithPackageFilter(ThreadFilter,"BTSR VERSION",__FILE__,UFeeder_i,(BTSR[UFeeder_i].Info.Byte.BOARD_HW_VERSION << 8) | BTSR[UFeeder_i].Info.Byte.BOOTLOADER_SW_VERSION,RpMessage,(BTSR[UFeeder_i].Info.Byte.SW_VERSION << 8) | BTSR[UFeeder_i].Info.Byte.SW_UNDER_VERSION,0);
+            }
+            else
+            if(METER_TOTAL_COUNTER_READ_37_39_41)
+            {
+                for(j = 0; j < 6; j++)
+                    BTSR_Meters.Buf[j] = BTSR_RX_Buff[j];
+                status |= Check_Received_CheckSum(BTSR[UFeeder_i].ID, 0x16, BTSR_Meters.Buf, 6);
+
+                temp  = (float)(BTSR_Meters.Data.Uint32) * PI * BTSR[UFeeder_i].Radius_Meter;
+                if(BTSR[UFeeder_i].Length_Resolution == HIGH)
+                    temp /=12.0;
+                else
+                if(BTSR[UFeeder_i].Length_Resolution == HIGHEST)
+                    temp /=750.0;
+
+                BTSR[UFeeder_i].LengthInMeter  = temp;
             }
-            BTSR_command_Stage[i] = 0;
+
+            memset(BTSR_RX_Buff, 0, Max_BTSR_RX_Bytes);
+            BTSR[UFeeder_i].Command[i] = BTSR_RISP_OK;
         }
+        //else//?
 
-        if(BTSR_command_Stage[i] == Read_Command)
+        if(BTSR[UFeeder_i].Command[i] == Read_Command)
         {
-
-            if(i == ALARM_AND_ENABLING_STATUS_READ_30)
+            switch(i)
             {
-                BTSR_Alarm_and_Enabling_Status_Read(UFeeder_ID);
+                case ALARM_AND_ENABLING_STATUS_READ_30:
+                    BTSR_Alarm_and_Enabling_Status_Read(UFeeder_i);
+                break;
+                case DEVICE_INFORMATION_READ_10:
+                    BTSR_Info_Read(UFeeder_i);
+                break;
+                case METER_TOTAL_COUNTER_READ_37_39_41:
+                    BTSR_Meters_Total_Counter_Read(UFeeder_i, BTSR[UFeeder_i].Length_Resolution);
+                break;
             }
-            BTSR_command_Stage[i] = Get_Read_resp;
+
+            BTSR[UFeeder_i].Command[i] = Get_Read_resp;
             return status;//Only one command in cycle
         }
     }
@@ -791,3 +979,79 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
         return status;
 }
 
+void BTSR_Read_Errors_Status(UFeeder_Index UFeeder_i)//Every 1 second. 3 seconds debouce for on/off
+{
+    BTSR[UFeeder_i].Command[ALARM_AND_ENABLING_STATUS_READ_30] = Read_Command;
+}
+
+void BTSR_Read_Length(UFeeder_Index UFeeder_i, uint8_t Length_Resolution)//Every 100msec during thread movement
+{
+    BTSR[UFeeder_i].Length_Resolution = Length_Resolution;
+
+    BTSR[UFeeder_i].Command[METER_TOTAL_COUNTER_READ_37_39_41] = Set_Command;
+}
+
+void BTSR_Reset_Length(UFeeder_Index UFeeder_i, uint8_t Length_Resolution)//before job
+{
+    BTSR[UFeeder_i].Length_Resolution = Length_Resolution;
+
+    BTSR[UFeeder_i].Command[METERS_TOTAL_COUNTER_RESET_38_40_42] = Set_Command;
+}
+
+void BTSR_Reset_Status(UFeeder_Index UFeeder_i)//
+{
+
+    BTSR[UFeeder_i].Command[ALARM_STATUS_RESET_35] = Set_Command;
+}
+
+void BTSR_Reset_Counters(UFeeder_Index UFeeder_i)//
+{
+
+    BTSR[UFeeder_i].Command[RESETS_ALL_THE_COUNTERS_36] = Set_Command;
+}
+
+void BTSR_RML_Settings(UFeeder_Index UFeeder_i, BTSR_APPLICATION Application, BTSR_YARN_TYPE Yarn_Type, uint16_t Tension, uint16_t Tension_Err, uint16_t Alarm_Time )
+{
+    BTSR[UFeeder_i].Application = Application;
+    BTSR[UFeeder_i].Yarn_Type = Yarn_Type;
+    BTSR[UFeeder_i].Tension = Tension;
+    BTSR[UFeeder_i].Tension_Err = Tension_Err;
+    BTSR[UFeeder_i].Alarm_Time = Alarm_Time;
+
+    BTSR[UFeeder_i].Command[ADVANCED_TENSION_PROGRAMMING_21] = Set_Command;
+    BTSR[UFeeder_i].Command[APPLICATION_AND_YARN_TYPOLOGY_SET_27] = Set_Command;
+}
+
+
+
+void BTSR_Init()
+{
+    UFeeder_Index i = RUFeeder1;
+
+    for(i = RUFeeder1; i < MaxUFeeders; i++)
+   {
+        BTSR[i].ID = 0x01 + i;
+        BTSR[i].Flip_Display = true;
+        BTSR[i].DirectionCCW = true;
+        BTSR[i].Radius_Meter = BTSR_ROLLER_RADIUS;
+        BTSR[i].Lock_Keyboard_Menue = false;
+
+        BTSR[i].Command[CONFIGURATION_SET_15] = Set_Command;
+        BTSR[i].Command[DEVICE_INFORMATION_READ_10] = Read_Command;
+
+        BTSR_Reset_Status(i);
+        BTSR_Reset_Counters(i);
+        BTSR_Reset_Length(i,LOW);
+        BTSR_Reset_Length(i,HIGH);
+        BTSR_Reset_Length(i,HIGHEST);
+   }
+    //Only for testing -------------------------------------------------------------------------------
+//    BTSR_RML_Settings(RUFeeder1, SHOES, ALL_YARNS3, 1000, 10, 5);//Test!!! ---  need to move to RML
+//    BTSR_Reset_Counters(RUFeeder1);
+//    BTSR_Reset_Status(RUFeeder1);
+//    BTSR_Reset_Length(RUFeeder1, HIGHEST);
+//    BTSR_Read_Length(RUFeeder1, HIGHEST);
+//    BTSR_Read_Errors_Status(RUFeeder1);
+    //------------------------------------------------------------------------------------------------
+}
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
index 14fda8f19..db8f2879b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
@@ -11,6 +11,9 @@
 #define  Max_BTSR_RX_Bytes 55
 #define  Max_BTSR_TX_Bytes 40
 
+#define BTSR_ROLLER_RADIUS 0.021//meter
+
+
 typedef enum
 {
     SOCKS          = 1 ,
@@ -48,12 +51,117 @@ typedef enum
     BTSR_RISP_OUT_OF_RANFE = 0xF9,
 }BTSR_RISP_BYTE;
 
+typedef enum
+{
+    //BTSR_READ (Read - The highest priority first)
+    METER_TOTAL_COUNTER_READ_37_39_41        ,//0
+    ALARM_AND_ENABLING_STATUS_READ_30        ,//1
+    PC_LINK_READ_32                          ,//2
+    ADVANCED_TENSION_READ_23                 ,//3
+    ADVANCED_PROGRAMMING_READ_18             ,//4
+    APPLICATION_AND_YARN_TYPOLOGY_READ_28    ,//5
+    DEVICE_INFORMATION_READ_10               ,//6
+
+    MAX_BTSR_READ                            ,//7
+
+    //BTSR_SET (Set - The highest priority first)
+    //Return 0xFA/0xFB/0xF9:
+    BAUDRATE_SET_13                          ,//8
+    DISPLAY_LANGUAGE_SET_14                  ,//9
+    DEVICE_CALIBRATION_11                    ,//10
+    CONFIGURATION_SET_15                     ,//11
+    ADVANCED_CONFIGURATION_SET_17            ,//12
+    //return device + Function code:
+    METERS_TOTAL_COUNTER_RESET_38_40_42      ,//13
+    //Return 0xFA/0xFB/0xF9:
+    RESETS_ALL_THE_COUNTERS_36               ,//14
+    ALARM_STATUS_RESET_35                    ,//15
+    WORK_TENSION_AND_OPERATION_STATUS_SET_29 ,//16
+    ADVANCED_TENSION_PROGRAMMING_21          ,//17
+    ADVANCED_STYLE_LOAD_25                   ,//18
+    APPLICATION_AND_YARN_TYPOLOGY_SET_27     ,//19
+    INPUT_CURRENT_CONTROL_SET_20             ,//20
+
+    MAX_BTSR_SET                              //21
+}BTSR_CMD;
+
+typedef enum
+{
+    RUFeeder1 = 0,
+    //RUFeeder2 = 1,
+    //RUFeeder3 = 2,
+    //RUFeeder4 = 3,
+
+    MaxUFeeders,
+}UFeeder_Index;
+
+//BTSR_ALARM_AND_ENABLING_STATUS_READ
+typedef struct
+{
+    bool D0 : 1;//0
+    bool D1 : 1;//1
+    bool D2 : 1;//2
+    bool D3 : 1;//3
+    bool D4 : 1;//4
+    bool D5 : 1;//5
+    bool D6 : 1;//6
+    bool D7 : 1;//7
+}BITS;
+
+
+typedef union
+{
+    BITS Bit[6];
+    uint8_t Byte[6];
+}BTSR_ALARM_AND_ENABLING_STATUS_READ;
+
+typedef union
+{
+    struct
+    {
+        uint8_t SW_VERSION;//0XDE
+        uint8_t SW_UNDER_VERSION;//0X01
+        uint8_t BYTE_U0X55;//0X55
+        uint8_t BYTE_F0X46;//0X46
+        uint8_t PRODUCT_CODE;//0X13
+        uint8_t TENSION_SENSOR_END_SCALE;//0X65
+        uint8_t BOARD_HW_VERSION;//0X02
+        uint8_t BOOTLOADER_SW_VERSION;//0X0A
+        uint8_t BYTE_0X32;//0X32
+        uint8_t SPARE;//0X00
+        uint8_t CHECKSUM_LSB;//0X60
+        uint8_t CHECKSUM_MSB;//0X01
+    }Byte;
+uint8_t Buf[12];
+}BTSR_DEVICE_INFORMATION_READ;
+
+typedef struct
+{
+    uint8_t  ID;
+    bool     DirectionCCW;
+    bool     Flip_Display;
+    bool     Lock_Keyboard_Menue;
+    float    Radius_Meter;
+    uint8_t  Command[MAX_BTSR_SET];
+    uint8_t  Application;
+    uint8_t  Yarn_Type;
+    uint16_t Tension;
+    uint16_t Tension_Err;
+    uint16_t Alarm_Time;
+    uint8_t  Length_Resolution;
+
+    float    LengthInMeter;
+    BTSR_ALARM_AND_ENABLING_STATUS_READ  Status;
+    BTSR_DEVICE_INFORMATION_READ Info;
+
+}BTSR_t;
+
 extern uint8_t BTSR_RX_Buff[Max_BTSR_RX_Bytes];
 
 unsigned long UARTStatus();
 bool BTSR_Change_Comm_Mode(uint8_t Mode);
-uint8_t BTSR_Auto_Identify(uint8_t BTSR_Id);//AUTOMATIC IDENTIFICATION PROCEDURE (IDENTIFY)
-uint8_t BTSR_Set_Parmeters(uint8_t BTSR_Id, uint8_t Application, uint8_t Yarn_Type );
+uint8_t BTSR_Auto_Identify(uint8_t BTSR_ID);//AUTOMATIC IDENTIFICATION PROCEDURE (IDENTIFY)
+uint8_t BTSR_Set_Parmeters(uint8_t BTSR_ID, uint8_t Application, uint8_t Yarn_Type );
 
 uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size);
 uint8_t BTSR_RECEIVE_Buf(uint8_t *Buf, uint8_t size);
@@ -62,4 +170,14 @@ uint8_t Check_Received_CheckSum(uint8_t CODE_STRING, uint8_t Function_Code, uint
 uint8_t BTSR_Send_Buf_3xADD1(uint8_t *Buf, uint8_t size);//Only for commands with 3 bytes with Address 1 (0x06/0xFD)
 void InitConsole_BTSR_UART4(int32_t ui32SysClock);
 
+uint8_t BTSR_State_Machine(UFeeder_Index UFeeder_i);
+
+void BTSR_Init();
+void BTSR_RML_Settings(UFeeder_Index UFeeder_i, BTSR_APPLICATION Application, BTSR_YARN_TYPE Yarn_Type, uint16_t Tension, uint16_t Tension_Err, uint16_t Alarm_Time );
+void BTSR_Reset_Counters(UFeeder_Index UFeeder_i);//After errors
+void BTSR_Reset_Status(UFeeder_Index UFeeder_i);//After errors
+void BTSR_Reset_Length(UFeeder_Index UFeeder_i, uint8_t Length_Resolution);//Before job
+void BTSR_Read_Length(UFeeder_Index UFeeder_i, uint8_t Length_Resolution);//Every 100msec during thread movement
+void BTSR_Read_Errors_Status(UFeeder_Index UFeeder_i);//Every 1 second. 3 seconds debouce for on/off
+
 #endif /* DRIVERS_UART_COMM_BTSR_BTSR_H_ */