diff options
| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-09-16 17:48:16 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-09-16 17:48:16 +0300 |
| commit | 161fe6f6d2b29ba3deb641cdc049ad0d8f58004e (patch) | |
| tree | 20318bb7ea4a243b8c2e9757e4635e8d5f5cb728 /Software/Embedded_SW/Embedded/Modules/Thread/Thread.h | |
| parent | 30fcfa4100a9d00e887c6e17e32e427b05296ce7 (diff) | |
| parent | b674a2e7751daa80c0d74207968bf8e3d18d7faf (diff) | |
| download | Tango-161fe6f6d2b29ba3deb641cdc049ad0d8f58004e.tar.gz Tango-161fe6f6d2b29ba3deb641cdc049ad0d8f58004e.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread.h')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread.h | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h index 97f3811c7..56fb79c23 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h @@ -9,6 +9,7 @@ #include "PMR/Hardware/HardwareDancerType.pb-c.h" #include "PMR/Hardware/HardwareWinder.pb-c.h" #include "PMR/Hardware/HardwarePidControl.pb-c.h" +#include "PMR/Hardware/HardwareConfiguration.pb-c.h" #include "PMR/Printing/JobSpool.pb-c.h" #include "PMR/Printing/JobSpoolType.pb-c.h" @@ -17,6 +18,7 @@ #include "thread_ex.h" +#define NORMAL_COEF_DIVIDER 100 typedef struct { uint32_t startoffsetpulses; @@ -51,12 +53,15 @@ extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM]; extern bool BreakSensorenabled; extern int32_t BreakSensordebouncetimemilli; +extern bool SampleWinding; + + //extern MotorDriverConfigStruc MotorsCfg[NUM_OF_MOTORS]; extern HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM]; //extern InternalWinderConfigStruc InternalWinderCfg; extern HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS]; -extern uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM]; -extern int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM]; +extern double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM]; +extern double OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM]; #define MAX_CONTROL_SAMPLES 10 extern int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; @@ -64,15 +69,17 @@ extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM]; extern double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM]; extern int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM]; extern MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM]; -extern int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; +extern double MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM]; uint32_t InternalWinderConfigMessage(HardwareWinder* request); -uint32_t MotorsConfigMessage(HardwareMotor * request); +uint32_t MotorsConfigMessage( HardwareConfiguration* HW_request); uint32_t InternalWindingConfigMessage(JobSpool* request); uint32_t ThreadInitialTestStub(HardwareMotor * request); uint32_t MotorPidRequestMessage(HardwarePidControl* request); +void SetKeepWindingCone(bool value); +void SetWinderBackToBaseTime(uint32_t value); uint32_t DancerConfigMessage(HardwareDancer * request); |