merge

1 files changed, 12 insertions, 22 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index aedb49a62..56fb79c23 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -17,11 +17,20 @@
 #include "../control/pidalgo.h"
 
 #include "thread_ex.h"
-#include "drivers/SSI_Comm/SSI_Comm.h"
 
 #define NORMAL_COEF_DIVIDER 100
 typedef struct
 {
+    uint32_t startoffsetpulses;
+    uint32_t spoolbackingrate;
+    uint32_t segmentoffsetpulses;// the spool winding initial length in mm
+    uint32_t milimetersperrotation;
+    uint32_t SpoolBottomBackingRate;// the angle of the bottom of the spool
+    double NumberOfRotationPerPassage;  // how many rotations per spool passage
+    double diameter;
+}InternalWinderConfigStruc;
+typedef struct
+{
     bool                m_isEnabled;
     int32_t             m_SetParam;
     float               m_mesuredParam;
@@ -33,27 +42,12 @@ typedef struct
     PID_Config_Params   m_params;
 }MotorControlConfig_t;
 
-#ifdef FOUR_WINDERS
-#define SCREW_2_Motor  HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1
-#define SCREW_3_Motor  HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1
-#define SCREW_4_Motor  HARDWARE_MOTOR_TYPE__MOTO_RDANCER
-#define Winder_2_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2
-#define Winder_3_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2
-#define Winder_4_Motor HARDWARE_MOTOR_TYPE__MOTO_RLOADARM
-#endif
-
 
 #define MAX_THREAD_FEED_MOTORS (WINDER_MOTOR+1)
-#define MAX_SYSTEM_DANCERS NUM_OF_ROTENC
+#define MAX_SYSTEM_DANCERS (HARDWARE_DANCER_TYPE__RightDancer+1)
 
 extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
-
-#ifdef FOUR_WINDERS
-extern Dancers_4_Winders ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
-#else
 extern HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
-#endif
-
 extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];
 
 extern bool BreakSensorenabled;
@@ -82,18 +76,14 @@ extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM];
 uint32_t InternalWinderConfigMessage(HardwareWinder* 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);
-uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);
 
 void SetOriginMotorSpeed(float process_speed);
-uint32_t UpdatePidDuringRun(HardwarePidControl *hardwarepidcontrol);
-
-uint32_t ThreadPrepare_Tension (int DancerId, double tension);
-
 
 #endif //MODULES_THREAD_THREAD_H_