Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

1 files changed, 55 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
new file mode 100644
index 000000000..475f63795
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -0,0 +1,55 @@
+#include "PMR/common/MessageContainer.pb-c.h"
+#include "PMR/Hardware/HardwareMotor.pb-c.h"
+#include "PMR/Hardware/HardwareMotorType.pb-c.h"
+#include "PMR/Hardware/HardwareDancer.pb-c.h"
+#include "PMR/Hardware/HardwareDancerType.pb-c.h"
+#include "PMR/Hardware/HardwareWinder.pb-c.h"
+#include "PMR/Printing/JobSpool.pb-c.h"
+#include "PMR/Printing/JobSpoolType.pb-c.h"
+
+
+typedef struct
+{
+  HardwareMotorType id;
+  uint32_t minfreq;
+  uint32_t maxfreq;
+  uint32_t minmicrostep;
+  uint32_t maxmicrostep;
+  double linearratio;
+  uint32_t medianposition;
+  double correctiongain;
+  double ratio2dryerspeed;
+  double kp;
+  double ki;
+  double kd;
+  double changeslope;
+  double hightimeoutusec;
+}MotorConfigStruc;
+typedef struct
+{
+    uint32_t startoffsetpulses;
+    uint32_t spoolbackingrate;
+    uint32_t segmentoffsetpulses;
+    uint32_t milimetersperrotation;
+}InternalWinderConfigStruc;
+
+typedef struct
+{
+    bool fixorgradual;
+    double k;
+    double x;
+    int32_t pulsepermmspring;
+    int id;  //HardwareDancerType
+}DancerConfigStruc;
+#define MAX_THREAD_MOTORS_NUM  HARDWARE_MOTOR_TYPE__WinderMotor +1
+
+
+extern MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM];
+extern InternalWinderConfigStruc InternalWinderCfg;
+
+
+uint32_t InternalWinderConfigMessage(HardwareWinder* request);
+uint32_t MotorsConfigMessage(HardwareMotor * request);
+uint32_t InternalWindingConfigMessage(JobSpool* request);
+
+uint32_t DancerConfigMessage(HardwareDancer * request);