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

1 files changed, 94 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
new file mode 100644
index 000000000..f32026ca8
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -0,0 +1,94 @@
+/************************************************************************************************************************
+ **************************************************************************************************************************/
+
+#include "include.h"
+
+#include <Modules/Stubs_Handler/DataDef.h>
+#include "PMR/Hardware/HardwareMotor.pb-c.h"
+#include "PMR/Hardware/HardwareDancer.pb-c.h"
+#include "PMR/Hardware/HardwareWinder.pb-c.h"
+#include "PMR/Printing/JobSpool.pb-c.h"
+#include "PMR/common/MessageContainer.pb-c.h"
+
+#include "thread.h"
+#define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
+MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM];
+InternalWinderConfigStruc InternalWinderCfg;
+DancerConfigStruc DancersCfg[MAX_SYSTEM_DANCERS];
+
+
+
+uint32_t InternalWinderConfigMessage(HardwareWinder* request)
+{
+    uint32_t status = PASSED;
+
+    InternalWinderCfg.milimetersperrotation = request->millimeterperrotation;
+
+    return status;
+}
+uint32_t InternalWindingConfigMessage(JobSpool* request)
+{
+    uint32_t status = PASSED;
+
+    InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
+    InternalWinderCfg.spoolbackingrate = request->backingrate;
+    InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
+
+    return status;
+}
+
+//********************************************************************************************************************
+uint32_t MotorsConfigMessage(HardwareMotor * request)
+{
+    uint32_t status = PASSED;
+    int Motor_i;
+
+    Motor_i = request->hardwaremotortype;
+    if ((Motor_i)&&(Motor_i< MAX_THREAD_MOTORS_NUM))
+    {
+        MotorsCfg[Motor_i].id               = request->hardwaremotortype;
+        MotorsCfg[Motor_i].minfreq          = request->minfrequency;
+        MotorsCfg[Motor_i].maxfreq          = request->maxfrequency;
+        MotorsCfg[Motor_i].minmicrostep     = request->minmicrostep;
+        MotorsCfg[Motor_i].maxmicrostep     = request->maxmicrostep;
+        MotorsCfg[Motor_i].linearratio      = request->linearratio;
+        MotorsCfg[Motor_i].medianposition   = request->medianposition;
+        MotorsCfg[Motor_i].correctiongain   = request->correctiongain;
+        MotorsCfg[Motor_i].ratio2dryerspeed  = request->ratiotodryerspeed;
+        MotorsCfg[Motor_i].kp               = request->kp;
+        MotorsCfg[Motor_i].ki               = request->ki;
+        MotorsCfg[Motor_i].kd               = request->kd;
+        MotorsCfg[Motor_i].changeslope      = request->changeslope;
+        MotorsCfg[Motor_i].hightimeoutusec  = request->highlengthmicrosecond;
+        return status;
+    }
+    else return Motor_i;
+
+}
+uint32_t DancerConfigMessage(HardwareDancer * request)
+{
+    uint32_t status = PASSED;
+    int Dancer_i;
+
+    Dancer_i = request->hardwaredancertype;
+    if ((Dancer_i)&&(Dancer_i<MAX_SYSTEM_DANCERS ))
+    {
+        DancersCfg[Dancer_i].id = Dancer_i;
+        DancersCfg[Dancer_i].fixorgradual = request->gradual;
+        DancersCfg[Dancer_i].k = request->k;
+        DancersCfg[Dancer_i].x = request->x;
+        DancersCfg[Dancer_i].pulsepermmspring = request->pulsepermmspring;
+        return status;
+    }
+    else
+        return Dancer_i;
+
+}
+
+uint32_t thread_init(void)
+{
+    memset (MotorsCfg,0,sizeof(MotorsCfg));
+    memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));
+
+    return OK;
+}