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

1 files changed, 11 insertions, 7 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index f32026ca8..5b0f034f4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -12,9 +12,9 @@
 
 #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];
+MotorConfigStruc  MotorsCfg[MAX_THREAD_MOTORS_NUM]={0};
+InternalWinderConfigStruc InternalWinderCfg = {0};
+DancerConfigStruc DancersCfg[MAX_SYSTEM_DANCERS] = {0};
 
 
 
@@ -33,6 +33,9 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
     InternalWinderCfg.spoolbackingrate = request->backingrate;
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
+    InternalWinderCfg.SpoolBottomBackingRate =  request->spoolbottombackingrate;
+    InternalWinderCfg.NumberOfRotationPerPassage = request->numberofrotationperpassage;
+    InternalWinderCfg.diameter = request->diameter;
 
     return status;
 }
@@ -44,7 +47,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
     int Motor_i;
 
     Motor_i = request->hardwaremotortype;
-    if ((Motor_i)&&(Motor_i< MAX_THREAD_MOTORS_NUM))
+    if (Motor_i< MAX_THREAD_MOTORS_NUM)
     {
         MotorsCfg[Motor_i].id               = request->hardwaremotortype;
         MotorsCfg[Motor_i].minfreq          = request->minfrequency;
@@ -60,6 +63,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
         MotorsCfg[Motor_i].kd               = request->kd;
         MotorsCfg[Motor_i].changeslope      = request->changeslope;
         MotorsCfg[Motor_i].hightimeoutusec  = request->highlengthmicrosecond;
+        ThreadInitialTestStub(request);
         return status;
     }
     else return Motor_i;
@@ -71,7 +75,7 @@ uint32_t DancerConfigMessage(HardwareDancer * request)
     int Dancer_i;
 
     Dancer_i = request->hardwaredancertype;
-    if ((Dancer_i)&&(Dancer_i<MAX_SYSTEM_DANCERS ))
+    if (Dancer_i<MAX_SYSTEM_DANCERS )
     {
         DancersCfg[Dancer_i].id = Dancer_i;
         DancersCfg[Dancer_i].fixorgradual = request->gradual;
@@ -87,8 +91,8 @@ uint32_t DancerConfigMessage(HardwareDancer * request)
 
 uint32_t thread_init(void)
 {
-    memset (MotorsCfg,0,sizeof(MotorsCfg));
-    memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));
+    //memset (MotorsCfg,0,sizeof(MotorsCfg));
+    //memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));
 
     return OK;
 }