remote

5 files changed, 45 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 3a0b25ba8..2aa0b220a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -13,7 +13,7 @@
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
+#include "drivers/SSI_Comm/ssi_comm.h"
 
 #include "thread_ex.h"
 
@@ -36,6 +36,9 @@ extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
 extern HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
 extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];
 
+extern bool BreakSensorenabled;
+extern int32_t BreakSensordebouncetimemilli;
+
 extern HardwareMotor                MotorsCfg[NUM_OF_MOTORS];
 extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
 //extern InternalWinderConfigStruc    InternalWinderCfg;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 794559d57..486f8384f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -168,7 +168,7 @@ numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__
 uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
 {
     uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
-    float screw_speed = 0;
+    float screw_horizontal_speed = 0;
     float RotationsPerSecond;
 
     if (Counter)
@@ -178,14 +178,15 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
             NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate);
             REPORT_MSG(ScrewNumberOfSteps, "Head Backing");
             ScrewNumberOfSteps--;
-            screw_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+            screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
             // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
             RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI);
             RotationsPerSecond =  CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
             // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
-            ScrewSpeed = screw_speed*RotationsPerSecond;
+            ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
             MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
+            CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
 
         }
         if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 1))
@@ -258,7 +259,7 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
 {
     //JobTicket* JobTicket = JobDetails;
-    float screw_speed = 0;
+    float screw_horizontal_speed = 0;
     float RotationsPerSecond;
 
     if (dyeingspeed == 0)
@@ -275,15 +276,16 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         //     * calculate
         //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
         //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
-        screw_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+        screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
         // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
         RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI);
         RotationsPerSecond =  CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
         // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
-        ScrewSpeed = screw_speed*RotationsPerSecond;
+        ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-        //screw_speed = InternalWinderCfg.milimetersperrotation
+        CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
+        //screw_horizontal_speed = InternalWinderCfg.milimetersperrotation
     //     * 2. determine optimal micro-step setting
     //     * 3. calculate cart travel length from winding parameters
     //     * 4. start move of travel length
@@ -292,7 +294,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
         ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0);
 
-        // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_speed,WinderPresegmentReady);
+        // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_horizontal_speed,WinderPresegmentReady);
         //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
 
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 7405a91d9..2961bd105 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -24,7 +24,9 @@ typedef enum threadMotorsEnum
 extern double TotalProcessedLength;
 
 uint32_t InternalWindingConfigMessage(JobSpool* request);
+uint32_t ThreadConfigBreakSensor(void *request);
 
+uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId);
 uint32_t ThreadPrepareState(void *JobDetails);
 uint32_t ThreadPreSegmentState(void *JobDetails);
 uint32_t ThreadSegmentState(void *JobDetails, int SegmentId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index c5f45da78..1b960dada 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -7,6 +7,7 @@
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareDancer.pb-c.h"
 #include "PMR/Hardware/HardwareWinder.pb-c.h"
+#include "PMR/Hardware/HardwareBreakSensor.pb-c.h"
 #include "PMR/Printing/JobSpool.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 
@@ -20,6 +21,9 @@ double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
 int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0};
 HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0};
 
+bool BreakSensorenabled;
+int32_t BreakSensordebouncetimemilli;
+
 HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0};
 
 //********************************************************************************************************************
@@ -96,7 +100,14 @@ uint32_t DancerConfigMessage(HardwareDancer * request)
         return Dancer_i;
 
 }
+uint32_t ThreadConfigBreakSensor(void *request)
+{
+    HardwareBreakSensor  *SensorCfg = (HardwareBreakSensor*)request;
+    BreakSensorenabled = SensorCfg->enabled;
+    BreakSensordebouncetimemilli = SensorCfg->debouncetimemilli;
 
+    return OK;
+}
 uint32_t thread_init(void)
 {
     //memset (MotorsCfg,0,sizeof(MotorsCfg));
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 5b92fe3a0..6f4ba1956 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -20,7 +20,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
+//#include "drivers/SSI_Comm/ssi_comm.h"
+#include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
@@ -353,16 +354,21 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
 
-        if (index == POOLER_MOTOR)
+        if (BreakSensorenabled == true)
         {
-            if (JobCounter > eOneSecond)
+            if (index == POOLER_MOTOR)
             {
-                if (ReadBreakSensor()==ERROR)
+                if (JobCounter > eOneSecond)
                 {
-                    //LOG_ERROR(index, "ReadBreakSensor Error");
-                    JobEndReason = JOB_THREAD_BREAK;
-                    //SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
-                   EndState(CurrentJob,"ReadBreakSensor Error" );
+                    if (ReadBreakSensor()==ERROR)
+                    {
+                        //consider applying the debouce parameters later
+                        //BreakSensordebouncetimemilli
+                        //LOG_ERROR(index, "ReadBreakSensor Error");
+                        JobEndReason = JOB_THREAD_BREAK;
+                        //SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
+                       EndState(CurrentJob,"ReadBreakSensor Error" );
+                    }
                 }
             }
         }
@@ -415,6 +421,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 
 //********************************************************************************************************************
+uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
+{
+    return  CurrentControlledSpeed[MotorId];
+}
 
 //********************************************************************************************************************
 uint32_t ThreadInitialTestStub(HardwareMotor * request)