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

4 files changed, 20 insertions, 10 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_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 79c2bf843..2961bd105 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -24,6 +24,7 @@ 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);
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 fbf5cb811..b536c93b0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -20,8 +20,7 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
-//#include "drivers/SSI_Comm/ssi_comm.h"
-#include "drivers/SSI_Comm/Dancer/Dancer.h"
+#include "drivers/Danser_SSI/ssi_comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
@@ -416,10 +415,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 
 //********************************************************************************************************************
-uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
-{
-    return  CurrentControlledSpeed[MotorId];
-}
 
 //********************************************************************************************************************
 uint32_t ThreadInitialTestStub(HardwareMotor * request)
@@ -566,17 +561,17 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]);
 
 //#warning rocker disabled
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0)
+    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency)
     {
         MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
         MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2);
     }
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0)
+    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency)
     {
         MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
         MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2);
     }
- //#warning rocker disabled
+//#warning rocker disabled
 
 //    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO