Dancers Enum changed - unified

5 files changed, 19 insertions, 16 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 6bbf1efc3..eaf7e81d8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -235,8 +235,8 @@ uint32_t MillisecLoop(uint32_t tick)
 
     for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
     {
-//        if (MotorDriverResponse[Motor_i].Busy == true)
-//            continue;
+        if (MotorDriverResponse[Motor_i].Busy == true)
+            continue;
         if (MotorData[Motor_i].WaitForData == true) //Read request sent, data is waiting
         {
             if (MotorGetFPGAResponse(Motor_i,&MotorInfo) == OK) //got the data from the FPGA
@@ -296,9 +296,9 @@ uint32_t MillisecLoop(uint32_t tick)
             }
         }
     }
-    Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(ROTENC_RDANCER);
-    Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(ROTENC_LDANCER1);
-    Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(ROTENC_LDANCER2);
+    Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
+    Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER);
+    Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER);
     if (Hundred_msTick)
     {
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
index e36eea05d..1fc637029 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
@@ -53,7 +53,7 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer)
     response.dancer_id = request->dancer_id;
     response.has_dancer_id = true;
 
-    RotEnc_t Dancer_Id = (RotEnc_t)request->dancer_id;//to remove warning
+    HardwareDancerType Dancer_Id = (HardwareDancerType)request->dancer_id;//to remove warning
 
     if(Dancer_Id < NUM_OF_ROTENC)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 0bda4964b..db3bfc46e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -43,7 +43,7 @@ typedef enum threadMotorsEnum
 #define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
 
 extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
-extern DANCER_ENUM ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
+extern HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
 extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];
 
 extern HardwareMotor                MotorsCfg[NUM_OF_MOTORS];
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 3fb78d2f0..e957b0efc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -2,13 +2,13 @@
 #ifndef MODULES_THREAD_THREAD_EX_H_
 #define MODULES_THREAD_THREAD_EX_H_
 
-typedef enum
-{
-    WINDER_DANCER,
-    POOLER_DANCER,
-    FEEDER_DANCER,
-    NUM_OF_DANCERS
-} DANCER_ENUM;
+//typedef enum
+//{
+#define WINDER_DANCER HARDWARE_DANCER_TYPE__LeftDancer
+#define POOLER_DANCER HARDWARE_DANCER_TYPE__MiddleDancer
+#define FEEDER_DANCER HARDWARE_DANCER_TYPE__RightDancer
+#define NUM_OF_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
+//} DANCER_ENUM;
 
 uint32_t ThreadPrepareState(void *JobDetails);
 uint32_t ThreadPreSegmentState(void *JobDetails);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 92939dfe4..48c985321 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -11,6 +11,7 @@
 #include "../control/pidalgo.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
+#include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
 
@@ -27,7 +28,7 @@
 
 
 TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
-DANCER_ENUM ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
+HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
 uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF};
 int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
 
@@ -281,9 +282,11 @@ bool InitialProcess = false;
 
             MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
     #ifdef DEBUG_TEST_FUNCTIONS
-/*
+
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadLengthCBFunction, eOneMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+            if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eHundredMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eHundredMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             /*if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled