evaluation board adjustments, uart clock timer

13 files changed, 109 insertions, 45 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c
index 5798b01ee..74411a066 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c
@@ -73,6 +73,7 @@ PortFunctionInit(void)
     MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC1);
     MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
     MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
+    MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
     MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART7);
     MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART5);
     MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
@@ -583,6 +584,20 @@ PortFunctionInit(void)
     MAP_GPIOPinTypeSSI(GPIO_PORTF_BASE, GPIO_PIN_0);
 
     //
+    // Configure the GPIO Pin Mux for PA0
+    // for U0RX
+    //
+    MAP_GPIOPinConfigure(GPIO_PA0_U0RX);
+    MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0);
+
+    //
+    // Configure the GPIO Pin Mux for PA1
+    // for U0TX
+    //
+    MAP_GPIOPinConfigure(GPIO_PA1_U0TX);
+    MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_1);
+
+    //
     // Enable pin PC7 for UART5 U5TX
     //
     MAP_GPIOPinConfigure(GPIO_PC7_U5TX);
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index b6841ef7e..4051c57e6 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -95,7 +95,7 @@ void communicationTask(UArg arg0, UArg arg1)
     initArray(1);
 
     //ui32RxCount = 0;
-    CommunicationRxMsgQ = Mailbox_create(sizeof(CommRxMessageStruc), 5, NULL,NULL);
+    CommunicationRxMsgQ = Mailbox_create(sizeof(CommRxMessageStruc), 4, NULL,NULL);
 
     /* Block while the device is NOT connected to the USB */
 //    Semaphore_pend(initConnectionSem, BIOS_WAIT_FOREVER);
@@ -166,7 +166,7 @@ void communicationTxTask(UArg arg0, UArg arg1)
          SetCommunicationPath(isUART);
     #endif
     //ui32RxCount = 0;
-    CommunicationTxMsgQ = Mailbox_create(sizeof(CommTxMessageStruc), 10, NULL,NULL);
+    CommunicationTxMsgQ = Mailbox_create(sizeof(CommTxMessageStruc), 4, NULL,NULL);
 
     /* Block while the device is NOT connected to the USB */
 //    Semaphore_pend(initConnectionSem, BIOS_WAIT_FOREVER);
diff --git a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
index 9659e5ff5..8a656ea0e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
@@ -279,6 +279,7 @@ Void ADCProcessTask(UArg arg0, UArg arg1)
 void ADCAcquireInit(void) // (called by MillisecInit)
 {
     uint32_t ui32Chan, ui32Base, ui32Seq;
+#ifndef EVALUATION_BOARD
 
     //Avaraging 8 //TODO
     //MAP_ADCHardwareOversampleConfigure(ADC0_BASE, 8);
@@ -353,6 +354,7 @@ void ADCAcquireInit(void) // (called by MillisecInit)
 
         //InitI2C();
     }
+#endif
 }
 
 //*****************************************************************************
@@ -364,6 +366,7 @@ void ADCAcquireInit(void) // (called by MillisecInit)
 //*****************************************************************************
 void ADCAcquireStart(ProcessCallback _callback, uint32_t _period) // (called by MillisecStart)
 {
+#ifndef EVALUATION_BOARD
     //
     // Enable the ADC sequencers
     //
@@ -394,6 +397,7 @@ void ADCAcquireStart(ProcessCallback _callback, uint32_t _period) // (called by
     //
     // Logging data should now start running
     //
+#endif
 }
 
 //*****************************************************************************
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index 736ce35fe..4d10b6b7c 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -375,6 +375,7 @@ uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec) // Contr
  * the control register will take the value it had before to be resetted.
  */
 {
+#ifndef EVALUATION_BOARD
     if (IsEnable == DISABLE)
     {
         F2_Watchdog_reg = 0;
@@ -383,6 +384,7 @@ uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec) // Contr
     {
         F2_Watchdog_reg = 0x4000 | SetTimer_Steps100mSec; // Enable the watchdog
     }
+#endif
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
index 7ccba0545..1fda224ca 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
@@ -54,7 +54,7 @@ static GPIOIntPortMap portMap[MAX_HEATERS_NUM] =
 uint32_t ActivateHeater (int HeaterId)
 {
     assert(HeaterId < MAX_HEATERS_NUM);
-
+#ifndef EVALUATION_BOARD
     if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5)
     {
         F1_gpo_01 |= portMap[HeaterId].m_pin;
@@ -67,7 +67,7 @@ uint32_t ActivateHeater (int HeaterId)
     {
         F2_CTRL |= portMap[HeaterId].m_pin;
     }
-
+#endif
    //---------------------------------------------------------------------------------------
 //    if(HeaterId < HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1) // Turn On FPGA LED
 //        F3_GPO_01_bus |= (0x01 << HeaterId);
@@ -97,7 +97,7 @@ uint32_t ActivateHeater (int HeaterId)
 uint32_t DeActivateHeater (int HeaterId)
 {
     assert(HeaterId < MAX_HEATERS_NUM);
-
+#ifndef EVALUATION_BOARD
     if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5)
     {
         F1_gpo_01 &= ~portMap[HeaterId].m_pin;
@@ -110,7 +110,8 @@ uint32_t DeActivateHeater (int HeaterId)
     {
         F2_CTRL &= ~portMap[HeaterId].m_pin;
     }
-    //---------------------------------------------------------------------------------------
+#endif
+//---------------------------------------------------------------------------------------
 //    if(HeaterId < HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1) // Turn Off FPGA LED
 //        F3_GPO_01_bus &= ~(0x01 << HeaterId);
 //    else
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c b/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c
index 71d0efa62..e455b1f1c 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c
@@ -398,9 +398,9 @@ uint32_t TemperatureSensorReadFromFPGA_Res(TEMPERATURE_SENSOR_ID_ENUM SensorId)
 
     //uint32_t Data;
     //TemperatureSendSensorDummyClk(SensorId);//TODO check if it is ok to add it here without deley !!!!!!!
-
+#ifndef EVALUATION_BOARD
     SPIGetFPGAResponse(SensorId, &Data);
-
+#endif
 //    INT2CHAR Int2Char; // TODO to open and test to limit to 24 bit (It should be read 3 low bytes only)
 //    Int2Char.uint = Data;
 //    Int2Char.uchar.UCHAR_3 = 0;
@@ -437,9 +437,9 @@ uint32_t TemperatureSensorReadRegFromFPGA_Res(TEMPERATURE_SENSOR_ID_ENUM SensorI
     uint32_t Status = OK;
 
     uint32_t Data;
-
+#ifndef EVALUATION_BOARD
     SPIGetFPGAResponse(SensorId, &Data);
-
+#endif
     Short2Char.uint = Data;
     Read_Reg[SensorId][Reg] = Short2Char.uchar.LSB;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c
index bb762fdde..b970ccef3 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c
@@ -7,6 +7,8 @@
 #include <stdint.h>
 #include <string.h>
 
+#include <ti/sysbios/knl/Clock.h>
+
 #include <driverlib/gpio.h>
 #include <driverlib/pin_map.h>
 #include <driverlib/rom.h>
@@ -98,11 +100,34 @@ int dataindex=0;
 
 void UARTIntHandler(UArg arg0);
 
+static Clock_Handle UartClock;
+static Clock_Params clkParams;
+//*****************************************************************************
+// ManualClockHandle: clock event handler - initiates trigger for the user profile
+//*****************************************************************************
+#define UartClockTimeout 5000   // 5 seconds
+static void UartClockHandle(UArg arg0)
+{
+    if (U0_expected_message_size ==0)
+    {
+        U0_size_bar = 0;
+    }
+    Clock_setTimeout(UartClock, UartClockTimeout);
+    Clock_start(UartClock);
+}
+
 //*****************************************************************************
 //
 // The UART Initialization.
 //
 //*****************************************************************************
+#ifdef EVALUATION_BOARD
+#define UART_BASE UART0_BASE
+#define UART_INT INT_UART0
+#else
+#define UART_BASE UART0_BASE
+#define UART_INT INT_UART0
+#endif
 void Init_U0(void)
 {
     ROM_IntMasterDisable();
@@ -111,32 +136,37 @@ void Init_U0(void)
     //
     // Configure and enable UART interrupts.
     //
-    ROM_UARTIntClear(UART0_BASE, ROM_UARTIntStatus(UART0_BASE, false));
+    ROM_UARTIntClear(UART_BASE, ROM_UARTIntStatus(UART_BASE, false));
 
-    //MAP_UARTIntRegister(INT_UART0,UARTIntHandler,0);
+    //MAP_UARTIntRegister(UART_INT,UARTIntHandler,0);
 
     /* Install interrupt handler */
     Error_Block eb;
     Error_init(&eb);
     Hwi_Handle hwi;
-    hwi = Hwi_create(INT_UART0, UARTIntHandler, NULL, &eb);// int number 21 Embedded.cfg
+    hwi = Hwi_create(UART_INT, UARTIntHandler, NULL, &eb);// int number 21 Embedded.cfg
     if (hwi == NULL)
     {
         System_abort("Can't create UART Hwi");
     }
 
-//    ROM_UARTIntEnable(UART0_BASE, /*UART_INT_TX |*/ UART_INT_RX );
-    ROM_UARTIntEnable(UART0_BASE, (UART_INT_RT |  UART_INT_RX));
-//    ROM_UARTIntEnable(UART0_BASE, (UART_INT_OE | UART_INT_BE | UART_INT_PE |
+    Clock_Params_init(&clkParams);
+    clkParams.period = 0;
+    clkParams.startFlag = FALSE;
+    UartClock = Clock_create(UartClockHandle, 0, &clkParams, NULL);
+
+//    ROM_UARTIntEnable(UART_BASE, /*UART_INT_TX |*/ UART_INT_RX );
+    ROM_UARTIntEnable(UART_BASE, (UART_INT_RT |  UART_INT_RX));
+//    ROM_UARTIntEnable(UART_BASE, (UART_INT_OE | UART_INT_BE | UART_INT_PE |
 //          UART_INT_FE | UART_INT_RT /*| UART_INT_TX */| UART_INT_RX));
 
-    ROM_UARTEnable(UART0_BASE);
+    ROM_UARTEnable(UART_BASE);
 
-    UARTFIFODisable(UART0_BASE);
+    UARTFIFODisable(UART_BASE);
     //
     // Enable interrupts now that the application is ready to start.
     //
-    ROM_IntEnable(INT_UART0);
+    ROM_IntEnable(UART_INT);
 
     ROM_IntMasterEnable();
 }
@@ -147,19 +177,19 @@ void Init_U0(void)
 //*****************************************************************************
 void UART_ResetBuffers(void)
 {
-     ROM_UARTIntClear(UART0_BASE, ROM_UARTIntStatus(UART0_BASE, false));
+     ROM_UARTIntClear(UART_BASE, ROM_UARTIntStatus(UART_BASE, false));
      /*
      UartResetProcess = true;
-     while (UARTCharsAvail(UART0_BASE)) //empty rx buffer
+     while (UARTCharsAvail(UART_BASE)) //empty rx buffer
      {
          ;
      }
-     ROM_UARTDisable(UART0_BASE);
+     ROM_UARTDisable(UART_BASE);
      U0_expected_message_size = 0;
      U0_current_message_size = 0;
      U0_size_bar = 0;
      SysCtlDelay(200000);
-     ROM_UARTEnable(UART0_BASE);
+     ROM_UARTEnable(UART_BASE);
      UartResetProcess = false;
      */
 }
@@ -176,7 +206,7 @@ void UARTIntHandler(UArg arg0)
     //
     // Get the interrrupt status.
     //
-    ui32Status = ROM_UARTIntStatus(UART0_BASE, true);
+    ui32Status = ROM_UARTIntStatus(UART_BASE, true);
 //    if (ui32Status&UART_INT_OE)  uart_INT_OECounter++;
 //    if (ui32Status&UART_INT_BE)  uart_INT_BECounter++;
 //    if (ui32Status&UART_INT_PE)  uart_INT_PECounter++;
@@ -187,13 +217,13 @@ void UARTIntHandler(UArg arg0)
     //
     // Clear the asserted interrupts.
     //
-    ROM_UARTIntClear(UART0_BASE, ui32Status);
+    ROM_UARTIntClear(UART_BASE, ui32Status);
 
-     while(ROM_UARTCharsAvail(UART0_BASE))
+     while(ROM_UARTCharsAvail(UART_BASE))
     {
          if (U0_expected_message_size == 0)
          {
-             size[U0_size_bar++] = (char)ROM_UARTCharGetNonBlocking(UART0_BASE);
+             size[U0_size_bar++] = (char)ROM_UARTCharGetNonBlocking(UART_BASE);
              Uart_rx_TotalCounter++;
              if (U0_size_bar == 4)
              {
@@ -213,13 +243,15 @@ void UARTIntHandler(UArg arg0)
          else
          {
 
-                 ui8Char = (char)ROM_UARTCharGetNonBlocking(UART0_BASE);
+                 ui8Char = (char)ROM_UARTCharGetNonBlocking(UART_BASE);
                  Uart_rx_TotalCounter++;
                  insertArray(ui8Char);
                  U0_current_message_size++;
 
              if (U0_current_message_size == U0_expected_message_size)
              {
+                 Clock_setTimeout(UartClock, UartClockTimeout);
+                 Clock_start(UartClock);
                  Uart_rx_Counter+=(4+U0_current_message_size);
                  CommunicationTaskMessageReceived(U0_current_message_size);
                  U0_expected_message_size = 0;
@@ -253,18 +285,18 @@ uint32_t Uart_Tx(char *buffer,size_t length)
     Uart_tx_Counter+=(4+length);
     while (i < 4)
     {
-        if (ROM_UARTSpaceAvail(UART0_BASE))
+        if (ROM_UARTSpaceAvail(UART_BASE))
         {
-            ROM_UARTCharPut(UART0_BASE,size[i++]);
+            ROM_UARTCharPut(UART_BASE,size[i++]);
         }
 
     }
 
     while ((sentlength < length) && (UartResetProcess==false))
     {
-        if (ROM_UARTSpaceAvail(UART0_BASE))
+        if (ROM_UARTSpaceAvail(UART_BASE))
         {
-            ROM_UARTCharPut(UART0_BASE,buffer[sentlength++]);
+            ROM_UARTCharPut(UART_BASE,buffer[sentlength++]);
         }
 
     }
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 9ea2c3ed8..3c7b9847a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -220,6 +220,7 @@ uint32_t FPGA_GetDispenserValveBusyOCD(uint32_t ValveId, uint32_t dummy) // Mill
 }
 void FPGA_GetAllDispensersValveBusyOCD() // MillisecLoop
 {
+#ifndef EVALUATION_BOARD
     VALVE_BUSY_REG Valve_Busy_Reg;
 
     Valve_Busy_Reg.ushort = F2_DISPENSER_VALVE_IN_Direct;
@@ -248,6 +249,7 @@ void FPGA_GetAllDispensersValveBusyOCD() // MillisecLoop
 
     ValveRsponse[VALVE_DISPENSER_8].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_8;
     ValveRsponse[VALVE_DISPENSER_8].Busy = Valve_Busy_Reg.bits.Valve_busy_7;
+#endif
 }
 
 void EnableDisableDispenserValve(Valves_t Valve_Id, bool EnableOrDisable )
@@ -290,6 +292,7 @@ void EnableDisableDispenserValve(Valves_t Valve_Id, bool EnableOrDisable )
 //
 void EnableDisableAllDispensersValves(bool EnableOrDisable )
 {
+#ifndef EVALUATION_BOARD
     if(EnableOrDisable == ENABLE)
     {
         F2_DISPENSER_VALVE_OUT |= MASK_HIGH_BYTE_IN_WORD;
@@ -298,7 +301,7 @@ void EnableDisableAllDispensersValves(bool EnableOrDisable )
     {
        F2_DISPENSER_VALVE_OUT &= ~MASK_HIGH_BYTE_IN_WORD;
     }
-
+#endif
 }
 
 void Valve_Set(Valves_t Valve_Id, bool Direction)
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 85098f001..7eaf78fb5 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -15,9 +15,9 @@ var GIO = xdc.useModule('ti.sysbios.io.GIO');
 var Semaphore = xdc.useModule('ti.sysbios.knl.Semaphore');
 var Task = xdc.useModule('ti.sysbios.knl.Task');
 
-BIOS.heapSize = 48767;
-Memory.defaultHeapSize = 48767;
-Program.heap = 48767;
+BIOS.heapSize = 30767;   // bios heapmem
+//Memory.defaultHeapSize = 48767;
+Program.heap = 16767;  //sysmem
 
 Clock.timerId = 7;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index e2ff16d5a..cc0d00f20 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -387,14 +387,14 @@ uint32_t MillisecLoop(uint32_t tick)
     {
         Speed_Data = Read_Speed_Sensor();
     }
-/*    if (Tick98)
+    /*if (Tick98)
     {
         MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING);
         MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING);
         MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING);
         MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_WINDER);
         MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    }/*
+    }*/
     if (Hundred_msTick)
     {
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 60322b4d7..6a9735c13 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -293,8 +293,10 @@ uint32_t ControlLoop(uint32_t tick)
     bool Ten_msTick, Hundred_msTick, Onesecond_Tick,Tick98,Tick998;
     Ten_msTick      =   (tick%eTenMillisecond == 0)      ?true:false;
     Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
+//    Hundred_msTick  =   (tick%200 == 0)  ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
-    Tick98          =   (tick%eHundredMillisecond == 99) ?true:false;
+    Tick98          =   (tick%eHundredMillisecond == 98) ?true:false;
+//    Tick98          =   (tick%200 == 199) ?true:false;
     Tick998         =   (tick%eOneSecond == 996)         ?true:false;
 
     //ROM_IntMasterDisable();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index d37015b61..3a0b25ba8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -2,7 +2,6 @@
 #ifndef MODULES_THREAD_THREAD_H_
 #define MODULES_THREAD_THREAD_H_
 
-#include "../../Drivers/SSI_Comm/SSI_Comm.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
@@ -14,6 +13,8 @@
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
 #include "drivers/Motors/Motor.h"
+#include "drivers/Danser_SSI/ssi_comm.h"
+
 #include "thread_ex.h"
 
 typedef struct
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 89a85221d..fbf5cb811 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -566,13 +566,17 @@ 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].has_directionthreadwize)
+    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0)
+    {
         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].has_directionthreadwize)
+        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2);
+    }
+    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0)
+    {
         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
+        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2);
+    }
+ //#warning rocker disabled
 
 //    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO