Add support for multi BTSR ultra feeders

5 files changed, 221 insertions, 230 deletions

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 c37bbc437..4b343a383 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
@@ -122,7 +122,7 @@ LS_DISPENSER_7_8 LS_Dispenser_7_8;
 LS_DRYER_DH Ls_Dryer_Dh;
 F3_LS_01 LS_Spare;
 
-void FPGA_Read_LS_Safty_Ind_Reg()
+void FPGA_Read_LS_Safty_Ind_Reg()//MillisecLoop
 {
    // uint8_t temp[8] = {0,0,0,0,0,0,0,0},i;
 #ifndef EVALUATION_BOARD
diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
index 118891a39..54296e0dc 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
@@ -40,9 +40,8 @@ static uint32_t GlobalClk;
 uint8_t BTSR_RX_Buff[Max_BTSR_RX_Bytes];
 uint16_t  TX_Timeout = 0xFFFF;//6250
 uint16_t  RX_Timeout = 0xFFFF;//1
-float BTSR_Length = 0;
 
-#define BTSR_RADIUS 3 //TBD ?
+BTSR_t BTSR[MaxUFeeders];
 
 typedef enum
 {
@@ -80,7 +79,6 @@ void U4RX()
 
 void uart4_intHandler()
 {
-    //static uint8_t nop = 0;
     //Get interrupt flags
     unsigned long status = UARTIntStatus(UART4_BASE, 1);
 
@@ -409,56 +407,6 @@ uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size)
     return TxResult;
 }
 
-
-/*
-uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size)
-{
-    int TxResult = 0;
-    uint8_t i = 1;//change to ADD0 and send the rest of bytes (1..Size)
-    const uint8_t Save_Size = size;
-
-    BTSR_Change_Comm_Mode(TX_FIRST_BYTE);
-    Task_sleep (eOneMillisecond);
-    TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[0]);
-
-    BTSR_Change_Comm_Mode(TX_NOT_FIRST_BYTE);
-    Task_sleep (eOneMillisecond);
-
-    while(size)
-    {
-        if(size <= 16) //FIFO is working for data up to 16 bytes
-        {
-            for(; i < Save_Size; i++)
-            {
-                TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
-            }
-            size = 0;// all sent
-        }
-        else
-        {
-            for(; i < 16; i++)
-            {
-                TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
-            }
-            size -= 16;
-        }
-
-        while(HWREG(UART4_BASE + UART_O_FR) & UART_FR_BUSY)//UARTFR
-        {
-            if(TX_Timeout)
-            {
-                TX_Timeout--;
-            }
-            else
-                return ERROR;
-        }
-    }
-
-    UART4_RS485_Direction(RX);
-
-    return TxResult;
-}
-*/
 uint8_t BTSR_Send_Buf_3xADD1(uint8_t *Buf, uint8_t size)//Only for commands with 3 bytes with Address 1 (0x06/0xFD)
 {
     int TxResult = 0;
@@ -634,50 +582,16 @@ uint8_t BTSR_Read_Status(uint8_t BTSR_Id, uint8_t Application, uint8_t Yarn_Type
 //----------------------------------------------------------------------------------------------------------------
 //----------------------------------------------------------------------------------------------------------------
 
-//BTSR_ALARM_AND_ENABLING_STATUS_READ
-typedef struct
-{
-    bool D0 : 1;//0
-    bool D1 : 1;//1
-    bool D2 : 1;//2
-    bool D3 : 1;//3
-    bool D4 : 1;//4
-    bool D5 : 1;//5
-    bool D6 : 1;//6
-    bool D7 : 1;//7
-}BITS;
 
 
-typedef union
-{
-    BITS Bit[6];
-    uint8_t Byte[6];
-}BTSR_ALARM_AND_ENABLING_STATUS_READ;
 
 
-typedef union
-{
-    struct
-    {
-        uint8_t SW_VERSION;//0XDE
-        uint8_t SW_UNDER_VERSION;//0X01
-        uint8_t BYTE_U0X55;//0X55
-        uint8_t BYTE_F0X46;//0X46
-        uint8_t PRODUCT_CODE;//0X13
-        uint8_t TENSION_SENSOR_END_SCALE;//0X65
-        uint8_t BOARD_HW_VERSION;//0X02
-        uint8_t BOOTLOADER_SW_VERSION;//0X0A
-        uint8_t BYTE_0X32;//0X32
-        uint8_t SPARE;//0X00
-        uint8_t CHECKSUM_LSB;//0X60
-        uint8_t CHECKSUM_MSB;//0X01
-    }Byte;
-uint8_t Buf[12];
-}BTSR_DEVICE_INFORMATION_READ;
 
 
-BTSR_ALARM_AND_ENABLING_STATUS_READ BTSR_Status;
-BTSR_DEVICE_INFORMATION_READ BTSR_Info;
+
+
+//BTSR_ALARM_AND_ENABLING_STATUS_READ BTSR_Status;
+//BTSR_DEVICE_INFORMATION_READ BTSR_Info;
 
 typedef union
 {
@@ -726,11 +640,11 @@ typedef union
         uint32_t TARGET          ;
         uint16_t TENSION_ERROR   ;
         uint16_t ALARM_TIME      ;
-        uint8_t  SPARE1[2]        ;
+        uint8_t  SPARE1[2]       ;
         uint8_t  ALARM_ENABLING  ;
         uint8_t  TARGET_ENABLING ;
         uint8_t  RELAX_YARN_SPEED;
-        uint8_t  SPARE2[6]        ;
+        uint8_t  SPARE2[6]       ;
 
         uint16_t CHECKSUM        ;
     }Byte;
@@ -739,15 +653,15 @@ uint8_t Buf[39];
 
 BTSR_ADVANCED_TENSION_PROGRAMMING BTSR_Adv_Tension_Prog;
 
-void BTSR_Configuration_Set(uint8_t UFeeder_ID)
+void BTSR_Configuration_Set(UFeeder_Index UFeeder_i)//15
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x36;
-    BTSR_TX_Buff[2] = 0x80;//CCW
+    BTSR_TX_Buff[2] = BTSR[UFeeder_i].DirectionCCW << 7;
     BTSR_TX_Buff[3] = 0x01;//YYT OFF, UNICO OFF
-    BTSR_TX_Buff[4] = 0x40;//FLIP DISPLAY
+    BTSR_TX_Buff[4] = BTSR[UFeeder_i].Flip_Display << 6;
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,18);
 
@@ -755,7 +669,7 @@ void BTSR_Configuration_Set(uint8_t UFeeder_ID)
 
 }
 
-void BTSR_Advanced_Style_Load(uint8_t UFeeder_ID, uint16_t Tension, uint16_t Tension_Error, uint16_t Time_Alarm, BTSR_APPLICATION Application, BTSR_YARN_TYPE YarnType )
+void BTSR_Advanced_Style_Load(UFeeder_Index UFeeder_i)
 {
     //memset(BTSR_AdvStyle_Load.Buf, 0, Size);
     /*
@@ -777,20 +691,20 @@ void BTSR_Advanced_Style_Load(uint8_t UFeeder_ID, uint16_t Tension, uint16_t Ten
 
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x4B;
 
-    BTSR_TX_Buff[2] = 0xCD;//1
-    BTSR_TX_Buff[3] = 0x00;//2
+    BTSR_TX_Buff[2] = BTSR[UFeeder_i].Tension & 0XFF;//1
+    BTSR_TX_Buff[3] = BTSR[UFeeder_i].Tension >> 8;//2
 
-    BTSR_TX_Buff[10] = 0x02;//9
-    BTSR_TX_Buff[11] = 0x00;//10
-    BTSR_TX_Buff[12] = 0x04;//11
-    BTSR_TX_Buff[13] = 0x00;//12
+    BTSR_TX_Buff[10] = BTSR[UFeeder_i].Tension_Err & 0XFF;//9
+    BTSR_TX_Buff[11] = BTSR[UFeeder_i].Tension_Err >> 8;//10
+    BTSR_TX_Buff[12] = BTSR[UFeeder_i].Alarm_Time & 0XFF;//11
+    BTSR_TX_Buff[13] = BTSR[UFeeder_i].Alarm_Time >> 8;//12
 
 
-    BTSR_TX_Buff[15] = FLAT_KNIT;//14
-    BTSR_TX_Buff[16] = ALL_YARNS2;//15
+    BTSR_TX_Buff[15] = BTSR[UFeeder_i].Application;//14
+    BTSR_TX_Buff[16] = BTSR[UFeeder_i].Yarn_Type;//15
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,23);
 
@@ -798,22 +712,22 @@ void BTSR_Advanced_Style_Load(uint8_t UFeeder_ID, uint16_t Tension, uint16_t Ten
 
 }
 
-void BTSR_Advanced_Tension_Prog(uint8_t UFeeder_ID, uint16_t Tension, uint16_t Tension_Error, uint16_t Time_Alarm )
+void BTSR_Advanced_Tension_Prog(UFeeder_Index UFeeder_i )
 {
 
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x39;
 
-    BTSR_TX_Buff[4] = Tension & 0XFF;//3
-    BTSR_TX_Buff[5] = Tension >> 8;//4
+    BTSR_TX_Buff[4] = BTSR[UFeeder_i].Tension & 0XFF;//3
+    BTSR_TX_Buff[5] = BTSR[UFeeder_i].Tension >> 8;//4
 
-    BTSR_TX_Buff[22] = Tension_Error & 0XFF;//21
-    BTSR_TX_Buff[23] = Tension_Error >> 8;//22
+    BTSR_TX_Buff[22] = BTSR[UFeeder_i].Tension_Err & 0XFF;//21
+    BTSR_TX_Buff[23] = BTSR[UFeeder_i].Tension_Err >> 8;//22
 
-    BTSR_TX_Buff[24] = Time_Alarm & 0XFF;//23
-    BTSR_TX_Buff[25] = Time_Alarm >> 8;//24
+    BTSR_TX_Buff[24] = BTSR[UFeeder_i].Alarm_Time & 0XFF;//23
+    BTSR_TX_Buff[25] = BTSR[UFeeder_i].Alarm_Time >> 8;//24
 
     BTSR_TX_Buff[28] = 0x01;//27  ‘1’ TENSION ERROR ENABLED
 
@@ -822,15 +736,15 @@ void BTSR_Advanced_Tension_Prog(uint8_t UFeeder_ID, uint16_t Tension, uint16_t T
     BTSR_Send_Buf(BTSR_TX_Buff,39);
 }
 
-void BTSR_Application_Yarn_Type_Set(uint8_t BTSR_Id, BTSR_APPLICATION Application, BTSR_YARN_TYPE Yarn_Type )
+void BTSR_Application_Yarn_Type_Set(UFeeder_Index UFeeder_i)
 {
     //APPLICATION_AND_YARN_TYPOLOGY_SET_27
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = BTSR_Id;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x3F;
-    BTSR_TX_Buff[2] = Application;
-    BTSR_TX_Buff[3] = Yarn_Type;
+    BTSR_TX_Buff[2] = BTSR[UFeeder_i].Application;
+    BTSR_TX_Buff[3] = BTSR[UFeeder_i].Yarn_Type;
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,4);
 
@@ -838,16 +752,17 @@ void BTSR_Application_Yarn_Type_Set(uint8_t BTSR_Id, BTSR_APPLICATION Applicatio
 }
 
 
-void BTSR_Status_Reset(uint8_t UFeeder_ID)//35
+void BTSR_Status_Reset(UFeeder_Index UFeeder_i)//35
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x27;
+
     BTSR_TX_Buff[2] = 0x07;//RESET_0
     BTSR_TX_Buff[3] = 0x00;//RESET_1
     BTSR_TX_Buff[4] = 0x00;//SPARE
-    BTSR_TX_Buff[4] = 0x00;//SPARE
+    BTSR_TX_Buff[5] = 0x00;//SPARE
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,6);
 
@@ -855,11 +770,11 @@ void BTSR_Status_Reset(uint8_t UFeeder_ID)//35
 
 }
 
-void BTSR_Errors_Counter_Reset(uint8_t UFeeder_ID)//36
+void BTSR_Errors_Counter_Reset(UFeeder_Index UFeeder_i)//36
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x29;
     BTSR_TX_Buff[2] = 0x00;//00 - RESETS ALL THE COUNTERS
 
@@ -869,11 +784,11 @@ void BTSR_Errors_Counter_Reset(uint8_t UFeeder_ID)//36
 
 }
 
-void BTSR_Meters_Total_Counter_Reset(uint8_t UFeeder_ID , uint8_t Resolution)//37/39/41
+void BTSR_Meters_Total_Counter_Reset(UFeeder_Index UFeeder_i , uint8_t Resolution)//37/39/41
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
 
     if(Resolution == LOW)
         BTSR_TX_Buff[1] = 0x06;
@@ -889,11 +804,11 @@ void BTSR_Meters_Total_Counter_Reset(uint8_t UFeeder_ID , uint8_t Resolution)//3
     BTSR_Send_Buf(BTSR_TX_Buff, 4);
 }
 
-void BTSR_Info_Read(uint8_t UFeeder_ID)
+void BTSR_Info_Read(UFeeder_Index UFeeder_i)
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x3E;
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
@@ -902,11 +817,11 @@ void BTSR_Info_Read(uint8_t UFeeder_ID)
 
 }
 
-void BTSR_Meters_Total_Counter_Read(uint8_t UFeeder_ID , uint8_t Resolution)//37/39/41
+void BTSR_Meters_Total_Counter_Read(UFeeder_Index UFeeder_i , uint8_t Resolution)//37/39/41
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
 
     if(Resolution == LOW)
         BTSR_TX_Buff[1] = 0x16;
@@ -922,11 +837,11 @@ void BTSR_Meters_Total_Counter_Read(uint8_t UFeeder_ID , uint8_t Resolution)//37
     BTSR_Send_Buf(BTSR_TX_Buff, 4);
 }
 
-void BTSR_Alarm_and_Enabling_Status_Read(uint8_t UFeeder_ID)//30
+void BTSR_Alarm_and_Enabling_Status_Read(UFeeder_Index UFeeder_i)//30
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
-    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[0] = BTSR[UFeeder_i].ID;
     BTSR_TX_Buff[1] = 0x1C;
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
@@ -934,40 +849,7 @@ void BTSR_Alarm_and_Enabling_Status_Read(uint8_t UFeeder_ID)//30
     BTSR_Send_Buf(BTSR_TX_Buff, 4);
 }
 
-typedef enum
-{
-    //BTSR_READ
-    DEVICE_INFORMATION_READ_10               ,
-    ADVANCED_PROGRAMMING_READ_18             ,
-    ADVANCED_TENSION_READ_23                 ,
-    APPLICATION_AND_YARN_TYPOLOGY_READ_28    ,
-    ALARM_AND_ENABLING_STATUS_READ_30        ,
-    PC_LINK_READ_32                          ,
-    METERS_TOTAL_COUNTER_READ_LOW_37         ,
-    METERS_TOTAL_COUNTER_READ_HIGH_39        ,
-    METER_TOTAL_COUNTER_READ_HIGHEST_41      ,
-    MAX_BTSR_READ                            ,
 
-    //BTSR_SET
-    //return 0xFA/0xFB/0xF9
-    DEVICE_CALIBRATION_11                    ,
-    BAUDRATE_SET_13                          ,
-    DISPLAY_LANGUAGE_SET_14                  ,
-    CONFIGURATION_SET_15                     ,
-    ADVANCED_CONFIGURATION_SET_17            ,
-    INPUT_CURRENT_CONTROL_SET_20             ,
-    ADVANCED_TENSION_PROGRAMMING_21          ,
-    ADVANCED_STYLE_LOAD_25                   ,
-    APPLICATION_AND_YARN_TYPOLOGY_SET_27     ,
-    WORK_TENSION_AND_OPERATION_STATUS_SET_29 ,
-    ALARM_STATUS_RESET_35                    ,
-    RESETS_ALL_THE_COUNTERS_36               ,
-    //return device + Function code
-    METERS_TOTAL_COUNTER_RESET_LOW_38        ,
-    METERS_TOTAL_COUNTER_RESET_HIGH_40       ,
-    METERS_TOTAL_COUNTER_RESET_HIGHEST_42    ,
-    MAX_BTSR_SET
-}BTSR_CMD;
 
 typedef union
 {
@@ -988,23 +870,22 @@ BTSR_METERS BTSR_Meters;
 #define Get_Read_resp 7
 #define Read_Command 8
 
-uint8_t BTSR_command_Stage[MAX_BTSR_SET];
-
-uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
+uint8_t BTSR_State_Machine(UFeeder_Index UFeeder_i)
 {
     uint8_t status = OK;
     uint8_t i,j;
+    float temp = 0.0;
 
     //BTSR_Init();
 
     for(i = DEVICE_CALIBRATION_11; i < MAX_BTSR_SET; i++)
     {
-        if(BTSR_command_Stage[i] == Get_Set_resp)
+        if(BTSR[UFeeder_i].Command[i] == Get_Set_resp)
         {
             if((i >= DEVICE_CALIBRATION_11) && (i <= RESETS_ALL_THE_COUNTERS_36) && (BTSR_RX_Buff[0] != BTSR_RISP_OK))
             {
                     status = ERROR;
-                    BTSR_command_Stage[i] = BTSR_RX_Buff[0];
+                    BTSR[UFeeder_i].Command[i] = BTSR_RX_Buff[0];
                     //print response + command ID
             }
             else if(((i == METERS_TOTAL_COUNTER_RESET_LOW_38)     && (BTSR_RX_Buff[1] != 0x06)) ||
@@ -1012,43 +893,43 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
                     ((i == METERS_TOTAL_COUNTER_RESET_HIGHEST_42) && (BTSR_RX_Buff[1] != 0x48))   )
             {
                     status = ERROR;
-                    BTSR_command_Stage[i] = BTSR_RX_Buff[1];
+                    BTSR[UFeeder_i].Command[i] = BTSR_RX_Buff[1];
                     //print response + command ID
             }
             else//print response + command ID
-                BTSR_command_Stage[i] = BTSR_RX_Buff[0];//OK;
+                BTSR[UFeeder_i].Command[i] = BTSR_RX_Buff[0];//OK;
         }
 
-        if(BTSR_command_Stage[i] == Set_Command)
+        if(BTSR[UFeeder_i].Command[i] == Set_Command)
         {
             switch(i)
             {
                 case CONFIGURATION_SET_15:
-                    BTSR_Configuration_Set(UFeeder_ID);
+                    BTSR_Configuration_Set(UFeeder_i);
                 break;
                 case ADVANCED_TENSION_PROGRAMMING_21:
-                    BTSR_Advanced_Tension_Prog(0x01, 0x0101, 0x0101, 0x0101 );
+                    BTSR_Advanced_Tension_Prog(UFeeder_i);
                 break;
                 case APPLICATION_AND_YARN_TYPOLOGY_SET_27:
-                    BTSR_Application_Yarn_Type_Set(0x01, SHOES, ELASTIC2 );
+                    BTSR_Application_Yarn_Type_Set(UFeeder_i);
                 break;
                 case ALARM_STATUS_RESET_35:
-                    BTSR_Status_Reset(0x01);
+                    BTSR_Status_Reset(UFeeder_i);
                 break;
                 case RESETS_ALL_THE_COUNTERS_36:
-                    BTSR_Errors_Counter_Reset(0x01);
+                    BTSR_Errors_Counter_Reset(UFeeder_i);
                 break;
                 case METERS_TOTAL_COUNTER_RESET_LOW_38:
-                    BTSR_Meters_Total_Counter_Reset(UFeeder_ID, LOW);
+                    BTSR_Meters_Total_Counter_Reset(UFeeder_i, LOW);
                 break;
                 case METERS_TOTAL_COUNTER_RESET_HIGH_40:
-                    BTSR_Meters_Total_Counter_Reset(UFeeder_ID, HIGH);
+                    BTSR_Meters_Total_Counter_Reset(UFeeder_i, HIGH);
                 break;
                 case METERS_TOTAL_COUNTER_RESET_HIGHEST_42:
-                    BTSR_Meters_Total_Counter_Reset(UFeeder_ID, HIGHEST);
+                    BTSR_Meters_Total_Counter_Reset(UFeeder_i, HIGHEST);
                 break;
             }
-            BTSR_command_Stage[i] = Get_Set_resp;
+            BTSR[UFeeder_i].Command[i] = Get_Set_resp;
             return status;//Only one command in cycle
         }
     }
@@ -1056,62 +937,66 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
 
     for(i = DEVICE_INFORMATION_READ_10; i < MAX_BTSR_READ; i++)
     {
-        if(BTSR_command_Stage[i] == Get_Read_resp)
+        if(BTSR[UFeeder_i].Command[i] == Get_Read_resp)
         {
             // Add CRC check
             if(i == ALARM_AND_ENABLING_STATUS_READ_30)
             {
                 for(j = 0; j < 6; j++)
-                    BTSR_Status.Byte[j] = BTSR_RX_Buff[j];
+                    BTSR[UFeeder_i].Status.Byte[j] = BTSR_RX_Buff[j];
             }
             else
             if(i == DEVICE_INFORMATION_READ_10)
             {
-                for(j = 0; j < 20; j++)
-                    BTSR_Info.Buf[j] = BTSR_RX_Buff[j];
-                status |= Check_Received_CheckSum(UFeeder_ID, 0x3E, BTSR_Info.Buf, 20);
-                ReportWithPackageFilter(ThreadFilter,"BTSR VERSION",__FILE__,UFeeder_ID,(BTSR_Info.Byte.BOARD_HW_VERSION << 8) | BTSR_Info.Byte.BOOTLOADER_SW_VERSION,RpMessage,(BTSR_Info.Byte.SW_VERSION << 8) | BTSR_Info.Byte.SW_UNDER_VERSION,0);
+                for(j = 0; j < 12; j++)
+                    BTSR[UFeeder_i].Info.Buf[j] = BTSR_RX_Buff[j];
+                status |= Check_Received_CheckSum(BTSR[UFeeder_i].ID, 0x3E, BTSR[UFeeder_i].Info.Buf, 12);
+                ReportWithPackageFilter(ThreadFilter,"BTSR VERSION",__FILE__,UFeeder_i,(BTSR[UFeeder_i].Info.Byte.BOARD_HW_VERSION << 8) | BTSR[UFeeder_i].Info.Byte.BOOTLOADER_SW_VERSION,RpMessage,(BTSR[UFeeder_i].Info.Byte.SW_VERSION << 8) | BTSR[UFeeder_i].Info.Byte.SW_UNDER_VERSION,0);
             }
+            else
             if((i == METERS_TOTAL_COUNTER_READ_LOW_37) || (i == METERS_TOTAL_COUNTER_READ_HIGH_39) || (i == METER_TOTAL_COUNTER_READ_HIGHEST_41))
             {
                 for(j = 0; j < 6; j++)
                     BTSR_Meters.Buf[j] = BTSR_RX_Buff[j];
-                status |= Check_Received_CheckSum(UFeeder_ID, 0x16, BTSR_Meters.Buf, 6);
+                status |= Check_Received_CheckSum(BTSR[UFeeder_i].ID, 0x16, BTSR_Meters.Buf, 6);
 
-                BTSR_Length  = (float)(BTSR_Meters.Data.Uint32) * PI * BTSR_RADIUS;
+                temp  = (float)(BTSR_Meters.Data.Uint32) * PI * BTSR[UFeeder_i].Radius_Meter;
                 if(i == METERS_TOTAL_COUNTER_READ_HIGH_39)
-                    BTSR_Length/=12.0;
+                    temp /=12.0;
                 else
                 if(i == METER_TOTAL_COUNTER_READ_HIGHEST_41)
-                    BTSR_Length/=750.0;
+                    temp /=750.0;
+
+                BTSR[UFeeder_i].LengthInMeter  = temp;
             }
 
             memset(BTSR_RX_Buff, 0, Max_BTSR_RX_Bytes);
-            BTSR_command_Stage[i] = 0;
+            BTSR[UFeeder_i].Command[i] = BTSR_RISP_OK;
         }
+        //else//?
 
-        if(BTSR_command_Stage[i] == Read_Command)
+        if(BTSR[UFeeder_i].Command[i] == Read_Command)
         {
             switch(i)
             {
                 case ALARM_AND_ENABLING_STATUS_READ_30:
-                    BTSR_Alarm_and_Enabling_Status_Read(UFeeder_ID);
+                    BTSR_Alarm_and_Enabling_Status_Read(UFeeder_i);
                 break;
                 case DEVICE_INFORMATION_READ_10:
-                    BTSR_Info_Read(UFeeder_ID);
+                    BTSR_Info_Read(UFeeder_i);
                 break;
                 case METERS_TOTAL_COUNTER_READ_LOW_37:
-                    BTSR_Meters_Total_Counter_Read(UFeeder_ID, LOW);
+                    BTSR_Meters_Total_Counter_Read(UFeeder_i, LOW);
                 break;
                 case METERS_TOTAL_COUNTER_READ_HIGH_39:
-                    BTSR_Meters_Total_Counter_Read(UFeeder_ID, HIGH);
+                    BTSR_Meters_Total_Counter_Read(UFeeder_i, HIGH);
                 break;
                 case METER_TOTAL_COUNTER_READ_HIGHEST_41:
-                    BTSR_Meters_Total_Counter_Read(UFeeder_ID, HIGHEST);
+                    BTSR_Meters_Total_Counter_Read(UFeeder_i, HIGHEST);
                 break;
             }
 
-            BTSR_command_Stage[i] = Get_Read_resp;
+            BTSR[UFeeder_i].Command[i] = Get_Read_resp;
             return status;//Only one command in cycle
         }
     }
@@ -1120,36 +1005,37 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
 }
 
 
-void BTSR_Init()
+void BTSR_Settings(UFeeder_Index UFeeder_i, uint8_t Application, uint8_t Yarn_Type, uint16_t Tension, uint16_t Tension_Err, uint16_t Alarm_Time, uint8_t Length_Resolution )
 {
-    //if( BTSR_command_Stage[CONFIGURATION_SET_15] == 0)
-    BTSR_command_Stage[CONFIGURATION_SET_15] = Set_Command;
-    BTSR_command_Stage[DEVICE_INFORMATION_READ_10] = Read_Command;
-
-    /////////////////////////////////////// test ////////////////////////
-
-    BTSR_command_Stage[ADVANCED_TENSION_PROGRAMMING_21] = Set_Command;//test
+    BTSR[UFeeder_i].Application = SHOES;
+    BTSR[UFeeder_i].Yarn_Type = ALL_YARNS3;
+    BTSR[UFeeder_i].Tension = Tension;
+    BTSR[UFeeder_i].Tension_Err = Tension_Err;
+    BTSR[UFeeder_i].Alarm_Time = Alarm_Time;
+    BTSR[UFeeder_i].Length_Resolution = Length_Resolution;
 
-    BTSR_command_Stage[APPLICATION_AND_YARN_TYPOLOGY_SET_27] = Set_Command;//test
-
-    //if( BTSR_command_Stage[ALARM_AND_ENABLING_STATUS_READ_30] == 0)
-    BTSR_command_Stage[ALARM_AND_ENABLING_STATUS_READ_30] = Read_Command;
-
-    BTSR_command_Stage[ALARM_STATUS_RESET_35] = Set_Command;//test
-
-    BTSR_command_Stage[RESETS_ALL_THE_COUNTERS_36] = Set_Command;//test
-
-    BTSR_command_Stage[METER_TOTAL_COUNTER_READ_HIGHEST_41] = Set_Command;//test
-
-    BTSR_command_Stage[METERS_TOTAL_COUNTER_RESET_HIGHEST_42] = Set_Command;//test
+    BTSR[UFeeder_i].Command[ADVANCED_TENSION_PROGRAMMING_21] = Set_Command;
+    BTSR[UFeeder_i].Command[APPLICATION_AND_YARN_TYPOLOGY_SET_27] = Set_Command;
+    BTSR[UFeeder_i].Command[ALARM_AND_ENABLING_STATUS_READ_30] = Read_Command;
+    BTSR[UFeeder_i].Command[ALARM_STATUS_RESET_35] = Set_Command;
+    BTSR[UFeeder_i].Command[RESETS_ALL_THE_COUNTERS_36] = Set_Command;
+    BTSR[UFeeder_i].Command[METER_TOTAL_COUNTER_READ_HIGHEST_41] = Set_Command;
+    BTSR[UFeeder_i].Command[METERS_TOTAL_COUNTER_RESET_HIGHEST_42] = Set_Command;
 }
 
 
 
-//void BTSR_Test()
-//{
-//    BTSR_Advanced_Style_Load(0x01, 0xABCD, 0x0102, 0x0304, FLAT_KNIT, ALL_YARNS2 );
-//}
+void BTSR_Init()
+{
+   //RUFeeder1
+    BTSR[RUFeeder1].ID = 0x01;
+    BTSR[RUFeeder1].Flip_Display = true;
+    BTSR[RUFeeder1].DirectionCCW = true;
+    BTSR[RUFeeder1].Radius_Meter = 0.03;//need to update the correct value
 
+    BTSR[RUFeeder1].Command[CONFIGURATION_SET_15] = Set_Command;
+    BTSR[RUFeeder1].Command[DEVICE_INFORMATION_READ_10] = Read_Command;
 
+    BTSR_Settings(RUFeeder1, SHOES, ALL_YARNS3, 1000, 10, 5, HIGHEST);//Test!!! ---  need to move to RML
+}
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
index 398c3cf25..984313c22 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
@@ -48,12 +48,117 @@ typedef enum
     BTSR_RISP_OUT_OF_RANFE = 0xF9,
 }BTSR_RISP_BYTE;
 
+typedef enum
+{
+    //BTSR_READ
+    DEVICE_INFORMATION_READ_10               ,//0
+    ADVANCED_PROGRAMMING_READ_18             ,//1
+    ADVANCED_TENSION_READ_23                 ,//2
+    APPLICATION_AND_YARN_TYPOLOGY_READ_28    ,//3
+    ALARM_AND_ENABLING_STATUS_READ_30        ,//4
+    PC_LINK_READ_32                          ,//5
+    METERS_TOTAL_COUNTER_READ_LOW_37         ,//6
+    METERS_TOTAL_COUNTER_READ_HIGH_39        ,//7
+    METER_TOTAL_COUNTER_READ_HIGHEST_41      ,//8
+    MAX_BTSR_READ                            ,//9
+
+    //BTSR_SET
+    //return 0xFA/0xFB/0xF9
+    DEVICE_CALIBRATION_11                    ,//10
+    BAUDRATE_SET_13                          ,//11
+    DISPLAY_LANGUAGE_SET_14                  ,//12
+    CONFIGURATION_SET_15                     ,//13
+    ADVANCED_CONFIGURATION_SET_17            ,//14
+    INPUT_CURRENT_CONTROL_SET_20             ,//15
+    ADVANCED_TENSION_PROGRAMMING_21          ,//16
+    ADVANCED_STYLE_LOAD_25                   ,//17
+    APPLICATION_AND_YARN_TYPOLOGY_SET_27     ,//18
+    WORK_TENSION_AND_OPERATION_STATUS_SET_29 ,//19
+    ALARM_STATUS_RESET_35                    ,//20
+    RESETS_ALL_THE_COUNTERS_36               ,//21
+    //return device + Function code
+    METERS_TOTAL_COUNTER_RESET_LOW_38        ,//22
+    METERS_TOTAL_COUNTER_RESET_HIGH_40       ,//23
+    METERS_TOTAL_COUNTER_RESET_HIGHEST_42    ,//24
+    MAX_BTSR_SET                              //25
+}BTSR_CMD;
+
+typedef enum
+{
+    RUFeeder1 = 0,
+    //RUFeeder2 = 1,
+    //RUFeeder3 = 2,
+    //RUFeeder4 = 3,
+
+    MaxUFeeders,
+}UFeeder_Index;
+
+//BTSR_ALARM_AND_ENABLING_STATUS_READ
+typedef struct
+{
+    bool D0 : 1;//0
+    bool D1 : 1;//1
+    bool D2 : 1;//2
+    bool D3 : 1;//3
+    bool D4 : 1;//4
+    bool D5 : 1;//5
+    bool D6 : 1;//6
+    bool D7 : 1;//7
+}BITS;
+
+
+typedef union
+{
+    BITS Bit[6];
+    uint8_t Byte[6];
+}BTSR_ALARM_AND_ENABLING_STATUS_READ;
+
+typedef union
+{
+    struct
+    {
+        uint8_t SW_VERSION;//0XDE
+        uint8_t SW_UNDER_VERSION;//0X01
+        uint8_t BYTE_U0X55;//0X55
+        uint8_t BYTE_F0X46;//0X46
+        uint8_t PRODUCT_CODE;//0X13
+        uint8_t TENSION_SENSOR_END_SCALE;//0X65
+        uint8_t BOARD_HW_VERSION;//0X02
+        uint8_t BOOTLOADER_SW_VERSION;//0X0A
+        uint8_t BYTE_0X32;//0X32
+        uint8_t SPARE;//0X00
+        uint8_t CHECKSUM_LSB;//0X60
+        uint8_t CHECKSUM_MSB;//0X01
+    }Byte;
+uint8_t Buf[12];
+}BTSR_DEVICE_INFORMATION_READ;
+
+typedef struct
+{
+    uint8_t  ID;
+    bool     DirectionCCW;
+    bool     Flip_Display;
+    float    Radius_Meter;
+    uint8_t  Command[MAX_BTSR_SET];
+    uint8_t  Application;
+    uint8_t  Yarn_Type;
+    uint16_t Tension;
+    uint16_t Tension_Err;
+    uint16_t Alarm_Time;
+    uint8_t  Length_Resolution;
+
+    float    LengthInMeter;
+    BTSR_ALARM_AND_ENABLING_STATUS_READ  Status;
+    BTSR_DEVICE_INFORMATION_READ Info;
+
+}BTSR_t;
+
 extern uint8_t BTSR_RX_Buff[Max_BTSR_RX_Bytes];
 
 unsigned long UARTStatus();
 bool BTSR_Change_Comm_Mode(uint8_t Mode);
-uint8_t BTSR_Auto_Identify(uint8_t BTSR_Id);//AUTOMATIC IDENTIFICATION PROCEDURE (IDENTIFY)
-uint8_t BTSR_Set_Parmeters(uint8_t BTSR_Id, uint8_t Application, uint8_t Yarn_Type );
+uint8_t BTSR_Auto_Identify(uint8_t BTSR_ID);//AUTOMATIC IDENTIFICATION PROCEDURE (IDENTIFY)
+uint8_t BTSR_Set_Parmeters(uint8_t BTSR_ID, uint8_t Application, uint8_t Yarn_Type );
 
 uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size);
 uint8_t BTSR_RECEIVE_Buf(uint8_t *Buf, uint8_t size);
@@ -62,7 +167,7 @@ uint8_t Check_Received_CheckSum(uint8_t CODE_STRING, uint8_t Function_Code, uint
 uint8_t BTSR_Send_Buf_3xADD1(uint8_t *Buf, uint8_t size);//Only for commands with 3 bytes with Address 1 (0x06/0xFD)
 void InitConsole_BTSR_UART4(int32_t ui32SysClock);
 
-uint8_t BTSR_State_Machine(uint8_t UFeeder_ID);
+uint8_t BTSR_State_Machine(UFeeder_Index UFeeder_i);
 void BTSR_Init();
 
 #endif /* DRIVERS_UART_COMM_BTSR_BTSR_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 9d784112e..13cd797a7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -734,7 +734,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
 
         #ifdef USE_UART4_FOR_BTSR
             //call every 100mSec
-            BTSR_State_Machine(0x01);
+            BTSR_State_Machine(RUFeeder1);
         #endif
     }
     if (Gradient_Tick)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/Safety.c b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
index a70866fd6..725316453 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/Safety.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
@@ -84,7 +84,7 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
            }
            else
            {
-               if (Get_COVER_1_State(DryerDoor))
+               if (Get_COVER_1_State(DryerDoor))//"1" - Door open
                {
                    //report and handle dryer door open
                    AlarmHandlingSetAlarm(EVENT_TYPE__DRYER_DOOR_OPEN, true);