Update BTSR

5 files changed, 394 insertions, 18 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 001303c88..10e6a78f6 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -169,6 +169,7 @@ typedef enum
 #define LOW  0x0
 #define HIGH 0x1
 #define LOW_AND_HIGH 0x2
+#define HIGHEST 0x3
 
 #define WR          0
 #define RD          1
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 92337080d..118891a39 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
@@ -40,6 +40,9 @@ 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 ?
 
 typedef enum
 {
@@ -366,6 +369,7 @@ uint8_t Check_Received_CheckSum(uint8_t CODE_STRING, uint8_t Function_Code, uint
             (Buf[size_include_Checksum - 1] != (Sum >> 8))      )
         {
             Status = ERROR;
+            ReportWithPackageFilter(ThreadFilter,"BTSR Get Wrong Checksum",__FILE__,__LINE__,(int)CODE_STRING,RpError,(int)Function_Code,0);
         }
     }
     return Status;
@@ -646,11 +650,94 @@ typedef struct
 
 typedef union
 {
-    BITS Bit[4];
-    uint8_t Byte[4];
+    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;
+
+typedef union
+{
+    struct
+    {
+        uint8_t CODE_STRING    ;
+        uint8_t FUNCTION_STRING;
+
+        //DATA_STRING
+        uint16_t WORK_TENSION  ;//1° - 2°
+        uint16_t OUTPUT_TENSION;//3° - 4°
+        uint16_t RELAX_YARN    ;//5° - 6°
+        uint8_t INC_DEC_TENSION;//7°
+        uint8_t INC_DEC_STRETCH;//8°
+        uint16_t TENSION_ERROR ;//9° -  10°
+        uint16_t TIME_ALARM    ;//11° - 12°
+        uint8_t RELAX_SPEED    ;//13°
+        uint8_t APPLICATION    ;//14°
+        uint8_t YARN_TYPE      ;//15°
+        uint8_t SPARE[4]       ;//16°
+        uint8_t ALARM_ENABLING ;//20°
+        uint8_t ABILITAZIONE   ;//21°
+
+        uint16_t CHECKSUM      ;
+    }Byte;
+uint8_t Buf[25];
+}BTSR_ADVANCED_STYLE_LOAD;
+
+BTSR_ADVANCED_STYLE_LOAD BTSR_AdvStyle_Load;
+
+typedef union
+{
+    struct
+    {
+        uint8_t CODE_STRING      ;
+        uint8_t FUNCTION_STRING  ;
+
+        //DATA_STRING
+        uint16_t OUTPUT_TENSION  ;
+        uint16_t WORK_TENSION    ;
+        uint16_t RELAX_YARN      ;
+        uint8_t  INC_DEC_TENSION ;
+        uint8_t  INC_DEC_STRETCH ;
+        uint32_t METER_START     ;
+        uint32_t INC_DEC_METER   ;
+        uint32_t TARGET          ;
+        uint16_t TENSION_ERROR   ;
+        uint16_t ALARM_TIME      ;
+        uint8_t  SPARE1[2]        ;
+        uint8_t  ALARM_ENABLING  ;
+        uint8_t  TARGET_ENABLING ;
+        uint8_t  RELAX_YARN_SPEED;
+        uint8_t  SPARE2[6]        ;
+
+        uint16_t CHECKSUM        ;
+    }Byte;
+uint8_t Buf[39];
+}BTSR_ADVANCED_TENSION_PROGRAMMING;
+
+BTSR_ADVANCED_TENSION_PROGRAMMING BTSR_Adv_Tension_Prog;
 
 void BTSR_Configuration_Set(uint8_t UFeeder_ID)
 {
@@ -664,11 +751,178 @@ void BTSR_Configuration_Set(uint8_t UFeeder_ID)
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,18);
 
-    BTSR_Send_Buf(Typology_Set.Buf, 20);
+    BTSR_Send_Buf(BTSR_TX_Buff, 20);
 
 }
 
-void BTSR_Alarm_and_Enabling_Status_Read(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 )
+{
+    //memset(BTSR_AdvStyle_Load.Buf, 0, Size);
+    /*
+    uint8_t Size = sizeof(BTSR_AdvStyle_Load.Buf);
+
+    memset(BTSR_AdvStyle_Load.Buf, 0, Size);
+/
+    BTSR_AdvStyle_Load.Byte.CODE_STRING = UFeeder_ID;
+    BTSR_AdvStyle_Load.Byte.FUNCTION_STRING = 0x4B;
+
+    BTSR_AdvStyle_Load.Byte.WORK_TENSION = Tension;
+    BTSR_AdvStyle_Load.Byte.TENSION_ERROR = Tension_Error;
+    BTSR_AdvStyle_Load.Byte.TIME_ALARM = Time_Alarm;
+    BTSR_AdvStyle_Load.Byte.APPLICATION = Application;
+    BTSR_AdvStyle_Load.Byte.YARN_TYPE = YarnType;
+    BTSR_AdvStyle_Load.Byte.ALARM_ENABLING = 0x03; // OUTPUT TENSION ENABLED + TENSION ERROR ENABLED
+*/
+    //BTSR_Calculate_CheckSum(BTSR_AdvStyle_Load.Buf,Size - 2);
+
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[1] = 0x4B;
+
+    BTSR_TX_Buff[2] = 0xCD;//1
+    BTSR_TX_Buff[3] = 0x00;//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[15] = FLAT_KNIT;//14
+    BTSR_TX_Buff[16] = ALL_YARNS2;//15
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,23);
+
+    BTSR_Send_Buf(BTSR_TX_Buff,25);
+
+}
+
+void BTSR_Advanced_Tension_Prog(uint8_t UFeeder_ID, uint16_t Tension, uint16_t Tension_Error, uint16_t Time_Alarm )
+{
+
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[1] = 0x39;
+
+    BTSR_TX_Buff[4] = Tension & 0XFF;//3
+    BTSR_TX_Buff[5] = Tension >> 8;//4
+
+    BTSR_TX_Buff[22] = Tension_Error & 0XFF;//21
+    BTSR_TX_Buff[23] = Tension_Error >> 8;//22
+
+    BTSR_TX_Buff[24] = Time_Alarm & 0XFF;//23
+    BTSR_TX_Buff[25] = Time_Alarm >> 8;//24
+
+    BTSR_TX_Buff[28] = 0x01;//27  ‘1’ TENSION ERROR ENABLED
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,37);
+
+    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 )
+{
+    //APPLICATION_AND_YARN_TYPOLOGY_SET_27
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = BTSR_Id;
+    BTSR_TX_Buff[1] = 0x3F;
+    BTSR_TX_Buff[2] = Application;
+    BTSR_TX_Buff[3] = Yarn_Type;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,4);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 6);
+}
+
+
+void BTSR_Status_Reset(uint8_t UFeeder_ID)//35
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = UFeeder_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_Calculate_CheckSum(BTSR_TX_Buff,6);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 8);
+
+}
+
+void BTSR_Errors_Counter_Reset(uint8_t UFeeder_ID)//36
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[1] = 0x29;
+    BTSR_TX_Buff[2] = 0x00;//00 - RESETS ALL THE COUNTERS
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,3);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 5);
+
+}
+
+void BTSR_Meters_Total_Counter_Reset(uint8_t UFeeder_ID , uint8_t Resolution)//37/39/41
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = UFeeder_ID;
+
+    if(Resolution == LOW)
+        BTSR_TX_Buff[1] = 0x06;
+    else
+    if(Resolution == HIGH)
+        BTSR_TX_Buff[1] = 0x1E;
+    else
+    if(Resolution == HIGHEST)
+        BTSR_TX_Buff[1] = 0x48;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
+}
+
+void BTSR_Info_Read(uint8_t UFeeder_ID)
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = UFeeder_ID;
+    BTSR_TX_Buff[1] = 0x3E;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
+
+}
+
+void BTSR_Meters_Total_Counter_Read(uint8_t UFeeder_ID , uint8_t Resolution)//37/39/41
+{
+    memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
+
+    BTSR_TX_Buff[0] = UFeeder_ID;
+
+    if(Resolution == LOW)
+        BTSR_TX_Buff[1] = 0x16;
+    else
+    if(Resolution == HIGH)
+        BTSR_TX_Buff[1] = 0x1D;
+    else
+    if(Resolution == HIGHEST)
+        BTSR_TX_Buff[1] = 0x47;
+
+    BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
+
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
+}
+
+void BTSR_Alarm_and_Enabling_Status_Read(uint8_t UFeeder_ID)//30
 {
     memset(BTSR_TX_Buff, 0, Max_BTSR_TX_Bytes);
 
@@ -677,7 +931,7 @@ void BTSR_Alarm_and_Enabling_Status_Read(uint8_t UFeeder_ID)
 
     BTSR_Calculate_CheckSum(BTSR_TX_Buff,2);
 
-    BTSR_Send_Buf(Typology_Set.Buf, 4);
+    BTSR_Send_Buf(BTSR_TX_Buff, 4);
 }
 
 typedef enum
@@ -715,24 +969,39 @@ typedef enum
     MAX_BTSR_SET
 }BTSR_CMD;
 
+typedef union
+{
+    struct
+    {
+        uint32_t Uint32;
+        uint16_t CheckSum;
+    }Data;
+    uint8_t Buf[6];
+}BTSR_METERS;
+
+BTSR_METERS BTSR_Meters;
+
+
 #define Get_Set_resp 5
 #define Set_Command 6
 
 #define Get_Read_resp 7
 #define Read_Command 8
 
-BTSR_CMD BTSR_command_Stage[MAX_BTSR_SET];
+uint8_t BTSR_command_Stage[MAX_BTSR_SET];
 
 uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
 {
     uint8_t status = OK;
-    uint8_t i;
+    uint8_t i,j;
+
+    //BTSR_Init();
 
     for(i = DEVICE_CALIBRATION_11; i < MAX_BTSR_SET; i++)
     {
         if(BTSR_command_Stage[i] == Get_Set_resp)
         {
-            if((i >= DEVICE_CALIBRATION_11) && (i <= RESETS_ALL_THE_COUNTERS_36) /*&& (BTSR_RX_Buff[0] != BTSR_RISP_OK)*/)
+            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];
@@ -746,17 +1015,39 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
                     BTSR_command_Stage[i] = BTSR_RX_Buff[1];
                     //print response + command ID
             }
-            //print response + command ID
-            BTSR_command_Stage[i] = OK;
+            else//print response + command ID
+                BTSR_command_Stage[i] = BTSR_RX_Buff[0];//OK;
         }
 
         if(BTSR_command_Stage[i] == Set_Command)
         {
-            if(i == CONFIGURATION_SET_15)
+            switch(i)
             {
-                BTSR_Configuration_Set(UFeeder_ID);
+                case CONFIGURATION_SET_15:
+                    BTSR_Configuration_Set(UFeeder_ID);
+                break;
+                case ADVANCED_TENSION_PROGRAMMING_21:
+                    BTSR_Advanced_Tension_Prog(0x01, 0x0101, 0x0101, 0x0101 );
+                break;
+                case APPLICATION_AND_YARN_TYPOLOGY_SET_27:
+                    BTSR_Application_Yarn_Type_Set(0x01, SHOES, ELASTIC2 );
+                break;
+                case ALARM_STATUS_RESET_35:
+                    BTSR_Status_Reset(0x01);
+                break;
+                case RESETS_ALL_THE_COUNTERS_36:
+                    BTSR_Errors_Counter_Reset(0x01);
+                break;
+                case METERS_TOTAL_COUNTER_RESET_LOW_38:
+                    BTSR_Meters_Total_Counter_Reset(UFeeder_ID, LOW);
+                break;
+                case METERS_TOTAL_COUNTER_RESET_HIGH_40:
+                    BTSR_Meters_Total_Counter_Reset(UFeeder_ID, HIGH);
+                break;
+                case METERS_TOTAL_COUNTER_RESET_HIGHEST_42:
+                    BTSR_Meters_Total_Counter_Reset(UFeeder_ID, HIGHEST);
+                break;
             }
-
             BTSR_command_Stage[i] = Get_Set_resp;
             return status;//Only one command in cycle
         }
@@ -770,19 +1061,56 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
             // Add CRC check
             if(i == ALARM_AND_ENABLING_STATUS_READ_30)
             {
-                for(i = 0; i < 4; i++)
-                    BTSR_Status.Byte[i] = BTSR_RX_Buff[i];
+                for(j = 0; j < 6; j++)
+                    BTSR_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);
+            }
+            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);
+
+                BTSR_Length  = (float)(BTSR_Meters.Data.Uint32) * PI * BTSR_RADIUS;
+                if(i == METERS_TOTAL_COUNTER_READ_HIGH_39)
+                    BTSR_Length/=12.0;
+                else
+                if(i == METER_TOTAL_COUNTER_READ_HIGHEST_41)
+                    BTSR_Length/=750.0;
+            }
+
+            memset(BTSR_RX_Buff, 0, Max_BTSR_RX_Bytes);
             BTSR_command_Stage[i] = 0;
         }
 
         if(BTSR_command_Stage[i] == Read_Command)
         {
-
-            if(i == ALARM_AND_ENABLING_STATUS_READ_30)
+            switch(i)
             {
-                BTSR_Alarm_and_Enabling_Status_Read(UFeeder_ID);
+                case ALARM_AND_ENABLING_STATUS_READ_30:
+                    BTSR_Alarm_and_Enabling_Status_Read(UFeeder_ID);
+                break;
+                case DEVICE_INFORMATION_READ_10:
+                    BTSR_Info_Read(UFeeder_ID);
+                break;
+                case METERS_TOTAL_COUNTER_READ_LOW_37:
+                    BTSR_Meters_Total_Counter_Read(UFeeder_ID, LOW);
+                break;
+                case METERS_TOTAL_COUNTER_READ_HIGH_39:
+                    BTSR_Meters_Total_Counter_Read(UFeeder_ID, HIGH);
+                break;
+                case METER_TOTAL_COUNTER_READ_HIGHEST_41:
+                    BTSR_Meters_Total_Counter_Read(UFeeder_ID, HIGHEST);
+                break;
             }
+
             BTSR_command_Stage[i] = Get_Read_resp;
             return status;//Only one command in cycle
         }
@@ -791,3 +1119,37 @@ uint8_t BTSR_State_Machine(uint8_t UFeeder_ID)
         return status;
 }
 
+
+void BTSR_Init()
+{
+    //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_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
+}
+
+
+
+//void BTSR_Test()
+//{
+//    BTSR_Advanced_Style_Load(0x01, 0xABCD, 0x0102, 0x0304, FLAT_KNIT, ALL_YARNS2 );
+//}
+
+
+
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 14fda8f19..398c3cf25 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
@@ -62,4 +62,7 @@ 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);
+void BTSR_Init();
+
 #endif /* DRIVERS_UART_COMM_BTSR_BTSR_H_ */
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index c1eeff837..933f4b72c 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -359,6 +359,10 @@ int main(void)
 
    I2C_DispRFIDTask_Init();//I2C Task for dispensers & RFID
 
+#ifdef USE_UART4_FOR_BTSR
+   BTSR_Init();
+#endif
+
     #if defined(USE_RFID_LOGIC) || defined(USE_RFID_STUB)
        //Trigger_RFID_Init();  //Init_IFS();//must be done after FPGA_Init
        Init_IFS();
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index ad5a1d5ca..b85bb9824 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -72,6 +72,7 @@
 #include <Drivers/I2C_Communication/RFID_NFC/RFIDTagInfo.h>
 #include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h>
 #include <Drivers/I2C_Communication/RFID_NFC/NFC.h>
+#include "Drivers/Uart_Comm/BTSR/BTSR.h"
 
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
@@ -723,6 +724,11 @@ uint32_t MillisecLowLoop(uint32_t tick)
                 }
             }
         #endif
+
+        #ifdef USE_UART4_FOR_BTSR
+            //call every 100mSec
+            BTSR_State_Machine(0x01);
+        #endif
     }
     if (Gradient_Tick)
         DispensersCollectionCall();