From 281610ac56799f6870c587a942495d91cd55b227 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 30 Dec 2020 13:02:30 +0200 Subject: merge - fix --- .../Embedded_SW/Embedded/Modules/Thread/Thread.h | 34 ++++++++++++++-------- 1 file changed, 22 insertions(+), 12 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread.h') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h index 56fb79c23..aedb49a62 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h @@ -17,19 +17,10 @@ #include "../control/pidalgo.h" #include "thread_ex.h" +#include "drivers/SSI_Comm/SSI_Comm.h" #define NORMAL_COEF_DIVIDER 100 typedef struct -{ - uint32_t startoffsetpulses; - uint32_t spoolbackingrate; - uint32_t segmentoffsetpulses;// the spool winding initial length in mm - uint32_t milimetersperrotation; - uint32_t SpoolBottomBackingRate;// the angle of the bottom of the spool - double NumberOfRotationPerPassage; // how many rotations per spool passage - double diameter; -}InternalWinderConfigStruc; -typedef struct { bool m_isEnabled; int32_t m_SetParam; @@ -42,12 +33,27 @@ typedef struct PID_Config_Params m_params; }MotorControlConfig_t; +#ifdef FOUR_WINDERS +#define SCREW_2_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1 +#define SCREW_3_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1 +#define SCREW_4_Motor HARDWARE_MOTOR_TYPE__MOTO_RDANCER +#define Winder_2_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2 +#define Winder_3_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2 +#define Winder_4_Motor HARDWARE_MOTOR_TYPE__MOTO_RLOADARM +#endif + #define MAX_THREAD_FEED_MOTORS (WINDER_MOTOR+1) -#define MAX_SYSTEM_DANCERS (HARDWARE_DANCER_TYPE__RightDancer+1) +#define MAX_SYSTEM_DANCERS NUM_OF_ROTENC extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM]; + +#ifdef FOUR_WINDERS +extern Dancers_4_Winders ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM]; +#else extern HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM]; +#endif + extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM]; extern bool BreakSensorenabled; @@ -76,14 +82,18 @@ extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM]; uint32_t InternalWinderConfigMessage(HardwareWinder* request); uint32_t MotorsConfigMessage( HardwareConfiguration* HW_request); uint32_t InternalWindingConfigMessage(JobSpool* request); -uint32_t ThreadInitialTestStub(HardwareMotor * request); uint32_t MotorPidRequestMessage(HardwarePidControl* request); void SetKeepWindingCone(bool value); void SetWinderBackToBaseTime(uint32_t value); uint32_t DancerConfigMessage(HardwareDancer * request); +uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read); void SetOriginMotorSpeed(float process_speed); +uint32_t UpdatePidDuringRun(HardwarePidControl *hardwarepidcontrol); + +uint32_t ThreadPrepare_Tension (int DancerId, double tension); + #endif //MODULES_THREAD_THREAD_H_ -- cgit v1.3.1