From 12642bc555c2fadbbe501b642ad0272abb6d8ee4 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Tue, 7 Aug 2018 09:46:39 +0300
Subject: fix jogging directions

---
 .../Embedded/Modules/Thread/Thread_print.c         | 32 ++++++++++++++--------
 1 file changed, 21 insertions(+), 11 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index b536c93b0..c3b58625f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -20,7 +20,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
+//#include "drivers/SSI_Comm/ssi_comm.h"
+#include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
@@ -353,16 +354,21 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
 
-        if (index == POOLER_MOTOR)
+        if (BreakSensorenabled == true)
         {
-            if (JobCounter > eOneSecond)
+            if (index == POOLER_MOTOR)
             {
-                if (ReadBreakSensor()==ERROR)
+                if (JobCounter > eOneSecond)
                 {
-                    //LOG_ERROR(index, "ReadBreakSensor Error");
-                    JobEndReason = JOB_THREAD_BREAK;
-                    //SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
-                   EndState(CurrentJob,"ReadBreakSensor Error" );
+                    if (ReadBreakSensor()==ERROR)
+                    {
+                        //consider applying the debouce parameters later
+                        //BreakSensordebouncetimemilli
+                        //LOG_ERROR(index, "ReadBreakSensor Error");
+                        JobEndReason = JOB_THREAD_BREAK;
+                        //SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
+                       EndState(CurrentJob,"ReadBreakSensor Error" );
+                    }
                 }
             }
         }
@@ -415,6 +421,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 
 //********************************************************************************************************************
+uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
+{
+    return  CurrentControlledSpeed[MotorId];
+}
 
 //********************************************************************************************************************
 uint32_t ThreadInitialTestStub(HardwareMotor * request)
@@ -561,17 +571,17 @@ 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].maxfrequency)
+    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].maxfrequency)
+    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
+ //#warning rocker disabled
 
 //    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO
 
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