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#ifndef MODULES_THREAD_THREAD_H_
#define MODULES_THREAD_THREAD_H_
#include "PMR/common/MessageContainer.pb-c.h"
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareMotorType.pb-c.h"
#include "PMR/Hardware/HardwareDancer.pb-c.h"
#include "PMR/Hardware/HardwareDancerType.pb-c.h"
#include "PMR/Hardware/HardwareWinder.pb-c.h"
#include "PMR/Printing/JobSpool.pb-c.h"
#include "PMR/Printing/JobSpoolType.pb-c.h"
typedef struct
{
HardwareMotorType id;
uint32_t minfreq;
uint32_t maxfreq;
uint32_t minmicrostep;
uint32_t maxmicrostep;
double linearratio;
uint32_t medianposition;
double correctiongain;
double ratio2dryerspeed;
double kp;
double ki;
double kd;
double changeslope;
double hightimeoutusec;
}MotorConfigStruc;
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 fixorgradual;
double k;
double x;
int32_t pulsepermmspring;
int id; //HardwareDancerType
}DancerConfigStruc;
typedef enum threadMotorsEnum
{
FEEDER_MOTOR,
DRYER_MOTOR,
POOLER_MOTOR,
WINDER_MOTOR,
SCREW_MOTOR,
MAX_THREAD_MOTORS_NUM
}threadMotorsEnum;
#define MAX_THREAD_FEED_MOTORS WINDER_MOTOR+1
extern uint32_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
extern MotorConfigStruc MotorsCfg[MAX_THREAD_MOTORS_NUM];
extern InternalWinderConfigStruc InternalWinderCfg;
uint32_t InternalWinderConfigMessage(HardwareWinder* request);
uint32_t MotorsConfigMessage(HardwareMotor * request);
uint32_t InternalWindingConfigMessage(JobSpool* request);
uint32_t ThreadInitialTestStub(HardwareMotor * request);
uint32_t DancerConfigMessage(HardwareDancer * request);
uint32_t ThreadPrepareState(void *JobDetails);
#endif //MODULES_THREAD_THREAD_H_
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