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/************************************************************************************************************************
**************************************************************************************************************************/
#include "include.h"
#include <Modules/Stubs_Handler/DataDef.h>
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareDancer.pb-c.h"
#include "PMR/Hardware/HardwareWinder.pb-c.h"
#include "PMR/Printing/JobSpool.pb-c.h"
#include "PMR/common/MessageContainer.pb-c.h"
#include "thread.h"
#define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
MotorConfigStruc MotorsCfg[MAX_THREAD_MOTORS_NUM];
InternalWinderConfigStruc InternalWinderCfg;
DancerConfigStruc DancersCfg[MAX_SYSTEM_DANCERS];
uint32_t InternalWinderConfigMessage(HardwareWinder* request)
{
uint32_t status = PASSED;
InternalWinderCfg.milimetersperrotation = request->millimeterperrotation;
return status;
}
uint32_t InternalWindingConfigMessage(JobSpool* request)
{
uint32_t status = PASSED;
InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
InternalWinderCfg.spoolbackingrate = request->backingrate;
InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
return status;
}
//********************************************************************************************************************
uint32_t MotorsConfigMessage(HardwareMotor * request)
{
uint32_t status = PASSED;
int Motor_i;
Motor_i = request->hardwaremotortype;
if ((Motor_i)&&(Motor_i< MAX_THREAD_MOTORS_NUM))
{
MotorsCfg[Motor_i].id = request->hardwaremotortype;
MotorsCfg[Motor_i].minfreq = request->minfrequency;
MotorsCfg[Motor_i].maxfreq = request->maxfrequency;
MotorsCfg[Motor_i].minmicrostep = request->minmicrostep;
MotorsCfg[Motor_i].maxmicrostep = request->maxmicrostep;
MotorsCfg[Motor_i].linearratio = request->linearratio;
MotorsCfg[Motor_i].medianposition = request->medianposition;
MotorsCfg[Motor_i].correctiongain = request->correctiongain;
MotorsCfg[Motor_i].ratio2dryerspeed = request->ratiotodryerspeed;
MotorsCfg[Motor_i].kp = request->kp;
MotorsCfg[Motor_i].ki = request->ki;
MotorsCfg[Motor_i].kd = request->kd;
MotorsCfg[Motor_i].changeslope = request->changeslope;
MotorsCfg[Motor_i].hightimeoutusec = request->highlengthmicrosecond;
return status;
}
else return Motor_i;
}
uint32_t DancerConfigMessage(HardwareDancer * request)
{
uint32_t status = PASSED;
int Dancer_i;
Dancer_i = request->hardwaredancertype;
if ((Dancer_i)&&(Dancer_i<MAX_SYSTEM_DANCERS ))
{
DancersCfg[Dancer_i].id = Dancer_i;
DancersCfg[Dancer_i].fixorgradual = request->gradual;
DancersCfg[Dancer_i].k = request->k;
DancersCfg[Dancer_i].x = request->x;
DancersCfg[Dancer_i].pulsepermmspring = request->pulsepermmspring;
return status;
}
else
return Dancer_i;
}
uint32_t thread_init(void)
{
memset (MotorsCfg,0,sizeof(MotorsCfg));
memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));
return OK;
}
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