improve BTSR keeping

7 files changed, 130 insertions, 43 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index e90f0622e..00fd2b440 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -317,7 +317,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
             if (failCounter>=8)
             {
                 Report("arm stopped",__FILE__,failCounter,encoder,RpWarning,temp,0);
-                MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Hiz);
+                MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
                 RunningContinues = false;
             }
         }
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
index cfa8c2382..91d04872e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
@@ -22,7 +22,7 @@
 #include "PMR/EmbeddedParameters/MainCardStoredDataResponse.pb-c.h"
 #include "PMR/EmbeddedParameters/MainCardStoredDataRequest.pb-c.h"
 #include "PMR/EmbeddedParameters/MainCardStoredItem.pb-c.h"
-
+#include "PMR/Printing/BTSRParameters.pb-c.h"
 
 uint32_t E2Prom_Data[MAX_EEPROM_STORAGE] = {0,0,0,0,0,0};
 uint32_t MCU_E2PromProgram(int Address,uint32_t Data)
@@ -362,4 +362,47 @@ void MainCardEEpromWriteRequestFunc(MessageContainer* requestContainer)
     stub_main_card_eeprom_write_request__free_unpacked(request,NULL);
 
 }
+uint32_t BtsrSaveParamsToEeprom(void *Data)
+{
+    BTSRParameters* BtsrPrameters = Data;
+    uint32_t status = 0;
+    float data;
+    data = BtsrPrameters->feedingtension;
+    status |= MCU_E2PromProgram(EEPROM_BTSR_FEEDING_TENSION, data);
+    status |= MCU_E2PromProgram(EEPROM_BTSR_TYPE, BtsrPrameters->btsryarntype);
+    status |= MCU_E2PromProgram(EEPROM_BTSR_APPLICATION, BtsrPrameters->btsrapplicationtype);
+    data = BtsrPrameters->threadlengthfactor;
+    status |= MCU_E2PromProgram(EEPROM_BTSR_LENGTH_OFFSET, data);
+    data = BtsrPrameters->tensionerror;
+    status |= MCU_E2PromProgram(EEPROM_BTSR_TENSION_ERROR, data);
+    data = BtsrPrameters->spooltension;
+    status |= MCU_E2PromProgram(EEPROM_BTSR_SPOOL_TENSION, data);
+    data = BtsrPrameters->exittension;
+    status |= MCU_E2PromProgram(EEPROM_BTSR_EXIT_TENSION, data);
+    return status;
+}
+
+uint32_t BtsrReadParamsFromEeprom(void *Data)
+{
+    BTSRParameters* BtsrPrameters = Data;
+    uint32_t status = 0;
+    float data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_FEEDING_TENSION, &data);
+    BtsrPrameters->feedingtension = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_TYPE, &data);
+    BtsrPrameters->btsryarntype = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_APPLICATION, &data);
+    BtsrPrameters->btsrapplicationtype = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_LENGTH_OFFSET, &data);
+    BtsrPrameters->threadlengthfactor = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_TENSION_ERROR, &data);
+    BtsrPrameters->tensionerror = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_SPOOL_TENSION, &data);
+    BtsrPrameters->spooltension = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_EXIT_TENSION, &data);
+    BtsrPrameters->exittension = data;
+    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(BtsrPrameters->feedingtension*1000),RpWarning,(int)(BtsrPrameters->tensionerror*1000),(int)(BtsrPrameters->exittension*1000));
+    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(BtsrPrameters->btsrapplicationtype),RpWarning,(int)(BtsrPrameters->btsryarntype),(int)(BtsrPrameters->threadlengthfactor*1000));
+    return status;
+}
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
index cffdea68b..24f229b2c 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
@@ -96,6 +96,9 @@ void MainCardEEpromReadRequestFunc(MessageContainer* requestContainer);
 uint32_t MCU_E2PromEmbeddedVersionProgram(void);
 uint32_t MCU_E2PromEmbeddedVersionRead();
 
+uint32_t BtsrReadParamsFromEeprom(void *);
+uint32_t BtsrSaveParamsToEeprom(void *);
+
 extern char Serial[21];
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 71bae1f40..eb5f12136 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -859,6 +859,11 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
     TargetNumberOfStepsPreRun = InitialDispenserTimeout;
     MaximalPressurePreRun = InitialDispenserPressure;
 
+    if(Head_Type == HEAD_TYPE_ARC)
+    {
+        MotorMovetoLimitSwitch(HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 30,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], NULL,30000);
+    }
+
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
         TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[Motor_i];
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
index 17166a095..4ab177244 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
@@ -115,7 +115,7 @@ void PowerIdleSetIdle(void)
     if (HandleProcessParameters(&ProcessParametersClear,false)!= OK)
     {
         LOG_ERROR (1, "Turn Heaters idle failed");
-        return;
+        //return;
     }
     if (BlowerCfg.enabled == true)
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index ab5e68b46..9f5151117 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -134,8 +134,6 @@ static ReturnCode ExitState(void *JobDetails);
 //static ReturnCode (* state[])(void *JobDetails) = { IdleState, ValidateState, PrepareState,  PrintState, CleanState};
 void AbortJob(char *Msg);
 void HandleJobEnd(JobEndReasonEnum JobEndReason);
-uint32_t BtsrSaveParamsToEeprom(BTSRParameters *BtsrPrameters);
-uint32_t BtsrReadParamsFromEeprom(BTSRParameters *BtsrPrameters);
 
 typedef enum
 {
@@ -1448,44 +1446,6 @@ uint32_t    ResumeCurrentJobRequestFunc(MessageContainer* requestContainer)
     return OK;
 }
 
-uint32_t BtsrSaveParamsToEeprom(BTSRParameters *BtsrPrameters)
-{
-    uint32_t status = 0;
-
-    status |= MCU_E2PromProgram(EEPROM_BTSR_FEEDING_TENSION, (uint32_t)(BtsrPrameters->feedingtension*10));
-    status |= MCU_E2PromProgram(EEPROM_BTSR_TYPE, (uint32_t)(BtsrPrameters->btsryarntype));
-    status |= MCU_E2PromProgram(EEPROM_BTSR_APPLICATION, (uint32_t)(BtsrPrameters->btsrapplicationtype));
-    status |= MCU_E2PromProgram(EEPROM_BTSR_LENGTH_OFFSET, (uint32_t)(BtsrPrameters->threadlengthfactor));
-    status |= MCU_E2PromProgram(EEPROM_BTSR_TENSION_ERROR, (uint32_t)(BtsrPrameters->tensionerror*10));
-    status |= MCU_E2PromProgram(EEPROM_BTSR_SPOOL_TENSION, (uint32_t)(BtsrPrameters->spooltension));
-    status |= MCU_E2PromProgram(EEPROM_BTSR_EXIT_TENSION, (uint32_t)(BtsrPrameters->exittension));
-    return status;
-}
-
-uint32_t BtsrReadParamsFromEeprom(BTSRParameters *BtsrPrameters)
-{
-    uint32_t status = 0;
-    uint32_t feedingtension, type, application, lengthoffset;
-    uint32_t tensionerror, spooltension, exittension;
-
-    status |= MCU_E2PromRead(EEPROM_BTSR_FEEDING_TENSION, &feedingtension);
-    BtsrPrameters->feedingtension = ((double)feedingtension)/10;
-    status |= MCU_E2PromRead(EEPROM_BTSR_TYPE, &type);
-    BtsrPrameters->btsryarntype = type;
-    status |= MCU_E2PromRead(EEPROM_BTSR_APPLICATION, &application);
-    BtsrPrameters->btsrapplicationtype = application;
-    status |= MCU_E2PromRead(EEPROM_BTSR_LENGTH_OFFSET, &lengthoffset);
-    BtsrPrameters->threadlengthfactor = lengthoffset;
-    status |= MCU_E2PromRead(EEPROM_BTSR_TENSION_ERROR, &tensionerror);
-    BtsrPrameters->tensionerror = ((double)tensionerror)/10;
-    status |= MCU_E2PromRead(EEPROM_BTSR_SPOOL_TENSION, &spooltension);
-    BtsrPrameters->spooltension = spooltension;
-    status |= MCU_E2PromRead(EEPROM_BTSR_EXIT_TENSION, &exittension);
-    BtsrPrameters->exittension = exittension;
-    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(feedingtension),RpWarning,(int)(tensionerror),(int)exittension);
-    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(application),RpWarning,(int)(type),(int)lengthoffset);
-    return status;
-}
 
 void StartJob(void *JobDetails)
 {
diff --git a/Software/Stubs Collection/stubs/EvalBoardLedsTest.cs b/Software/Stubs Collection/stubs/EvalBoardLedsTest.cs
new file mode 100644
index 000000000..7cd0b6818
--- /dev/null
+++ b/Software/Stubs Collection/stubs/EvalBoardLedsTest.cs
@@ -0,0 +1,76 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+public void OnExecute(StubManager stubManager)
+{
+	
+StubGPIOWriteBitRequest speed = new StubGPIOWriteBitRequest();
+speed.PortId = "F";
+speed.PinId = 1;
+speed.BitToWrite = false;
+StubGPIOWriteBitRequest link = new StubGPIOWriteBitRequest();
+link.PortId = "K";
+link.PinId = 4;
+link.BitToWrite = false;
+StubGPIOWriteBitRequest Activity = new StubGPIOWriteBitRequest();
+Activity.PortId = "K";
+Activity.PinId = 6;
+Activity.BitToWrite = false;
+StubGPIOWriteBitRequest Q7 = new StubGPIOWriteBitRequest();
+Q7.PortId = "Q";
+Q7.PinId = 7;
+Q7.BitToWrite = false;
+StubGPIOWriteBitRequest N5 = new StubGPIOWriteBitRequest();
+N5.PortId = "N";
+N5.PinId = 5;
+N5.BitToWrite = false;
+
+var response = stubManager.Run<StubGPIOWriteBitRequest>(speed);
+response = stubManager.Run<StubGPIOWriteBitRequest>(link);
+response = stubManager.Run<StubGPIOWriteBitRequest>(Activity);
+Thread.Sleep(2000);
+  for (int i = 1; i<100000000; i++)
+  	{
+		speed.BitToWrite = (i%3>0)?true:false;
+		link.BitToWrite = (i%4>0)?true:false;
+		Activity.BitToWrite = (i%5>0)?true:false;
+		response = stubManager.Run<StubGPIOWriteBitRequest>(speed);
+		Thread.Sleep(10);
+		response = stubManager.Run<StubGPIOWriteBitRequest>(link);
+		Thread.Sleep(10);
+		response = stubManager.Run<StubGPIOWriteBitRequest>(Activity);
+		Thread.Sleep(10);
+  		Q7.BitToWrite = (i%7>3)?true:false;
+		response = stubManager.Run<StubGPIOWriteBitRequest>(Q7);
+		Thread.Sleep(10);
+		N5.BitToWrite = (i%11>4)?true:false;
+		response = stubManager.Run<StubGPIOWriteBitRequest>(N5);
+		Thread.Sleep(10);
+		Thread.Sleep(100);
+	}
+		speed.BitToWrite = true;
+		link.BitToWrite = true;
+		Activity.BitToWrite = true;
+		response = stubManager.Run<StubGPIOWriteBitRequest>(speed);
+		Thread.Sleep(10);
+		response = stubManager.Run<StubGPIOWriteBitRequest>(link);
+		Thread.Sleep(10);
+		response = stubManager.Run<StubGPIOWriteBitRequest>(Activity);
+		Thread.Sleep(10);
+  		Q7.BitToWrite = false;
+		response = stubManager.Run<StubGPIOWriteBitRequest>(Q7);
+		Thread.Sleep(10);
+		N5.BitToWrite = false;
+		response = stubManager.Run<StubGPIOWriteBitRequest>(N5);
+		Thread.Sleep(10);
+
+}
\ No newline at end of file