merge

2 files changed, 37 insertions, 26 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 7963a9290..a76142b00 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -332,26 +332,26 @@ uint32_t DiagnosticsLoadDigitalValues(void)
     DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_WARN;
     DigitalOutputState[index++].value = WHS_IsContainerEmpty();
 
-    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE1_1; /*waste lower cartridge presence*/
-    DigitalOutputState[index++].value = WHS_WasteCartridgeLowerPresent();
-
-    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE1_2; /*waste middle cartridge presence*/
-    DigitalOutputState[index++].value = WHS_WasteCartridgeMiddlePresent();
-
     DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE_SSR12_CTRL; /*lubricant valve*/
     DigitalOutputState[index++].value = GetLubricantState();
 
-    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_TFEED_BREAK_1; /*Secondary Pump Active*/
-    DigitalOutputState[index++].value = SecondaryPumpActive;
-
     DigitalOutputState[index].interfaceio = INTERFACE_IOS__CART1; /*Secondary Pump Active*/
-    DigitalOutputState[index++].value = IFS_CartridgeLowerPresent();
+    DigitalOutputState[index++].value = Is_Cartridge_Present(CART_1);
 
     DigitalOutputState[index].interfaceio = INTERFACE_IOS__CART2; /*Secondary Pump Active*/
-    DigitalOutputState[index++].value = WHS_WasteCartridgeMiddlePresent();
+    DigitalOutputState[index++].value = Is_Cartridge_Present(CART_2);
 
     DigitalOutputState[index].interfaceio = INTERFACE_IOS__CART3; /*Secondary Pump Active*/
-    DigitalOutputState[index++].value = WHS_WasteCartridgeLowerPresent();
+    DigitalOutputState[index++].value = Is_Cartridge_Present(CART_3);
+
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE1_1; /*Waste filling middle cartridge*/
+    DigitalOutputState[index++].value = (cartGetState(WasteCartridge_middle)==CartridgeStateACTIVE)?1:0;
+
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE1_2; /*Waste filling lower cartridge*/
+    DigitalOutputState[index++].value = (cartGetState(WasteCartridge_lower)==CartridgeStateACTIVE)?1:0;
+
+    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_TFEED_BREAK_1; /*IFS MidTank Filling*/
+    DigitalOutputState[index++].value = IFS_MidTankFilling();
 
     return index;
 }
@@ -593,8 +593,8 @@ void DiagnosticOneMinuteCollection(void)
 
     }
     DiagnosticsMonitor.n_overalltemperature = 1;
-    OverallTemperature = max(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP1),MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP2));
-    OverallTemperature = ((int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP1)/100)*1000 + (int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP2)/100));
+    OverallTemperature = (max(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP1),MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP2)))/100;
+    //OverallTemperature = ((int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP1)/100)*1000 + (int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP2)/100));
     DiagnosticsMonitor.overalltemperature = &OverallTemperature;
 
     DiagnosticsMonitor.n_midtank1level = 1;
@@ -856,8 +856,8 @@ void DiagnosticOneSecCollection(void)
     if (Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD) //rapid/pp machines
     {
         AcVoltage = ReadVAC();
-        DiagnosticsMonitor.whsblower2voltage = &AcVoltage;
-        DiagnosticsMonitor.n_whsblower2voltage = 1;
+        //DiagnosticsMonitor.whsblower2voltage = &AcVoltage;
+        //DiagnosticsMonitor.n_whsblower2voltage = 1;
         DiagnosticsMonitor.incomingvoltage = &AcVoltage;
         DiagnosticsMonitor.n_incomingvoltage = 1;
     }
@@ -880,6 +880,7 @@ void DiagnosticOneSecCollection(void)
         if ((GetMachineState()<MACHINE_STATE_NO_PROCESS_PARAMS) &&(GetMachineState()>=MACHINE_STATE_WAIT_FOR_COOLER))
         {
             InitCounter-=1.0;
+            if(InitCounter<0)InitCounter = 0;
             DiagnosticsMonitor.chillertemperature = &InitCounter;
 
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 047293ea9..d9f8d30fd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -43,11 +43,12 @@ uint32_t HomingControlId[NUM_OF_MOTORS];
 
 uint32_t Diagnostics_Dryer_UnLoading(void);
 uint32_t Diagnostics_Dryer_Loading(void);
+int kval_upper_value;
 
 /********************************************************************************
  * Motor Homing
  ********************************************************************************/
-//int32_t keepkvalright,keepkvalleft;
+int32_t keepkvalright,keepkvalleft;
 uint32_t MotorHomingProgressReport(uint32_t deviceID, uint32_t ReadValue)
 {
     if (HomingToken[deviceID][0] == 0)
@@ -88,11 +89,11 @@ uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
 
     if(deviceID == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
     {
-        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 24);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, keepkvalright);
     }
     if(deviceID == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
     {
-        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 24);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, keepkvalleft);
     }
     if (resetPullerDancer == true)
     {
@@ -101,7 +102,7 @@ uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
     }
     if (resetWinderDancer == true)
     {
-        resetPullerDancer = false;
+        resetWinderDancer = false;
         MCU_E2PromProgram(EEPROM_WINDER_TENSION_POSITION,1);
     }
     if (HomingControlId[deviceID] != 0xff)
@@ -146,9 +147,8 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
 
     LoadArmRounds = (int)dryerbufferlength;
 
-    int kval_upper_value;
     if (Is_PP_Machine())
-        kval_upper_value = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+        kval_upper_value = 28;
     else
         kval_upper_value = 70;
 
@@ -200,12 +200,12 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
                         }
                         if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
                         {
-                            //keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+                            keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
                             MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, kval_upper_value);
                         }
                         if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
                         {
-                            //keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
+                            keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
                             MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, kval_upper_value);
                         }
                         MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback,30000);
@@ -241,12 +241,12 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
                     {
                         if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
                         {
-                            //keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+                            keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
                             MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, kval_upper_value);
                         }
                         if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
                         {
-                            //keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
+                            keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
                             MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, kval_upper_value);
                         }
                         MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback,30000);
@@ -298,6 +298,16 @@ uint32_t MotorAbortHomingRequestFunc(MessageContainer* requestContainer)
     {
         resetWinderDancer = false;
     }
+    if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
+    {
+        if (keepkvalright)
+            MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, keepkvalright);
+    }
+    if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
+    {
+        if (keepkvalleft)
+            MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, keepkvalleft);
+    }
 
     responseContainer = createContainer(MESSAGE_TYPE__MotorAbortHomingResponse,  requestContainer->token, false, &response, &motor_abort_homing_response__pack, &motor_abort_homing_response__get_packed_size);
     responseContainer.continuous = false;