Version 1.4.2.9 Thread loading ready

1 files changed, 25 insertions, 19 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index efb3f99a9..04ff325d4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -99,7 +99,7 @@
         FRESULT Fresult = FR_OK;
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
 
-        LoadArmInfo.LoadArmBackLash = 10;
+        LoadArmInfo.LoadArmBackLash = 5;
         LoadArmInfo.LoadArmRounds = 0xFF;
         Fresult = f_mkdir(SW_INFO_DIR);
         if ((Fresult == FR_OK)||(Fresult == FR_EXIST))
@@ -234,12 +234,12 @@
     }
     uint32_t Thread_Load_Jog_Feeder_To_Middle_Point_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
-        {
-            Report("Thread_Load_Jog_Feeder_To_Middle_Point_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
-            //storeLoadArmParameters();
-            LoadStages++;
-            ThreadLoadStateMachine(LoadStages);
-        }
+        CallbackCounter--;
+        Report("Thread_Load_Jog_Feeder_To_Middle_Point_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+        //storeLoadArmParameters();
+        LoadStages++;
+        ThreadLoadStateMachine(LoadStages);
+
         return OK;
     }
 
@@ -322,8 +322,8 @@
         keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
         keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
-        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2);
-        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 8);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 8);
         MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 70);
         MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 70);
         Task_sleep(10);
@@ -412,7 +412,7 @@
 
     uint32_t Thread_Load_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
-        Report("Thread_Load_Dryer_MovetoEncoderPosition_Callback",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
+        Report("Thread_Load_Dryer_MovetoEncoderPosition_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
         if(ControlId != 0xFF)
         {
@@ -439,14 +439,14 @@
     }
     uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
-        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        Report("Thread_Load_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,__LINE__,MotorId,RpMessage,CallbackCounter,0);
         /*if(ControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
             RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
             ControlId = 0xFF;
         }*/
-        REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
         MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000);
         return OK;
     }
@@ -454,7 +454,8 @@
     uint32_t Thread_Load_Dryer_Loading(void)
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
-        LoadArmInfo.LoadArmRounds = 20;
+        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
+        //LoadArmInfo.LoadArmRounds = 5;
         float numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         SetOriginMotorSpeed(19);
@@ -462,6 +463,7 @@
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
         numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
+        numberOfSteps -= 100;
         //numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*3.3*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
         Report("Thread Load State Machine step.",__FILE__,LoadStages,numberOfSteps,RpMessage,(int)(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius),0);
         MotorControlConfig[FEEDER_MOTOR].m_params.MAX = 1;
@@ -488,13 +490,14 @@
         ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         Report("AddControlCallback feeder",__FILE__,__LINE__,ControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
         CallbackCounter++;
+        Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
                                numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
-        LoadArmInfo.LoadArmRounds = 0xFF;
-        FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
+        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
+        //FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }
     uint32_t Thread_Load_Jog_ThreadStop(uint32_t index, uint32_t ReadValue)
@@ -536,6 +539,7 @@
             RemoveControlCallback(WinderControlId, ThreadLoadControlCBFunction );
             WinderControlId = 0xFF;
         }
+        LoadStages = THREAD_LOAD_INIT;
         return OK;
     }
     uint32_t Thread_Load_Dryer_UnLoading(void)
@@ -601,14 +605,14 @@
         //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
         //                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
         Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-        LoadArmInfo.LoadArmBackLash = 10;
+        LoadArmInfo.LoadArmBackLash = 5;
 
         status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
                                         MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
-        LoadArmInfo.LoadArmRounds = 0xFF;
+        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }
@@ -616,6 +620,8 @@
     uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue)
     {
         REPORT_MSG(ReadValue,"ThreadLoadStateMachine");
+        if (LoadStages!=ReadValue)
+            LoadStages = ReadValue;
         switch (ReadValue)
         {
         case THREAD_LOAD_INIT:
@@ -763,11 +769,11 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
     }
-    LoadCounter++;
+/*    LoadCounter++;
     if ((LoadCounter % 5001) == 0)
     {
           Report("MotorSpeedUpdated",__FILE__,index,abs(TranslatedReadValue),RpWarning,(int)CurrentControlledSpeed[index],0);
-    }
+    }*/
  return OK;
 }
 void ThreadLoadRequest(MessageContainer* requestContainer)