Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

1 files changed, 32 insertions, 13 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 349215d7d..965ea30da 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -35,6 +35,7 @@
 #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
 #include <Drivers/I2C_Communication/I2C_Task.h>
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
+#include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
 
 #include "PMR/Stubs/StubHeatingTestRequest.pb-c.h"
 #include "PMR/Stubs/StubHeatingTestResponse.pb-c.h"
@@ -53,7 +54,7 @@
 //#include <stdbool.h>
     static char* LoadStagesStr[15] = {
     /*00*/ "Initialization",
-    /*01*/ "heating stop",
+    /*01*/ "Heating stop",
     /*02*/ "Rockers opening",
     /*03*/ "Drier unloading",
     /*04*/ "Lids opening",
@@ -93,7 +94,7 @@
     uint32_t LoadStatus = OK;
     char LoadErrorMsg[100];
     int32_t keepmicrostep;
-    int32_t keepkvalrun,keepkvalhold;
+    int32_t keepkvalrun,keepkvalhold,kval_upperValue;
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
     bool SecondTry = false,TryAgain = false;
@@ -140,7 +141,6 @@
         //EEPROM_STORAGE_DRYER_CYCLES
         MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
 
-
         Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,0,RpWarning,Read_Dryer_ENC_Position(),0);
 
         Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,LoadArmRounds,RpWarning,0,0);
@@ -165,6 +165,11 @@
     uint32_t Thread_Load_Reduce_Heat(void)
     {
 
+        if (Is_PP_Machine())
+            kval_upperValue = 40;
+        else
+            kval_upperValue = 70;
+
         //Heaters Off, Dryer Blower Off, Blower Low,
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Reduce_Heat");
         memcpy (&ProcessParametersClear,&ProcessParametersKeep,sizeof(ProcessParameters));
@@ -190,6 +195,9 @@
         ProcessParametersClear.lblowerflow  = 0;
         ProcessParametersClear.dyeingspeed = 40;
         ProcessParametersClear.dryerbufferlength = ProcessParametersKeep.dryerbufferlength;
+        ProcessParametersClear.pullertension = ProcessParametersKeep.pullertension;
+        ProcessParametersClear.windertension = ProcessParametersKeep.windertension;
+
         if (HandleProcessParameters(&ProcessParametersClear,false)!= OK)
         {
             LOG_ERROR (LoadStages, "Thread_Load_Reduce_Heat failed");
@@ -286,7 +294,7 @@
                 {
                     TimeoutsCounter = 0;
                     load.color = fastBILNK;
-                    usnprintf(LoadErrorMsg, 100, "Stage %s - motor %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]);
+                    usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]);
                     Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
 
                     LoadStatus = ERROR;
@@ -389,8 +397,8 @@
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Lift_Rockers");
         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);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, kval_upperValue);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, kval_upperValue);
         Task_sleep(10);
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 250,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,35000);
@@ -424,8 +432,8 @@
 
         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);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, kval_upperValue);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, kval_upperValue);
 
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Close_Rockers");
         CallbackCounter++;
@@ -647,6 +655,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Dryer_Loading");
 
+        int CurrentlyLoaded = 0;
         if (dryerbufferlength)
             LoadArmRounds = (int)dryerbufferlength;
         if (LoadArmRounds <= 2)
@@ -656,7 +665,12 @@
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
-        //MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds);
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&CurrentlyLoaded);
+        Report("Thread_Load_Dryer_Loading cycles",__FILE__,LoadArmRounds,CurrentlyLoaded,RpMessage,LoadArmRounds-CurrentlyLoaded,0);
+        if (CurrentlyLoaded)
+        {
+            LoadArmRounds -= CurrentlyLoaded;
+        }
         ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ;
         ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING;
 
@@ -806,14 +820,14 @@
             else //done enough cycles, go to the center point
             {
                 MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_Callback,30000);
-                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-numberOfCycles);
+                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0);
                 Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
             }
         }
         else  //timeout or no movement
         {
             Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
-            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-(numberOfCycles-1));
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-numberOfCycles);
             TimeoutsCounter = 0;
             CallbackCounter = 0;
             /*if(PullerControlId != 0xFF)
@@ -919,7 +933,12 @@
 
         if (SecondTry == true)
         {
-            LoadArmRounds = 30;
+            MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
+            if (LoadArmRounds == 0) //prev trial stopped
+            {
+                LoadArmRounds = (int)dryerbufferlength;
+            }
+            //LoadArmRounds = 30;
         }
         else
         {
@@ -1048,7 +1067,7 @@
 }
 uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
 {
-    if (JobIsActive())
+    if (JobIsActive()||(MachineReadyForHeating == false)||(FPGABurningActive==true))
     {
         Report("ThreadLoadButton called on job",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
         return ERROR;