thread load testing

1 files changed, 26 insertions, 20 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index d5cf08ccb..edfa3b0b9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -85,7 +85,7 @@
         FRESULT Fresult = FR_OK;
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
 
-        LoadArmInfo.LoadArmBackLash = 0;
+        LoadArmInfo.LoadArmBackLash = 40;
         LoadArmInfo.LoadArmRounds = 0xFF;
         Fresult = f_mkdir(SW_INFO_DIR);
         if ((Fresult == FR_OK)||(Fresult == FR_EXIST))
@@ -103,7 +103,7 @@
         memcpy (&ProcessParametersRecover,&ProcessParametersKeep,sizeof(ProcessParameters));
         //NumberOfDrierLoaderCycles = loadLoadArmParameters();
         LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        //ThreadLoadStateMachine(LoadStages);
 
         return OK;
     }
@@ -137,35 +137,38 @@
                 Control_Voltage_To_Blower(BlowerCfg.voltage-500);
             Control_Dryer_Fan(STOP,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            ThreadLoadStateMachine(LoadStages);
+            //ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Start_Position_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
-        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+       // Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
 
         NumberOfDrierLoaderCycles--;
         if (NumberOfDrierLoaderCycles)
         {
+            Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
             status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
                                             MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround, Thread_Load_Set_Load_Arm_To_Start_Position_Callback,1000);
         }
         else
         {
+            Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
             //storeLoadArmParameters();
             LoadStages++;
-            ThreadLoadStateMachine(LoadStages);
+            //ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
-        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+//        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         NumberOfDrierLoaderCycles=0;
         //storeLoadArmParameters();
         LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        //ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Start_Position(void)
@@ -173,14 +176,16 @@
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         if (LoadArmInfo.LoadArmRounds != 0xFF)
         {
+            Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
             NumberOfDrierLoaderCycles = LoadArmInfo.LoadArmRounds;
-            status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
+            status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
                                             MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds, Thread_Load_Set_Load_Arm_To_Start_Position_Callback,1000);
         }
         else //number of circles is not known - compare to position of the motor to verify location at the stopper
         {
-            status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
-                                            MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/10, Thread_Load_Set_Load_Arm_To_Start_Position_Callback,LoadArmInfo.LoadArmBackLash,1000);
+            Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+            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/2, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
         }
         //Use Notation How Many Rotations In The Drier, Or Check Against Stopper. Move Slowly
@@ -202,7 +207,7 @@
             if (CallbackCounter == 0)
             {
                 LoadStages++;
-                ThreadLoadStateMachine(LoadStages);
+                //ThreadLoadStateMachine(LoadStages);
             }
         }
         else
@@ -316,7 +321,7 @@
         {
             Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            ThreadLoadStateMachine(LoadStages);
+            //ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -335,7 +340,7 @@
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
         ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
-        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
                                MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds,    Thread_Load_HomingCallback, 100000);
 
         //Keep Notation How Many Rotations In The Dryer
@@ -351,7 +356,7 @@
         ControlId = 0xFF;
         ThreadAbortJoggingFunc();
         LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        //ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Jog_Thread(void)
@@ -510,14 +515,15 @@ void ThreadLoadRequest(MessageContainer* requestContainer)
     container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
 
 
-    int LoadStages = (int)request->dryerzone1temp;
-    ThreadLoadStateMachine(LoadStages);
+    int LoadStage = (int)request->dryerzone1temp;
+    LoadStages = LoadStage;
+    ThreadLoadStateMachine(LoadStage);
 
-    //if (status)
+    /*if (status)
     {
         responseContainer.has_error = true;
         responseContainer.error = ERROR_CODE__JOB_UNSPECIFIED_ERROR;
-    }
+    }*/
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     my_free(responseContainer.data.data);
     //USBCDCD_sendData(container_buffer, container_size,10);
@@ -544,11 +550,11 @@ void ThreadLoadPollRequest(MessageContainer* requestContainer)
     container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
 
 
-
+/*
     {
         responseContainer.has_error = true;
         responseContainer.error = ERROR_CODE__JOB_UNSPECIFIED_ERROR;
-    }
+    }*/
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     my_free(responseContainer.data.data);
     SendChars(container_buffer, container_size);