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

1 files changed, 60 insertions, 29 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 5a1bb9063..c5cdb00d6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -29,6 +29,7 @@
 #include "drivers/I2C_Communication/DAC/Blower.h"
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/motors/motor.h"
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 
 #include "PMR/Stubs/StubHeatingTestRequest.pb-c.h"
 #include "PMR/Stubs/StubHeatingTestResponse.pb-c.h"
@@ -78,7 +79,7 @@
         uint32_t LoadArmBackLash;
     }LoadArmInfoStruc;
     LoadArmInfoStruc LoadArmInfo;
-    char LoadArmPath[50] = "0://SysInfo//LoadArm.cfg";
+    //char LoadArmPath[50] = "0://SysInfo//LoadArm.cfg";
 
     //RUN MOTOR TO SWITCH WITH TIMEOUT
     //RUN MOTOR TO BREAK SENSOR
@@ -96,14 +97,21 @@
     }
     uint32_t Thread_Load_Init(void)
     {
-        void* buffer = NULL;
-        uint32_t Bytes = 0;
-        FRESULT Fresult = FR_OK;
+        //void* buffer = NULL;
+        //uint32_t Bytes = 0;
+        //FRESULT Fresult = FR_OK;
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
 
         LoadArmInfo.LoadArmBackLash = 5;
-        LoadArmInfo.LoadArmRounds = 0xFF;
-        Fresult = f_mkdir(SW_INFO_DIR);
+        //LoadArmInfo.LoadArmRounds = 0xFF;
+        //EEPROM_STORAGE_DRYER_CYCLES
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
+        if (LoadArmInfo.LoadArmRounds <= 2)
+                LoadArmInfo.LoadArmRounds = 20;
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
+        Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,LoadArmInfo.LoadArmRounds,RpWarning,LoadArmInfo.LoadArmBackLash,0);
+
+        /*Fresult = f_mkdir(SW_INFO_DIR);
         if ((Fresult == FR_OK)||(Fresult == FR_EXIST))
         {
 
@@ -114,9 +122,9 @@
                    memcpy (&LoadArmInfo,buffer,sizeof(LoadArmInfo));
                free (buffer);
             }
-        }
+        }*/
 
-        Report("Thread_Load_Init",__FILE__,__LINE__,LoadArmInfo.LoadArmBackLash,RpMessage,LoadArmInfo.LoadArmRounds,0);
+        Report("Thread_Load_Init",__FILE__,__LINE__,LoadArmInfo.LoadArmRounds,RpMessage,LoadArmInfo.LoadArmRounds,0);
         StopInitSequence();
         memcpy (&ProcessParametersRecover,&ProcessParametersKeep,sizeof(ProcessParameters));
         //NumberOfDrierLoaderCycles = loadLoadArmParameters();
@@ -175,6 +183,8 @@
         {
             Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             //storeLoadArmParameters();
+            MotorMove(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,LoadArmInfo.LoadArmBackLash );
+
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
             ThreadLoadStateMachine(LoadStages);
@@ -228,7 +238,7 @@
         }
         else //number of circles is not known - compare to position of the motor to verify location at the stopper
         {
-            Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+            Report("Thread_Load_Set_Load_Arm_To_Start_Position unknown cycles",__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);
 
@@ -251,6 +261,15 @@
     {
         Report("Thread_Load_HomingCallback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
 //        REPORT_MSG(MotorId, "Thread_Load_HomingCallback Motor Id");
+        if ((LoadStages == THREAD_LOAD_CLOSE_ROCKERS)||(LoadStages == THREAD_LOAD_LIFT_ROCKERS))
+        {
+            if((MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)||(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING))
+            {
+                MotorSetMicroStep(MotorId, keepmicrostep);
+                MotorSetKvalRun(MotorId, keepkvalrun);
+            }
+        }
+
         if (CallbackCounter)
         {
             CallbackCounter--;
@@ -269,13 +288,6 @@
                 else
                 {
                     LoadStages++;
-                    if (LoadStages == THREAD_LOAD_CLOSE_ROCKERS)
-                    {
-                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,  keepmicrostep);
-                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, keepmicrostep);
-                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, keepkvalrun);
-                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, keepkvalrun);
-                    }
                     if (LoadStages == THREAD_LOAD_CLOSE_DANCERS)
                     {
                         MotorSetKvalHold(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, keepkvalhold);
@@ -322,7 +334,7 @@
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,15000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 600,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
@@ -331,6 +343,10 @@
     {
         keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
         keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+        if (keepkvalrun>=25)
+            keepkvalrun = 25;
+        Report("Thread_Load_Lift_Rockers",__FILE__,__LINE__,keepkvalrun,RpMessage,keepmicrostep,0);
+
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 8);
         MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 8);
@@ -350,7 +366,7 @@
         if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT)
         {
             REPORT_MSG(LIMIT, "No cone in winder");
-            return ERROR;
+            //return ERROR;
         }
         CallbackCounter++;
         MotorMovetoBreakSensor (HARDWARE_MOTOR_TYPE__MOTO_WINDER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].directionthreadwize, 500,  Thread_Load_HomingCallback,10000);
@@ -360,6 +376,17 @@
     }
     uint32_t Thread_Load_Close_Rockers(void)
     {
+        keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
+        keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+        if (keepkvalrun>=25)
+            keepkvalrun = 25;
+        Report("Thread_Load_Close_Rockers",__FILE__,__LINE__,keepkvalrun,RpMessage,keepmicrostep,0);
+
+        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);
+
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 250,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,25000);
@@ -376,7 +403,7 @@
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 600,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
@@ -464,15 +491,19 @@
     uint32_t Thread_Load_Dryer_Loading(void)
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
-        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
-        if (LoadArmInfo.LoadArmRounds <= 2)
-            LoadArmInfo.LoadArmRounds = 20;
+
+        if (dryerbufferlength)
+            LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
+        //if (LoadArmInfo.LoadArmRounds <= 2)
+        //    LoadArmInfo.LoadArmRounds = 20;
         float numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         SetOriginMotorSpeed(19);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
+        MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds);
+
         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;
@@ -498,7 +529,7 @@
 
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 
-        LoadingControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
+        LoadingControlId = AddControlCallback(NULL,ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         Report("AddControlCallback feeder",__FILE__,__LINE__,LoadingControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
         CallbackCounter++;
         Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
@@ -507,7 +538,7 @@
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
-        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
+        //LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         //FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }
@@ -526,7 +557,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         ThreadJoggingFunc(20);
-        LoadingControlId = AddControlCallback(Thread_Load_Jog_ThreadStop, eOneSecond*5,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
+        LoadingControlId = AddControlCallback(NULL,Thread_Load_Jog_ThreadStop, eOneSecond*5,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         return OK;
     }
     uint32_t Thread_Load_End(void)
@@ -592,7 +623,7 @@
         MotorControlConfig[POOLER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].directionthreadwize);
 
-        PullerControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+POOLER_MOTOR),POOLER_DANCER,POOLER_MOTOR);
+        PullerControlId = AddControlCallback(NULL,ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+POOLER_MOTOR),POOLER_DANCER,POOLER_MOTOR);
         Report("AddControlCallback Puller",__FILE__,__LINE__,PullerControlId,RpMessage,IfTypeThread*0x100+POOLER_MOTOR,0);
 ////////////////////////
         MotorControlConfig[WINDER_MOTOR].m_params.MAX = 1;
@@ -614,7 +645,7 @@
         MotorControlConfig[WINDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_WINDER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].directionthreadwize);
 
-        WinderControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+WINDER_MOTOR),WINDER_DANCER,WINDER_MOTOR);
+        WinderControlId = AddControlCallback(NULL,ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+WINDER_MOTOR),WINDER_DANCER,WINDER_MOTOR);
         Report("AddControlCallback Winder",__FILE__,__LINE__,WinderControlId,RpMessage,IfTypeThread*0x100+WINDER_MOTOR,0);
 
 ////////////////////////
@@ -631,9 +662,9 @@
                                         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.LoadArmBackLash = 5;
         LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
-        FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
+        //FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }