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

1 files changed, 16 insertions, 5 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index f2ca4e8d7..f327ef3b2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -258,12 +258,14 @@
         {
             CallbackCounter--;
         }
-        if ((abs(angle)>14000  )&&(BusyFlag == NOTBUSY)) // OK - take another round
+        if ((abs(angle)<200  )&&(BusyFlag == NOTBUSY)) // OK
         {
             Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
 
             Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             NumberOfDrierLoaderCycles=0;
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0);
+
             //storeLoadArmParameters();
             LoadStages++;
 
@@ -272,7 +274,7 @@
         else
         {
             load.color = fastBILNK;
-            usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]);
+            usnprintf(LoadErrorMsg, 100, "*Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]);
             Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
 
             LoadStatus = ERROR;
@@ -317,7 +319,7 @@
                 {
                     TimeoutsCounter = 0;
                     load.color = fastBILNK;
-                    usnprintf(LoadErrorMsg, 100, "Stage %s - %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;
@@ -687,7 +689,7 @@
             TimeoutsCounter = 0;
             CallbackCounter = 0;
             load.color = fastBILNK;
-            usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
+            usnprintf(LoadErrorMsg, 100, "$Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
             Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
             LoadStatus = ERROR;
             MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
@@ -729,6 +731,13 @@
         {
             LoadArmRounds -= CurrentlyLoaded;
         }
+        if (LoadArmRounds == CurrentlyLoaded)
+        {
+            Report("Thread_Load_Dryer_Loading no need for cycles",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+            LoadStages++;
+            ThreadLoadStateMachine(LoadStages);
+            return OK;
+        }
         ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ;
         ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING;
 
@@ -932,7 +941,7 @@
 
             MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
             load.color = fastBILNK;
-            usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
+            usnprintf(LoadErrorMsg, 100, "&Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
             Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
             Report("Dryer unloading timeout(1) or no movement",__FILE__,temp,DrierPrevLocation,RpWarning,ReadValue,0);
             LoadStatus = ERROR;
@@ -1489,6 +1498,8 @@ uint32_t ThreadLoadingRestartReport(void) //sending after a failure in the final
 
     if (ThreadLoadingToken[0] == 0)
         return OK;
+    if (LoadStages == THREAD_LOAD_INIT)
+        return OK;
     ThreadLoadingRestartFlag = true;
 
     response.has_state = true;