thread load improvements

1 files changed, 9 insertions, 8 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 53bac3004..56fd512d6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -109,8 +109,9 @@
     }
     uint32_t Thread_Load_Reduce_Heat(void)
     {
+
         //Heaters Off, Dryer Blower Off, Blower Low,
-        REPORT_MSG(LoadStages, "Thread Load State Machine step");
+        REPORT_MSG(LoadStages, "Thread Load State Machine step ");
         memcpy (&ProcessParametersClear,&ProcessParametersKeep,sizeof(ProcessParameters));
         ProcessParametersClear.dryerzone1temp = 0;
         ProcessParametersClear.dryerzone2temp = 0;
@@ -142,7 +143,7 @@
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Start_Position_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
-        REPORT_MSG(LoadStages, "Thread Load State Machine Callback");
+        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
 
         NumberOfDrierLoaderCycles--;
         if (NumberOfDrierLoaderCycles)
@@ -160,7 +161,7 @@
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
-        REPORT_MSG(LoadStages, "Thread Load State Machine Callback");
+        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         NumberOfDrierLoaderCycles=0;
         //storeLoadArmParameters();
         LoadStages++;
@@ -173,12 +174,12 @@
         if (LoadArmInfo.LoadArmRounds != 0xFF)
         {
             NumberOfDrierLoaderCycles = LoadArmInfo.LoadArmRounds;
-            status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
+            status |= 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_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, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
+            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);
 
         }
@@ -188,7 +189,7 @@
     uint8_t CallbackCounter = 0;
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
-        REPORT_MSG(LoadStages, "Thread Load State Machine Callback");
+        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         REPORT_MSG(MotorId, "Thread_Load_HomingCallback Motor Id");
         if(ControlId != 0xFF)
         {
@@ -235,7 +236,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 20,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2], Thread_Load_HomingCallback,10000);
 
@@ -334,7 +335,7 @@
         //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, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+        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_HomingCallback, 100000);
 
         //Keep Notation How Many Rotations In The Dryer