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

1 files changed, 51 insertions, 43 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 76c0fbfd8..94858cae2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -355,6 +355,8 @@ void testDancersControl()
 bool dancerinvalid = false;
 int MotorFailedSample[MAX_THREAD_MOTORS_NUM] = {0,0,0,0,0};
 char Message[60];
+uint16_t BreakSensorCounter = 0;
+uint16_t BreakSensorLatchCounter = 0;
 uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
 //#define MAX_CONTROL_SAMPLES 6
@@ -425,16 +427,29 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                 {
                     if (ReadBreakSensor()==ERROR)
                     {
-                        //consider applying the debouce parameters later
-                        //BreakSensordebouncetimemilli
-                        JobEndReason = JOB_THREAD_BREAK;
-                        ThreadControlActive = false;
-                        SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
-                        SegmentReady(Module_Thread,ModuleFail);
-                        AlarmHandlingSetAlarm(EVENT_TYPE__ThreadBreak,true);
-                        //EndState(CurrentJob,"ReadBreakSensor Error" );
-                        LOG_ERROR(index, "ReadBreakSensor Error");
-                        return OK;
+                        BreakSensorCounter++;
+                        BreakSensorLatchCounter++;
+                        if (BreakSensorCounter>=BreakSensordebouncetimemilli)
+                        {
+                            //consider applying the debouce parameters later
+                            //BreakSensordebouncetimemilli
+                            JobEndReason = JOB_THREAD_BREAK;
+                            ThreadControlActive = false;
+                            SendJobProgress(0.0,0,false, "ReadBreakSensor Error");
+                            SegmentReady(Module_Thread,ModuleFail);
+                            AlarmHandlingSetAlarm(EVENT_TYPE__ThreadBreak,true);
+                            //EndState(CurrentJob,"ReadBreakSensor Error" );
+                            LOG_ERROR(index, "ReadBreakSensor Error");
+                            return OK;
+                        } //passed limit
+                    }//ReadBreakSensor()==ERROR
+                    else //reset counter - we are looking for consequent calls
+                    {
+                        if (BreakSensorCounter)
+                        {
+                            LOG_ERROR(BreakSensorCounter, "ReadBreakSensor Spike");
+                        }
+                        BreakSensorCounter = 0;
                     }
                 }
             }
@@ -447,7 +462,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
             //JobAbortedByUser = true;
             ThreadControlActive = false;
-            MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
+            //MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
             JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
             SendJobProgress(0.0,0,false, Message);
             //EndState(CurrentJob,Message );
@@ -525,7 +540,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
 
     //MotorsConfigMessage(request);
      ThreadPrepareState(request);
-     ThreadPreSegmentState(request);
+     ThreadPreSegmentState(request,0);
     return OK;
 }
 bool InitialProcess = false;
@@ -659,7 +674,7 @@ void SetOriginMotorSpeed(float process_speed)
 }
 
 //********************************************************************************************************************
-uint32_t ThreadPreSegmentState(void *JobDetails)
+uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId)
 {
 //set the speed only before the first segment, speed is constant across all job segments and intersegments
     JobTicket* JobTicket = JobDetails;
@@ -670,33 +685,26 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
         LOG_ERROR (dyeingspeed," job speed zero");
         return ERROR;
     }
-    LOG_ERROR (dyeingspeed," ThreadPreSegmentState");
-
-    SetOriginMotorSpeed(process_speed);
-    ThreadControlActive = true;
-    PrepareState = false;
-    // set the new speed in the dryer motor to the speed of the new segment
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]);
- //only for testing - when control works, these motors will take their speed from the dryer
-    //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING, OriginalMotorSpd_2PPS[POOLER_MOTOR]);
- //only for testing - when control works, these motors will take their speed from the dryer
-    //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]);
-
-//#warning rocker disabled
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0)
+    REPORT_MSG (dyeingspeed," ThreadPreSegmentState");
+    if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job)
     {
-        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
-        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1);
-    }
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0)
-    {
-        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
-        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
-    }
-// #warning rocker disabled
-
-//    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO
+        SetOriginMotorSpeed(process_speed);
+        ThreadControlActive = true;
+        PrepareState = false;
+        // set the new speed in the dryer motor to the speed of the new segment
+        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]);
 
+        if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0)
+        {
+            MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
+            MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1);
+        }
+        if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0)
+        {
+            MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
+            MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
+        }
+    }
     // activate control fr all motors
     //set speed for both rocker motors
     //wait for all motors to get to the required speed (set the target speed for the control to check)
@@ -718,17 +726,17 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 int REPSegmentId = 0;
 void ThreadInterSegmentEnded(void)
 {
-    LOG_ERROR (REPSegmentId,"ThreadInterSegmentEnded");
+    REPORT_MSG (REPSegmentId,"ThreadInterSegmentEnded");
     PreSegmentReady(Module_Thread,ModuleDone);
 }
 void ThreadSegmentEnded(void)
 {
-    LOG_ERROR (REPSegmentId," ThreadSegmentState");
+    REPORT_MSG (REPSegmentId," ThreadSegmentState");
     SegmentReady(Module_Thread,ModuleDone);
 }
 void ThreadDistanceToSpoolEnded(void)
 {
-    LOG_ERROR (REPSegmentId," ThreadDistanceToSpoolEnded");
+    REPORT_MSG (REPSegmentId," ThreadDistanceToSpoolEnded");
     DistanceToSpoolReady(Module_Thread,ModuleDone);
 }
 double seglength = 0.0;
@@ -739,7 +747,7 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
     REPSegmentId = SegmentId;
     seglength = JobTicket->segments[SegmentId]->length;
     CurrentSegmentId = SegmentId;
-    LOG_ERROR (seglength," ThreadSegmentState");
+    REPORT_MSG (seglength," ThreadSegmentState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded);
     return OK;
 }
@@ -748,7 +756,7 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
 uint32_t ThreadDistanceToSpoolState(void )
 {
     seglength = dryerbufferlength;
-    LOG_ERROR (seglength,"ThreadDistanceToSpoolState");
+    REPORT_MSG (seglength,"ThreadDistanceToSpoolState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded);
     return OK;
 }