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

1 files changed, 38 insertions, 22 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index fd53d6da2..9e0a2ac7f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -28,6 +28,7 @@
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "modules/heaters/heaters.h"
 #include "modules/General/process.h"
 #include "modules/ids/ids_ex.h"
@@ -117,8 +118,8 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 
   if (Current_Read < Previous_Read)
   {
-    ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
     Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
+    ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,Time_Pass,(int)Current_Read,RpWarning,(int)Previous_Read,0);
   }
   else
     Time_Pass = Current_Read - Previous_Read;
@@ -178,7 +179,10 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             initialpos = 0;
         }
         prevprev = PreviousPosition;
-        positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition);
+        if (Extended_Motor_Param[ThreadMotorIdToMotorId[index]] == true) //powerstep driver reverses the direction
+            positionDiff = Control_Delta_Position_Pass(PoolerPreviousPosition,PoolerCurrentPosition);
+        else
+            positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
         //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
         PreviousPosition = CurrentPosition;
 
@@ -268,7 +272,10 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             Poolerinitialpos = 0;
         }
         prevprev = PoolerPreviousPosition;
-        positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
+        if (Extended_Motor_Param[ThreadMotorIdToMotorId[index]] == true) //powerstep driver reverses the direction
+            positionDiff = Control_Delta_Position_Pass(PoolerPreviousPosition,PoolerCurrentPosition);
+        else
+            positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
         //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
         PoolerPreviousPosition = PoolerCurrentPosition;
 
@@ -435,7 +442,6 @@ void testDancersControl()
     ThreadControlActive = false;
 }
 #endif
-bool dancerinvalid = false;
 int MotorFailedSample[MAX_THREAD_MOTORS_NUM] = {0,0,0,0,0};
 char TMessage[150];
 //char time[150];
@@ -474,21 +480,20 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         //if (MotorDriverResponse[ThreadMotorIdToMotorId[index]].Busy == true)
         //    return OK;
         DancerId = ThreadMotorIdToDancerId[index];
-        if (ReadValue < 10)
+/*        if (ReadValue < 10)
         {
             MotorFailedSample[index]++;
             ReportWithPackageFilter(ThreadFilter,"Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
             return OK;
-        }
+        }*/
         if (ReadValue == 0x3FFF)
         {
-            MotorFailedSample[index]++;
-            if (dancerinvalid == false)
+            if (Read_Dryer_Status(DancerId) != OK)
             {
-                dancerinvalid = true;
-                ReportWithPackageFilter(ThreadFilter,"Dancer value invalid.",__FILE__,__LINE__,(int)IfIndex,RpError,(int)ReadValue,0);
+                ReportWithPackageFilter(ThreadFilter,"Dancer value invalid.",__FILE__,ReadValue,(int)DancerId,RpError,(int)Read_Dryer_Status(DancerId),0);
+                MotorFailedSample[index]++;
+                return OK;
             }
-            return OK;
         }
         KeepReadValue = ReadValue;
         TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
@@ -958,6 +963,15 @@ uint32_t ThreadDryerRampUp(uint32_t IfIndex, uint32_t BusyFlag)
 
     return OK;
 }
+bool Thread_Rockers_Bypass = false;
+bool Set_Thread_Rockers_Bypass (int value)
+{
+    if (value == 0)
+        Thread_Rockers_Bypass = false;
+    else
+        Thread_Rockers_Bypass = true;
+    return Thread_Rockers_Bypass;
+}
 
 //********************************************************************************************************************
 uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
@@ -995,17 +1009,19 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogInit();
 #endif
-
-        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);
-        }
+         if (Thread_Rockers_Bypass == false)
+         {
+            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);
+            }
+         }
         if (EnableLubrication == true)
         {
             IDS_StartLubrication();