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

3 files changed, 24 insertions, 11 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index c59a95180..c68156e68 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -567,13 +567,13 @@
     {
         REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
         LoadArmInfo.LoadArmRounds = 0;
-        uint32_t numberOfSteps = 0;
+        //uint32_t 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;
 
-        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 = 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;
         MotorControlConfig[POOLER_MOTOR].m_params.MAX = 1;
         MotorControlConfig[POOLER_MOTOR].m_params.MIN = MotorsControl[POOLER_MOTOR].outputproportionalpowerlimit*-1;
         MotorControlConfig[POOLER_MOTOR].m_params.Kd = MotorsControl[POOLER_MOTOR].derivativetime;
@@ -719,6 +719,11 @@
 }
 uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
 {
+    if (JobIsActive())
+    {
+        Report("ThreadLoadButton called on job",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
+        return ERROR;
+    }
     Report("ThreadLoadButton",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
     if (LoadStages > ReadValue)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 4cbe1f70f..32dea353a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -54,6 +54,8 @@ uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the
 bool     SCREW_TimerActivated = false;
 uint32_t ScrewControlId = 0xFF;
 
+
+
 static bool KeepWindingCone = false;
 static uint32_t WindingConeLocation;
 static uint32_t WinderBackToBaseTime = 800;
@@ -63,6 +65,8 @@ InternalWinderConfigStruc InternalWinderCfg = {0};
 #ifdef READ_SCREW_ENCODER
 uint32_t ScrewLocationLimitSwitch = 0,ScrewLocationStart = 0;
 uint32_t ScrewLocationRun[3];
+float WinderRunAverage = 0.0,WinderRunSum = 0.0;
+int WinderRunSamples = 0;
 #endif
 bool SampleWinding = false;
 uint32_t Winder_Init(void)
@@ -141,6 +145,10 @@ uint32_t Winder_Prepare(void *JobDetails)
 #ifdef READ_SCREW_ENCODER
     ScrewLocationRun[0] = 0;
     ScrewLocationRun[1] = 0;
+    WinderRunAverage = 0.0;
+    WinderRunSum = 0.0;
+    WinderRunSamples = 0;
+
 #endif
     if (( KeepWindingCone == false)||(WindingConeLocation == 0))
     {
@@ -272,10 +280,6 @@ int flipflop = 0;
 uint32_t motspeed;
 float speedf;
 int WinderCalculation = 0;
-#ifdef READ_SCREW_ENCODER
-float WinderRunAverage = 0.0,WinderRunSum = 0.0;
-int WinderRunSamples = 0;
-#endif
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     //uint32_t Steps;
@@ -322,11 +326,11 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 #ifdef READ_SCREW_ENCODER
     int WinderRun;
      WinderRun = abs(ScrewLocationRun[1] - ScrewLocationRun[0]);
-     if ((WinderRun < 50000)&&(Add100 == false))
+     if ((WinderRun < 30000)&&(WinderMotorSpeedRollOver == true))
      {
-         WinderRunSum+=WinderRun;
          WinderRunSamples++;
-         WinderRunAverage = WinderRunSum/WinderRunSamples;
+         WinderRunSum+=WinderRun;
+         WinderRunAverage = WinderRunSum/(WinderRunSamples);
          if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
          {
              usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 38c0f86f1..88d62a495 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -11,6 +11,9 @@
 #include "PMR/Hardware/HardwareDancer.pb-c.h"
 #include "PMR/Hardware/HardwareWinder.pb-c.h"
 #include "PMR/Hardware/HardwareBreakSensor.pb-c.h"
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+
+#include "Modules/AlarmHandling/AlarmHandling.h"
 #include "PMR/Printing/JobSpool.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 
@@ -49,6 +52,8 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
     HardwareMotor *request;
     if (HWrequest == NULL)
         return ERROR;
+    AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,OFF);
+
     for (MotorId = 0; MotorId < HWrequest->n_motors ; MotorId++)
     {
         request = HWrequest->motors[MotorId];
@@ -69,13 +74,12 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
         MotorsCfg[Motor_i].configword = request->configword;
         if(MotorDriverResponse[Motor_i].DriverType == CombinrdMotDriver)
         {
-            MotorsCfg[Motor_i].directionthreadwize = !(request->directionthreadwize);//PowerSTEP01
+            MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize ^ 1;//PowerSTEP01
         }
         else
         {
             MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;//L6470 + L6472
         }
-        MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;
         MotorsCfg[Motor_i].kvalhold = request->kvalhold;
         MotorsCfg[Motor_i].kvalrun = request->kvalrun;
         MotorsCfg[Motor_i].kvalacc = request->kvalacc;