merge

1 files changed, 25 insertions, 13 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 9c29cf14d..2bdf1b17f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -721,11 +721,11 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             if (calculated_speed>5.0)
             {
-                if (calculated_speed>(CurrentControlledSpeed[index]+100))
+                /*if (calculated_speed>(CurrentControlledSpeed[index]+100))
                 {
                         ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,index,0);
                         calculated_speed=CurrentControlledSpeed[index]+100;
-                }
+                }*/
                 CurrentControlledSpeed[index] = calculated_speed;
                 MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
             }
@@ -888,11 +888,11 @@ uint32_t Adjust_Right_TFU_Tension(double tension)
     uint32_t status = OK;
     if (tension > 0.5) //0 = lower position, 1 = high position
     {
-        //PrepareWaitCount++;
         if (FPGA_Read_limit_Switches(GPI_LS_RDANCER_UP) == NO_LIMIT)
         {
+            PrepareWaitCount++;
             MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  GPI_LS_RDANCER_UP, Adjust_Right_TFU_Tension_Callback,15000);
-            Report("Adjust_Right_TFU_Tension",__FILE__,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,GPI_LS_RDANCER_UP,0);
+            Report("Adjust_Right_TFU_Tension",__FILE__,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,PrepareWaitCount,0);
         }
     }
 
@@ -901,9 +901,9 @@ uint32_t Adjust_Right_TFU_Tension(double tension)
 uint32_t ThreadPrepare_TensionCallback (int MotorId, double tension)
 {
     //MotorStop(MotorId,Hard_Hiz);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0);
     if (PrepareWaitCount)
     {
-        ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0);
         PrepareWaitCount--;
     }
     if ((PrepareWaitCount == 0)&&(PrepareState == true))
@@ -947,7 +947,6 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
         return status;
     else
     {
-        PrepareWaitCount++;
         if (current < request) //go down
         {
             direction = MotorsCfg[HW_Motor_Id].directionthreadwize;
@@ -958,14 +957,26 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
             direction = 1-MotorsCfg[HW_Motor_Id].directionthreadwize;
             movement = current - request;
         }
-        MotorSetMaxSpeed (HW_Motor_Id, 500);
+        MotorSetMaxSpeed (HW_Motor_Id, 800);
         MotorMoveWithCallback (HW_Motor_Id, direction, (movement*MotorsCfg[HW_Motor_Id].microstep), ThreadPrepare_TensionCallback,20000);
+        PrepareWaitCount++;
+        ReportWithPackageFilter(ThreadFilter,"PrepareWaitCount",__FILE__,PrepareWaitCount,current,RpWarning,request,0);
         status |= MCU_E2PromProgram(address,request);
     }
-    usnprintf(Lenstr, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d",
-              DancerId,request,current,movement,direction,HW_Motor_Id,address);
-    ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,address,current,RpWarning,request,0);
+    if (DancerId == HARDWARE_DANCER_TYPE__LeftDancer)
+    {
+        usnprintf(Lenstr, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d call %d",
+                  DancerId,request,current,movement,direction,HW_Motor_Id,address,PrepareWaitCount);
+        ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,address,current,RpWarning,request,0);
 
+    }
+    else
+    {
+        usnprintf(TMessage, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d call %d",
+                  DancerId,request,current,movement,direction,HW_Motor_Id,address,PrepareWaitCount);
+        ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,address,current,RpWarning,request,0);
+
+    }
     return status;
 }
 //********************************************************************************************************************
@@ -1000,12 +1011,13 @@ uint32_t ThreadPrepareState(void *JobDetails)
     EnableIntersegment = JobTicket->enableintersegment;
     IntersegmentLength = JobTicket->intersegmentlength;
 
+    PrepareWaitCount = 0;
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension);
-    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,status,RpFatalError,(int)windertension,0);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpFatalError,(int)windertension,0);
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension);
-    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,status,RpFatalError,(int)pullertension,0);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Puller",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,PrepareWaitCount,RpFatalError,(int)pullertension,0);
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__RightDancer, feedertension);
-    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,status,RpFatalError,(int)feedertension,0);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Feeder",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,PrepareWaitCount,RpFatalError,(int)feedertension,0);
 
     FirstCalcInJob = true;
     if(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].speedmaster == false)