merge

3 files changed, 57 insertions, 33 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index bac3ba1d0..128564586 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -31,7 +31,7 @@
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/motors/motor.h"
 #include "drivers/Flash_ram/MCU_E2Prom.h"
-
+#include "Drivers/I2C_Communication/I2C.h"
 #include "PMR/Stubs/StubHeatingTestRequest.pb-c.h"
 #include "PMR/Stubs/StubHeatingTestResponse.pb-c.h"
 #include "PMR/Stubs/StubHeatingTestPollRequest.pb-c.h"
@@ -180,6 +180,14 @@
         ProcessParametersClear.headzone4temp  = 0;
         ProcessParametersClear.headzone5temp  = 0;
         ProcessParametersClear.headzone6temp  = 0;
+        ProcessParametersClear.headzone7temp  = 0;
+        ProcessParametersClear.headzone8temp  = 0;
+        ProcessParametersClear.headzone9temp  = 0;
+        ProcessParametersClear.headzone10temp  = 0;
+        ProcessParametersClear.headzone11temp  = 0;
+        ProcessParametersClear.headzone12temp  = 0;
+        ProcessParametersClear.stspzone1temp  = 0;
+        ProcessParametersClear.stspzone2temp  = 0;
         ProcessParametersClear.dyeingspeed = 40;
         ProcessParametersClear.dryerbufferlength = ProcessParametersKeep.dryerbufferlength;
         if (HandleProcessParameters(&ProcessParametersClear,false)!= OK)
@@ -191,6 +199,7 @@
         }
         else
         {
+            //WHS_Start_Blower_Control_Closed_Loop(2.5);
             Turn_the_Blower_On();//Turn on with the Default_Voltage
             if (BlowerCfg.heatingvoltage)
                 Control_Voltage_To_Blower(BlowerCfg.heatingvoltage);
@@ -401,9 +410,7 @@
         CallbackCounter++;
         //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
         MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 0, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
-#ifdef Use_Head_Card
-        HeadCard_Actuators_Control(ACTOT, LOW,true);
-#endif
+        Trigger_Head_Actuators_Control(ACTOT, LOW,true);
         return OK;
     }
     uint32_t Thread_Load_Lift_Dancers(void)
@@ -511,9 +518,7 @@
         CallbackCounter++;
 //        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
         MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 2, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
-#ifdef Use_Head_Card
-        HeadCard_Actuators_Control(ACTOT, LOW,false);
-#endif
+        Trigger_Head_Actuators_Control(ACTOT, LOW,false);
         return OK;
     }
     uint32_t Thread_Load_Resume_Heating(void)
@@ -538,7 +543,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_Jog_Feeder_To_Middle_Point_Callback,4000);
+        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 400, FEEDER_DANCER ,true, Thread_Load_Jog_Feeder_To_Middle_Point_Callback,4000);
         return OK;
     }
 
@@ -1360,6 +1365,7 @@ uint32_t ThreadLoadingReport(void)
 
     //-------------------------------------------------------------------------------------------
     responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size);
+    responseContainer.has_continuous = true;
     responseContainer.continuous = true;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
@@ -1416,6 +1422,7 @@ uint32_t StopThreadLoadingFunc(MessageContainer* requestContainer)
     MessageContainer responseContainer;
     MessageState = 2;
     Thread_Load_End();
+    MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
     Report("StopThreadLoadingFunc",__FILE__,__LINE__,0xFF,RpWarning,(int)LoadStages,0);
 
     responseContainer = createContainer(MESSAGE_TYPE__StopThreadLoadingResponse, requestContainer->token, true, &Cresponse, &stop_thread_loading_response__pack, &stop_thread_loading_response__get_packed_size);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 420b782b5..114edc0cd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -38,6 +38,8 @@ uint32_t ThreadDistanceToSpoolState(void);
 uint32_t ThreadEndState();
 uint32_t ThreadInitialTestStub();
 
+bool Set_Thread_Rockers_Bypass (int value);
+
 uint32_t StoreDancerConfigMessage(void);
 uint32_t LoadDancerConfigMessage(void);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 2484b9444..1dd101f82 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;
 
@@ -300,12 +307,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         if (PrepareState == true)
         {
-//#ifdef Use_Head_Card
-//            strcpy(Lenstr,"Heating up");
-//#else
-            //later - add temperatures
-             TemperatureListString(Lenstr);
-//#endif
+            TemperatureListString(Lenstr);
             SendJobProgress(0.0,0,false, Lenstr);
         }
         else
@@ -505,6 +507,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
 			//pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
+        }
+        if (index == POOLER_MOTOR)
+        {
+            //pooler dancer is right sided: data is opposite
             JobCounter++;
         }
         //TranslatedReadValue = 0;//test
@@ -911,7 +917,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
 
 void SetOriginMotorSpeed(float process_speed)
 {
-    int i,Motor_i, HW_Motor_Id;
+    int Motor_i, HW_Motor_Id;
     for (Motor_i = 0; Motor_i <= WINDER_MOTOR; Motor_i++)
     {
         HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];
@@ -959,6 +965,15 @@ 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)
@@ -996,17 +1011,19 @@ 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();
@@ -1109,7 +1126,7 @@ char Endstr[150];
 {
      int Motor_i;
      ThreadControlActive = false;
-     uint32_t status = OK,tempCtl;
+     uint32_t status = OK;
      usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
      SendJobProgress(0.0,0,false, Endstr);
      ReportWithPackageFilter(ThreadFilter,Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
@@ -1123,7 +1140,7 @@ char Endstr[150];
      if (SpeedControlId != 0xFF)
      {
          if(RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction)!=OK)
-             ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)SpeedControlId,0);
+             ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)ThreadLengthCBFunction,RpError,(int)SpeedControlId,0);
          SpeedControlId = 0xFF;
      }
      if (PoolerSpeedControlId != 0xFF)
@@ -1135,7 +1152,6 @@ char Endstr[150];
 
      for ( Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
      {
-         tempCtl = ControlIdtoMotorId[Motor_i];
          if (ControlIdtoMotorId[Motor_i] != 0xFF)
          {
              status = RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
@@ -1144,7 +1160,6 @@ char Endstr[150];
              else
                  ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)ControlIdtoMotorId[Motor_i],0);
          }
-         //ReportWithPackageFilter(ThreadFilter,"Remove Control",__FILE__,Motor_i,(int)status,RpError,(int)tempCtl,0);
 
      }
 	 Task_sleep(100);