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| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-12-02 19:56:02 +0200 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-12-02 19:56:02 +0200 |
| commit | 61b72c2bcb2798f7b0d96f1b4ccb5e176b2051dc (patch) | |
| tree | d387095cc3ea40a03eb2ddd2e18d47281c32fd3d /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | fbfe1b3cc3024a6b0401fb0a2c53bead70462338 (diff) | |
| download | Tango-61b72c2bcb2798f7b0d96f1b4ccb5e176b2051dc.tar.gz Tango-61b72c2bcb2798f7b0d96f1b4ccb5e176b2051dc.zip | |
thread loading fixes
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 21 |
1 files changed, 16 insertions, 5 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index f2ca4e8d7..f327ef3b2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -258,12 +258,14 @@ { CallbackCounter--; } - if ((abs(angle)>14000 )&&(BusyFlag == NOTBUSY)) // OK - take another round + if ((abs(angle)<200 )&&(BusyFlag == NOTBUSY)) // OK { Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0); Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); NumberOfDrierLoaderCycles=0; + MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0); + //storeLoadArmParameters(); LoadStages++; @@ -272,7 +274,7 @@ else { load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]); + usnprintf(LoadErrorMsg, 100, "*Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; @@ -317,7 +319,7 @@ { TimeoutsCounter = 0; load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]); + usnprintf(LoadErrorMsg, 100, "/Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; @@ -687,7 +689,7 @@ TimeoutsCounter = 0; CallbackCounter = 0; load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); + usnprintf(LoadErrorMsg, 100, "$Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200); @@ -729,6 +731,13 @@ { LoadArmRounds -= CurrentlyLoaded; } + if (LoadArmRounds == CurrentlyLoaded) + { + Report("Thread_Load_Dryer_Loading no need for cycles",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); + LoadStages++; + ThreadLoadStateMachine(LoadStages); + return OK; + } ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ; ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING; @@ -932,7 +941,7 @@ MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz); load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); + usnprintf(LoadErrorMsg, 100, "&Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); Report("Dryer unloading timeout(1) or no movement",__FILE__,temp,DrierPrevLocation,RpWarning,ReadValue,0); LoadStatus = ERROR; @@ -1489,6 +1498,8 @@ uint32_t ThreadLoadingRestartReport(void) //sending after a failure in the final if (ThreadLoadingToken[0] == 0) return OK; + if (LoadStages == THREAD_LOAD_INIT) + return OK; ThreadLoadingRestartFlag = true; response.has_state = true; |