merge conflicts

3 files changed, 60 insertions, 13 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 128564586..eeb0051f5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -186,8 +186,10 @@
         ProcessParametersClear.headzone10temp  = 0;
         ProcessParametersClear.headzone11temp  = 0;
         ProcessParametersClear.headzone12temp  = 0;
-        ProcessParametersClear.stspzone1temp  = 0;
-        ProcessParametersClear.stspzone2temp  = 0;
+        ProcessParametersClear.rblowertemp  = 0;
+        ProcessParametersClear.lblowertemp  = 0;
+        ProcessParametersClear.rblowerflow  = 0;
+        ProcessParametersClear.lblowerflow  = 0;
         ProcessParametersClear.dyeingspeed = 40;
         ProcessParametersClear.dryerbufferlength = ProcessParametersKeep.dryerbufferlength;
         if (HandleProcessParameters(&ProcessParametersClear,false)!= OK)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 78092ae2b..78150e9f9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -213,9 +213,16 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
     REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2");
     if (ReadValue != LIMIT)
     {
-        LOG_ERROR(ReadValue,"Screw failed to reach the limit switch!!");
-        //returned with a timeout
-        Winder_ScrewAtOffsetCallback(0,0);
+        if (JobIsActive()==true)
+        {
+            LOG_ERROR(ReadValue,"Screw failed to reach the limit switch!!");
+            //returned with a timeout
+            Winder_ScrewAtOffsetCallback(0,0);
+        }
+        else //short jog, etc
+        {
+            AlarmHandlingSetAlarm (EVENT_TYPE__SCREW_MOTOR_LIMIT_TIMEOUT,OFF);  //on a short jog, this callback will be called without need
+        }
     }
     else
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 1dd101f82..60cd994dd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -15,6 +15,7 @@
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
+#include "PMR/Printing/ThreadParameters.pb-c.h"
 #include  <PMR/Diagnostics/EventType.pb-c.h>
 
 #include <utils/ustdlib.h>
@@ -442,7 +443,6 @@ 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];
@@ -481,21 +481,20 @@ 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;
@@ -746,7 +745,44 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
      ThreadPreSegmentState(request,0);
     return OK;
 }
+uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
+{
+    /*
+         FEEDER_MOTOR,
+    DRYER_MOTOR,
+    POOLER_MOTOR,
+    WINDER_MOTOR,
+    MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime;
+    MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain;
+    MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime;
 
+     */
+    if (ThreadParams == NULL)
+    {
+        return OK;
+    }
+    if(ThreadParams->feederp)
+        MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederp;
+    if(ThreadParams->feederi)
+        MotorControlConfig[FEEDER_MOTOR].m_params.Ki = ThreadParams->feederi;
+    if(ThreadParams->feederd)
+        MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederd;
+
+    if(ThreadParams->pullerp)
+        MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerp;
+    if(ThreadParams->pulleri)
+        MotorControlConfig[POOLER_MOTOR].m_params.Ki = ThreadParams->pulleri;
+    if(ThreadParams->pullerd)
+        MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerd;
+
+    if(ThreadParams->winderp)
+        MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderp;
+    if(ThreadParams->winderi)
+        MotorControlConfig[WINDER_MOTOR].m_params.Ki = ThreadParams->winderi;
+    if(ThreadParams->winderd)
+        MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderd;
+
+}
 //********************************************************************************************************************
  uint32_t ThreadPrepareState(void *JobDetails)
 {
@@ -907,6 +943,8 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
             if (Motor_i == ThreadMotorIdToMotorId[DRYER_MOTOR]) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 continue;
     }
+    HandleJobThreadControlParameters(JobTicket->threadparameters);  //OVERRIDES CONFIGURATION PARAMETERS!!!
+
 #ifdef TEST_PID_THREAD
     testDancersControl();
 #endif