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

3 files changed, 34 insertions, 6 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index a116bbd66..0bc2d04de 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -35,7 +35,7 @@
 //#include <stdint.h>
 //#include <stdbool.h>
 
-    typedef enum
+/*    typedef enum
     {
         THREAD_LOAD_INIT,
         THREAD_LOAD_REDUCE_HEAT,  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
@@ -54,7 +54,7 @@
                                     //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
         THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
         THREAD_LOAD_END
-    }THREAD_LOAD_STAGES_ENUM;
+    }THREAD_LOAD_STAGES_ENUM;*/
     THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT;
     ProcessParameters ProcessParametersClear,ProcessParametersRecover;
     uint8_t NumberOfDrierLoaderCycles = 0;
@@ -69,7 +69,7 @@
         uint32_t LoadArmBackLash;
     }LoadArmInfoStruc;
     LoadArmInfoStruc LoadArmInfo;
-    char LoadArmPath[50] = "0://SWInfo//LoadArm.msg";
+    char LoadArmPath[50] = "0://SysInfo//LoadArm.cfg";
 
     //RUN MOTOR TO SWITCH WITH TIMEOUT
     //RUN MOTOR TO BREAK SENSOR
@@ -211,7 +211,10 @@
             if (CallbackCounter == 0)
             {
                 LoadStages++;
-                //ThreadLoadStateMachine(LoadStages);
+                if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                {
+                    //ThreadLoadStateMachine(LoadStages);
+                }
             }
         }
         else
@@ -341,12 +344,14 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         LoadArmInfo.LoadArmRounds = 20;
+        uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         OriginalMotorSpd_2PPS[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;
         ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         CallbackCounter++;
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                               MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds,    Thread_Load_HomingCallback, 100000);
+                               numberOfSteps,    Thread_Load_HomingCallback, 100000);
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index a22be25dc..cd71c73b1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -46,6 +46,29 @@ uint32_t Winder_Prepare(void);
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId);
 uint32_t Winder_End(void);
 
+typedef enum
+{
+    THREAD_LOAD_INIT,
+    THREAD_LOAD_REDUCE_HEAT,  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
+    THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,//USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
+    THREAD_LOAD_CENTER_HEAD_ROCKERS,  //puthead cleaning rockers to middle position
+    THREAD_LOAD_OPEN_COVERS,  //OPEN DYEING HEAD COVER AND DRYER LID
+    THREAD_LOAD_LIFT_DANCERS,
+    THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
+    THREAD_LOAD_INITIAL_TENSION,//CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
+    THREAD_LOAD_CLOSE_ROCKERS,
+    THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
+    THREAD_LOAD_CLOSE_LIDS,
+    THREAD_LOAD_RESUME_HEATING,
+    THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+    THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
+                                //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
+    THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
+    THREAD_LOAD_END
+}THREAD_LOAD_STAGES_ENUM;
+uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue);
+
+
 void ThreadLoadPollRequest(MessageContainer* requestContainer);
 void ThreadLoadRequest(MessageContainer* requestContainer);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index b414611ff..14a74ffbe 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -106,7 +106,7 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
     DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     return OK;
 }
-char DancerConfigPath[50] = "0://SWInfo//DancCfg.msg";
+char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg";
 
 uint32_t StoreDancerConfigMessage()
 {