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

3 files changed, 17 insertions, 9 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 9ad42d739..c68156e68 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -567,13 +567,13 @@
     {
         REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
         LoadArmInfo.LoadArmRounds = 0;
-        uint32_t numberOfSteps = 0;
+        //uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         SetOriginMotorSpeed(19);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[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;
+        //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;
         MotorControlConfig[POOLER_MOTOR].m_params.MAX = 1;
         MotorControlConfig[POOLER_MOTOR].m_params.MIN = MotorsControl[POOLER_MOTOR].outputproportionalpowerlimit*-1;
         MotorControlConfig[POOLER_MOTOR].m_params.Kd = MotorsControl[POOLER_MOTOR].derivativetime;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 4cbe1f70f..60bf8123f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -322,16 +322,19 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 #ifdef READ_SCREW_ENCODER
     int WinderRun;
      WinderRun = abs(ScrewLocationRun[1] - ScrewLocationRun[0]);
-     if ((WinderRun < 50000)&&(Add100 == false))
+     if ((WinderRun < 20000)&&(Add100 == false))
      {
-         WinderRunSum+=WinderRun;
          WinderRunSamples++;
-         WinderRunAverage = WinderRunSum/WinderRunSamples;
-         if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
+         if (WinderRunSamples>10)
          {
-             usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
-                       (int)(100*WinderRun/ScrewNumberOfSteps));
-             Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
+             WinderRunSum+=WinderRun;
+             WinderRunAverage = WinderRunSum/(WinderRunSamples-10);
+             if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
+             {
+                 usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
+                           (int)(100*WinderRun/ScrewNumberOfSteps));
+                 Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
+             }
          }
      }
      else
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 5d84bb5d0..88d62a495 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -11,6 +11,9 @@
 #include "PMR/Hardware/HardwareDancer.pb-c.h"
 #include "PMR/Hardware/HardwareWinder.pb-c.h"
 #include "PMR/Hardware/HardwareBreakSensor.pb-c.h"
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+
+#include "Modules/AlarmHandling/AlarmHandling.h"
 #include "PMR/Printing/JobSpool.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 
@@ -49,6 +52,8 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
     HardwareMotor *request;
     if (HWrequest == NULL)
         return ERROR;
+    AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,OFF);
+
     for (MotorId = 0; MotorId < HWrequest->n_motors ; MotorId++)
     {
         request = HWrequest->motors[MotorId];