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

3 files changed, 41 insertions, 12 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 2689ea34a..a82fe37e6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -199,6 +199,7 @@
         return OK;
     }
     uint8_t CallbackCounter = 0;
+    uint8_t TimeoutsCounter = 0;
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
@@ -206,12 +207,25 @@
         if (CallbackCounter)
         {
             CallbackCounter--;
+            if (ReadValue != LIMIT)
+            {
+                //returned with a timeout
+                TimeoutsCounter++;
+            }
             if (CallbackCounter == 0)
             {
-                LoadStages++;
-                if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                if (TimeoutsCounter)
                 {
-                    //ThreadLoadStateMachine(LoadStages);
+                    LOG_ERROR(LoadStages,"Load sequence timeout");
+                    TimeoutsCounter = 0;
+                }
+                else
+                {
+                    LoadStages++;
+                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                    {
+                        ThreadLoadStateMachine(LoadStages);
+                    }
                 }
             }
         }
@@ -326,7 +340,7 @@
         {
             Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            //ThreadLoadStateMachine(LoadStages);
+            ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -357,7 +371,7 @@
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
-                    //ThreadLoadStateMachine(LoadStages);
+                    ThreadLoadStateMachine(LoadStages);
                 }
             }
         }
@@ -414,7 +428,7 @@
         ControlId = 0xFF;
         ThreadAbortJoggingFunc();
         LoadStages++;
-        //ThreadLoadStateMachine(LoadStages);
+        ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Jog_Thread(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 435d7aef3..a1e91f6fc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -17,6 +17,8 @@
 #include "drivers/Flash_Memory/fatfs/ff.h"
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
 
+#include "drivers/FPGA/Moters_Driver/PowerSTEP01.h"
+
 #include "thread.h"
 MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS]={0};
 HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
@@ -52,6 +54,14 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
         MotorsCfg[Motor_i].pulseperround = request->pulseperround;
         MotorsCfg[Motor_i].pulleyradius = request->pulleyradius;
         MotorsCfg[Motor_i].configword = request->configword;
+        if(MotorDriverResponse[Motor_i].DriverType == VoltageCombinedMotDriver)
+        {
+            MotorsCfg[Motor_i].directionthreadwize = !(request->directionthreadwize);//PowerSTEP01
+        }
+        else
+        {
+            MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;//L6470 + L6472
+        }
         MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;
         MotorsCfg[Motor_i].kvalhold = request->kvalhold;
         MotorsCfg[Motor_i].kvalrun = request->kvalrun;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index ee49d56f3..6a8474438 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -427,9 +427,9 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                             JobEndReason = JOB_THREAD_BREAK;
                             ThreadControlActive = false;
                             SendJobProgress(0.0,0,false, TMessage);
-                            //SegmentReady(Module_Thread,ModuleFail);
-                            AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
-                            EndState(CurrentJob,"ReadBreakSensor Error" );
+                            SegmentReady(Module_Thread,ModuleFail);
+                            //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
+                            //EndState(CurrentJob,"ReadBreakSensor Error" );
                             LOG_ERROR(index, "ReadBreakSensor Error");
                             return OK;
                         } //passed limit
@@ -458,7 +458,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             SendJobProgress(0.0,0,false, TMessage);
             //EndState(CurrentJob,TMessage );
             SegmentReady(Module_Thread,ModuleFail);
-            switch (index)
+            /*switch (index)
             {
                 case POOLER_MOTOR:
                     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,true);
@@ -469,7 +469,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                 case WINDER_MOTOR:
                     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,true);
                     break;
-            }
+            }*/
             LOG_ERROR (DancerId, "Dancer Failure");
             return OK;
         }
@@ -694,6 +694,9 @@ uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId)
         PrepareState = false;
         // set the new speed in the dryer motor to the speed of the new segment
         MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]);
+#ifdef HUNDRED_MICROSECONDS_DANCER_READ
+     MillisecLogInit();
+#endif
 
         if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0)
         {
@@ -775,7 +778,9 @@ char Endstr[150];
 
      ThreadUpdateProcessLength (0.0,(void *)NULL);
     SetOriginMotorSpeed(0);
-
+#ifdef HUNDRED_MICROSECONDS_DANCER_READ
+     MillisecLogClose();
+#endif
      if (SpeedControlId != 0xFF)
      {
          if(RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction)!=OK)