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

3 files changed, 18 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 965ea30da..2b65ca806 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -863,7 +863,7 @@
     uint32_t Thread_Load_Dryer_UnLoading(void)
     {
         uint32_t temp;
-        REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
+        REPORT_MSG(LoadStages, "Thread Load State Machine step Dryer Unloading");
         //LoadArmRounds = 0;
         //uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
@@ -1258,7 +1258,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 bool ThreadLoaded(void)
 {
-    uint32_t ReadValue;
+   /* uint32_t ReadValue;
 
     int32_t PoolerValue,WinderValue,FeederValue;
     //this function tests if there is a thread in the machine. all dancers are in lowermost position then there is no thread.
@@ -1280,7 +1280,7 @@ bool ThreadLoaded(void)
         Report("Thread is out",__FILE__,(-1*PoolerValue),(-1*WinderValue),RpWarning,(-1*FeederValue),0);
         return true;
     }
-    else
+    else*/
         return false;
 }
 void ThreadLoadRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 5c9b360f6..4081b53f2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -23,6 +23,7 @@ typedef enum threadMotorsEnum
 
 extern double TotalProcessedLength;
 extern double PoolerTotalProcessedLength;
+extern int SecondFeederCorrection;
 
 void ThreadSetBreakSensorLimit(int limit);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 21211481e..d762e507f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -217,7 +217,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         }
 
     }
-    FeederSpeedStore[FeederSpeedIndex++] = length;
+    /*FeederSpeedStore[FeederSpeedIndex++] = length;
     if (FeederSpeedIndex>=SPEED_STORE_SIZE)
     {
         FeederSpeedIndex = 0;
@@ -225,8 +225,8 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         for (Speed_i = 0;Speed_i<SPEED_STORE_SIZE;Speed_i++)
             FeederSpeedAverage+=FeederSpeedStore[Speed_i];
         FeederSpeedAverage = FeederSpeedAverage/SPEED_STORE_SIZE;
-        ReportWithPackageFilter(ThreadFilter,"Average Speed 2 second",__FILE__,__LINE__,(int)(FeederSpeedAverage*100),RpWarning,(int)(PullerSpeedAverage*100),0);
-    }
+        ReportWithPackageFilter(ThreadFilter,"Avg len 100ms last 2 sec",__FILE__,(int)PoolerTotalProcessedLength,(int)(FeederSpeedAverage*1000),RpWarning,(int)(PullerSpeedAverage*1000),0);
+    }*/
     TotalProcessedLength += (length/100);
     TempTotalProcessedLength = TotalProcessedLength;
 #ifdef FEEDER_LENGTH_CALCULATION
@@ -317,7 +317,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             length = 0;
 
         }
-        PullerSpeedStore[PullerSpeedIndex++] = length;
+        /*PullerSpeedStore[PullerSpeedIndex++] = length;
         if (PullerSpeedIndex>=SPEED_STORE_SIZE)
         {
             PullerSpeedIndex = 0;
@@ -326,7 +326,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                 PullerSpeedAverage+=PullerSpeedStore[Speed_i];
             PullerSpeedAverage = PullerSpeedAverage/SPEED_STORE_SIZE;
             //ReportWithPackageFilter(ThreadFilter,"Average Speed 2 second",__FILE__,__LINE__,(int)(FeederSpeedAverage*100),RpWarning,(int)(PullerSpeedAverage*100),0);
-        }
+        }**/
 
     //}
 
@@ -846,15 +846,22 @@ uint32_t Release_Right_TFU_Tension()
 
     return status;
 }
+int SecondFeederCorrection = 4;
 uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadValue)
 {
-    Report("Adjust_Right_TFU_Tension_2ndCallback 4 more steps",__FILE__,__LINE__,MotorId,RpMessage,0,0);
+    MotorStop (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,Soft_Stop); //per L6470 errata between mov and run commands
+    Report("Adjust_Right_TFU_Tension_2ndCallback x more steps",__FILE__,__LINE__,MotorId,RpMessage,SecondFeederCorrection,0);
+    if (JobIsActive()==false)
+    {
+        Report("release tension - job aborted",__FILE__,__LINE__,MotorId,RpMessage,0,0);
+        Release_Right_TFU_Tension();
+    }
     return OK;
 }
 uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue)
 {
     Report("Adjust_Right_TFU_Tension_Callback",__FILE__,__LINE__,MotorId,RpMessage,0,0);
-    MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,4* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Release_Right_TFU_TensionCallback,1000);
+    MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,SecondFeederCorrection* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Adjust_Right_TFU_Tension_2nd_Callback,1000);
     RTFU_Up = true;
     return OK;
 }