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

3 files changed, 16 insertions, 14 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 01c70d42f..376b5f4a0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -142,11 +142,8 @@
         //EEPROM_STORAGE_DRYER_CYCLES
         MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
 
-        Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,0,RpWarning,Read_Dryer_ENC_Position(),0);
-
-        Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,LoadArmRounds,RpWarning,0,0);
+        Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,LoadArmRounds,RpWarning,Read_Dryer_ENC_Position(),0);
 
-        Report("Thread_Load_Init",__FILE__,__LINE__,LoadArmRounds,RpMessage,LoadArmRounds,0);
         StopInitSequence();
         memcpy (&ProcessParametersRecover,&ProcessParametersKeep,sizeof(ProcessParameters));
         //NumberOfDrierLoaderCycles = loadLoadArmParameters();
@@ -209,7 +206,7 @@
         }
         else
         {
-            if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)
+            if(Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD)
             {
                 WHS_Set_SetPoint_Q_value(headairflow*2/3);
             }
@@ -349,7 +346,7 @@
         //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2,
         //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4,
         //DeActivateHeadMagnet();
-        if (Head_Type != HEAD_TYPE_STAPLE_SPUN)
+        if (Head_Type != HEAD_TYPE_ARC)
         {
             CallbackCounter++;
             MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000);
@@ -366,7 +363,7 @@
             direction = DRIER_LID_OPEN;
         }
         MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
-        if (Head_Type == HEAD_TYPE_SYLKO)
+        if (Head_Type == HEAD_TYPE_FLAT)
         {
             Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0);
             Trigger_Head_Actuators_Control(ACTOT, LOW,true);
@@ -500,7 +497,7 @@
         //Close Dyeing Head Cover And Dryer Lid
         //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2,
         //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4,
-        if (Head_Type != HEAD_TYPE_STAPLE_SPUN)
+        if (Head_Type != HEAD_TYPE_ARC)
         {
             CallbackCounter++;
             MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000);
@@ -517,7 +514,7 @@
             direction = DRIER_LID_CLOSE;
         }
         MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
-        if (Head_Type == HEAD_TYPE_SYLKO)
+        if (Head_Type == HEAD_TYPE_FLAT)
         {
             Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
             Trigger_Head_Actuators_Control(ACTOT, LOW,false);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 39ff91558..bbb3e4040 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -146,6 +146,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
 //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
     temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
+    if (Motor_i == WINDER_MOTOR)
+    {
+        temp = temp*3/2;
+    }
     DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index c67619e20..ef80d3603 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -723,7 +723,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             {
                 if (calculated_speed>(CurrentControlledSpeed[index]+100))
                 {
-                        ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,CurrentControlledSpeed[index]+100,0);
+                        ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,index,0);
                         calculated_speed=CurrentControlledSpeed[index]+100;
                 }
                 CurrentControlledSpeed[index] = calculated_speed;
@@ -898,17 +898,18 @@ uint32_t Adjust_Right_TFU_Tension(double tension)
 
     return status;
 }
-uint32_t ThreadPrepare_TensionCallback (int DancerId, double tension)
+uint32_t ThreadPrepare_TensionCallback (int MotorId, double tension)
 {
+    MotorStop(MotorId,Hard_Hiz);
     if (PrepareWaitCount)
     {
-        ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0);
+        ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0);
         PrepareWaitCount--;
     }
     if ((PrepareWaitCount == 0)&&(PrepareState == true))
     {
         PrepareState = false;
-        ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback  Prepare Ready",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0);
+        ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback  Prepare Ready",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0);
         PrepareReady(Module_Thread,ModuleDone);
     }
     return OK;
@@ -1037,7 +1038,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
 //    if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT)&&(JoggingJobActive == false))
     if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT)&&(JoggingJobActive == false))
     {
-        if(Head_Type != HEAD_TYPE_STAPLE_SPUN)
+        if(Head_Type != HEAD_TYPE_ARC)
         {
             ReportWithPackageFilter(ThreadFilter,"Dyeing head is wide open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpError,LIMIT,0);
             if (SkipOpenLids == false)