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

4 files changed, 51 insertions, 15 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index f2ca4e8d7..ffbb504db 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -247,7 +247,8 @@
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
-        uint32_t angle, temp = Read_Dryer_ENC_Position();
+        uint32_t temp = Read_Dryer_ENC_Position();
+        int angle;
 
         ReportWithPackageFilter(DiagnosticsFilter,"Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,(int)numberOfCycles,(int)DrierPrevLocation,RpMessage,temp,0);
 
@@ -258,12 +259,14 @@
         {
             CallbackCounter--;
         }
-        if ((abs(angle)>14000  )&&(BusyFlag == NOTBUSY)) // OK - take another round
+        if (abs(angle)<10  ) // OK
         {
             Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
 
             Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             NumberOfDrierLoaderCycles=0;
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0);
+
             //storeLoadArmParameters();
             LoadStages++;
 
@@ -272,7 +275,7 @@
         else
         {
             load.color = fastBILNK;
-            usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]);
+            usnprintf(LoadErrorMsg, 100, "^Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]);
             Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
 
             LoadStatus = ERROR;
@@ -317,7 +320,7 @@
                 {
                     TimeoutsCounter = 0;
                     load.color = fastBILNK;
-                    usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]);
+                    usnprintf(LoadErrorMsg, 100, "/Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]);
                     Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
 
                     LoadStatus = ERROR;
@@ -687,7 +690,7 @@
             TimeoutsCounter = 0;
             CallbackCounter = 0;
             load.color = fastBILNK;
-            usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
+            usnprintf(LoadErrorMsg, 100, "$Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
             Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
             LoadStatus = ERROR;
             MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
@@ -729,6 +732,13 @@
         {
             LoadArmRounds -= CurrentlyLoaded;
         }
+        if (LoadArmRounds == CurrentlyLoaded)
+        {
+            Report("Thread_Load_Dryer_Loading no need for cycles",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+            LoadStages++;
+            ThreadLoadStateMachine(LoadStages);
+            return OK;
+        }
         ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ;
         ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING;
 
@@ -932,7 +942,7 @@
 
             MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
             load.color = fastBILNK;
-            usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
+            usnprintf(LoadErrorMsg, 100, "&Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]);
             Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
             Report("Dryer unloading timeout(1) or no movement",__FILE__,temp,DrierPrevLocation,RpWarning,ReadValue,0);
             LoadStatus = ERROR;
@@ -1489,6 +1499,8 @@ uint32_t ThreadLoadingRestartReport(void) //sending after a failure in the final
 
     if (ThreadLoadingToken[0] == 0)
         return OK;
+    if (LoadStages == THREAD_LOAD_INIT)
+        return OK;
     ThreadLoadingRestartFlag = true;
 
     response.has_state = true;
@@ -1520,6 +1532,12 @@ uint32_t TryThreadLoadingFunc(MessageContainer* requestContainer)
     {
         responseContainer = createContainer(MESSAGE_TYPE__TryThreadLoadingResponse, requestContainer->token, true, &Cresponse, &try_thread_loading_response__pack, &try_thread_loading_response__get_packed_size);
         responseContainer.continuous = false;
+        if (JobIsActive()||(MachineReadyForHeating == false)||(FPGABurningActive==true))
+        {
+            responseContainer.has_error = true;
+            responseContainer.error = ERROR_CODE__GENERAL_ERROR;
+            responseContainer.errormessage = "The machine is not ready for loading";
+        }
         uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
         size_t container_size = message_container__pack(&responseContainer, container_buffer);
         my_free(responseContainer.data.data);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index a75241671..03bc9d24d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -50,6 +50,7 @@ bool     WinderMotorSpeedRollOver = false;
 int StartWinderCalculation = 0;
 #define DEFAULT_SCREW_SPEED 1200
 double   ScrewSpeed = DEFAULT_SCREW_SPEED;
+double RetreatTime = 0;
 double   ScrewRunningTime = 0;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
 bool     SCREW_TimerActivated = false;
@@ -635,6 +636,7 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         temp *= ScrewNumberOfSteps;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
+        RetreatTime = ScrewNumberOfSteps*1000/ScrewSpeed;
         REPORT_MSG((int)ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
         REPORT_MSG((int)ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
         //MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
@@ -673,11 +675,11 @@ uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
     //move the cart to the edge so the spool can be easily replaced
     //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
     //MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
-    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, WinderDistanceToSpoolEnded,2000);
+    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, WinderDistanceToSpoolEnded,RetreatTime*2);
 #ifdef FOUR_WINDERS
-    MotorMovetoLimitSwitch (SCREW_2_Motor,MotorsCfg[SCREW_2_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE2_2, NULL,2000);
-    MotorMovetoLimitSwitch (SCREW_3_Motor,MotorsCfg[SCREW_3_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE1_2, NULL,2000);
-    MotorMovetoLimitSwitch (SCREW_4_Motor,MotorsCfg[SCREW_4_Motor].directionthreadwize, ScrewSpeed, GPI_LS_RDANCER_UP, NULL,2000);
+    MotorMovetoLimitSwitch (SCREW_2_Motor,MotorsCfg[SCREW_2_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE2_2, NULL,RetreatTime*2);
+    MotorMovetoLimitSwitch (SCREW_3_Motor,MotorsCfg[SCREW_3_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE1_2, NULL,RetreatTime*2);
+    MotorMovetoLimitSwitch (SCREW_4_Motor,MotorsCfg[SCREW_4_Motor].directionthreadwize, ScrewSpeed, GPI_LS_RDANCER_UP, NULL,RetreatTime*2);
 #endif
 
     return OK;
@@ -685,10 +687,14 @@ uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
 uint32_t WinderDistanceToSpoolState(void )
 {
     double DTS_Time = (dryerbufferCentimeters/dyeingspeed)*1000;//distance to spool time in milliseconds
-    REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
+    double WinderBackTimeBySpeed = WinderBackToBaseTime;
+    WinderBackTimeBySpeed *= 50;
+    WinderBackTimeBySpeed /= dyeingspeed;
+    Report("WinderDistanceToSpoolState start", __FILE__,DTS_Time,RetreatTime, RpMessage, (int)WinderBackTimeBySpeed, 0);
+    //REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
 
-    ScrewDTSControlId = AddControlCallback("screw DTS",ScrewDTSCallback, DTS_Time-WinderBackToBaseTime,TemplateDataReadCBFunction,0,0,0);
-    Report("ScrewDTSCallback start", __FILE__,DTS_Time,msec_millisecondCounter, RpMessage, WinderBackToBaseTime, 0);
+    ScrewDTSControlId = AddControlCallback("screw DTS",ScrewDTSCallback, DTS_Time-RetreatTime,TemplateDataReadCBFunction,0,0,0);
+    Report("ScrewDTSCallback start", __FILE__,DTS_Time,msec_millisecondCounter, RpMessage, (int)WinderBackTimeBySpeed, 0);
 
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 11a92ab63..4ce48a639 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -9,6 +9,10 @@
 #define WINDER_DANCER HARDWARE_DANCER_TYPE__LeftDancer
 #define POOLER_DANCER HARDWARE_DANCER_TYPE__MiddleDancer
 #define FEEDER_DANCER HARDWARE_DANCER_TYPE__RightDancer
+#define WINDER_2_DANCER HARDWARE_DANCER_TYPE__FourthDancer
+#define WINDER_3_DANCER HARDWARE_DANCER_TYPE__ThirdDancer
+#define WINDER_4_DANCER HARDWARE_DANCER_TYPE__RightDancer
+
 #define NUM_OF_DANCERS NUM_OF_ROTENC
 //} DANCER_ENUM;
 typedef enum threadMotorsEnum
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index ba505493d..4ced1e5fe 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -629,6 +629,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 			//pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
         }
+#ifdef BTSR_ROTATED_WINDER_TFU
+        if (index == WINDER_MOTOR)
+                TranslatedReadValue = (-1*TranslatedReadValue);
+#endif
 #ifdef FOUR_WINDERS
         if (index == WINDER_MOTOR)
         {
@@ -653,7 +657,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             TranslatedReadValue = (-1*TranslatedReadValue);
         }*/
 #endif
-        if (index == POOLER_MOTOR)
+        if (index == WINDER_MOTOR)
         {
             //pooler dancer is right sided: data is opposite
             JobCounter++;
@@ -710,6 +714,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             NormalizedError = (-1*NormalizedError);
         }
+/*#ifdef BTSR_ROTATED_WINDER_TFU
+        if (index == WINDER_MOTOR)
+                TranslatedReadValue = (-1*TranslatedReadValue);
+#endif*/
 
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         DancerError[DancerId] = NormalizedError;
@@ -1061,7 +1069,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
     return status;
 }
 //********************************************************************************************************************
-bool SkipOpenLids = true;
+bool SkipOpenLids = false;
 uint32_t ThreadPrepareState(void *JobDetails)
 {
     int Motor_i,i, HW_Motor_Id, Pid_Id;