Version 1.4.2.5 firmware upgrade works, improved thread load. (works????)

3 files changed, 21 insertions, 25 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index c1fcd4030..e3955793d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -426,10 +426,8 @@ uint32_t MillisecLoop(uint32_t tick)
            {
                #ifdef  Use_Head_Card
                    HeadADCPT100_SendReadDataCommand(Sensor_i);
-               #else
-                   TemperatureSensorReadFromFPGA_Res(Sensor_i); //got the data from the FPGA
                #endif
-
+                   TemperatureSensorReadFromFPGA_Res(Sensor_i); //got the data from the FPGA
                PT100Data[Sensor_i].WaitForData = false;
                PT100Data[Sensor_i].SyncRequired = true;
                if (PT100Data[Sensor_i].Callback)
@@ -440,9 +438,8 @@ uint32_t MillisecLoop(uint32_t tick)
            {
                #ifdef  Use_Head_Card
                    HeadADCPT100_StartSync(Sensor_i);
-               #else
-                   TemperatureSensorSync(Sensor_i);
                #endif
+               TemperatureSensorSync(Sensor_i);
 
                PT100Data[Sensor_i].SyncRequired = false;
                PT100Activity--;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index faf6022d6..350236708 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -63,11 +63,10 @@ uint32_t Heaters_Init(void)
     int i;
     //ROM_TimerDisable(Heater_timerBase, TIMER_A);
 
-    #ifdef  Use_Head_Card
-        HeadADCPT100_SensorInitConfig();
-    #else
-        FPGA_SensorInitConfig();
-    #endif
+#ifdef  Use_Head_Card
+    HeadADCPT100_SensorInitConfig();
+#endif
+    FPGA_SensorInitConfig();
 
     memset(HeaterControl,0,sizeof(HeaterControl));
     for (i = 0;i<MAX_HEATERS_NUM; i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index d2f6170cf..837221274 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -146,7 +146,7 @@
                 Control_Voltage_To_Blower(BlowerCfg.voltage-500);
             Control_Dryer_Fan(STOP,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            //ThreadLoadStateMachine(LoadStages);
+            ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -167,7 +167,7 @@
             //storeLoadArmParameters();
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
-            //ThreadLoadStateMachine(LoadStages);
+            ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -198,7 +198,7 @@
         LoadStages++;
         SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
 
-        //ThreadLoadStateMachine(LoadStages);
+        ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Start_Position(void)
@@ -258,7 +258,7 @@
                     }
                     if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call
                     {
-                        //ThreadLoadStateMachine(LoadStages);
+                        ThreadLoadStateMachine(LoadStages);
                     }
                 }
             }
@@ -379,7 +379,7 @@
         {
             Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            //ThreadLoadStateMachine(LoadStages);
+            ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -394,14 +394,7 @@
 
     uint32_t Thread_Load_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
-        if(ControlId != 0xFF)
-        {
-            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
-            RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
-            MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround);
-
-            ControlId = 0xFF;
-        }
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
         if (CallbackCounter)
         {
             CallbackCounter--;
@@ -410,7 +403,7 @@
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
-                    //ThreadLoadStateMachine(LoadStages);
+                    ThreadLoadStateMachine(LoadStages);
                 }
             }
         }
@@ -421,6 +414,12 @@
     uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        if(ControlId != 0xFF)
+        {
+            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
+            RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
+            ControlId = 0xFF;
+        }
         //REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
         MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000);
         return OK;
@@ -477,7 +476,7 @@
         ControlId = 0xFF;
         ThreadAbortJoggingFunc();
         LoadStages++;
-        //ThreadLoadStateMachine(LoadStages);
+        ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Jog_Thread(void)
@@ -632,6 +631,7 @@
             Thread_Load_Jog_Thread();
             break;
         case THREAD_LOAD_END:
+            LoadStages = THREAD_LOAD_END;
             Thread_Load_End();
             break;
         default: