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

7 files changed, 68 insertions, 25 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 9c924eaec..0762db00e 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -539,7 +539,7 @@ void AlarmHandlingInit(void)
 
     Error_init(&eb);
 
-    AlarmHandlingMsgQ = Mailbox_create(sizeof(AlarmHandlingMessageStruc), 20, NULL,&eb);
+    AlarmHandlingMsgQ = Mailbox_create(sizeof(AlarmHandlingMessageStruc), 40, NULL,&eb);
 
     int Alarm_i;
     for (Alarm_i = 0;Alarm_i < MAX_SYSTEM_ALARMS;Alarm_i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 4c0dd381d..f9da47b31 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -782,11 +782,11 @@ void FlashInitAndLoad(void)
 
     StoreDancerConfigMessage();
     Report("Dancer Initialized", __FILE__,DancersCfg[0].zeropoint,DancersCfg[1].zeropoint, RpMessage, DancersCfg[2].zeropoint, 0);
-    Bytes = AlarmHandlingLoadFile();
+    /*Bytes = AlarmHandlingLoadFile();
     if (Bytes>0)
     {
         Report("Alarm Initialized from file", __FILE__,__LINE__,Bytes, RpMessage, ALARM_MAP_IN_FLASH, 0);
-    }
+    }*/
     EraseFlashSection(EMBEDDED_PARAMETERS_SECTION_FLASH);
 
     Fresult = FileRead(EmbeddedParametersPath, &Bytes, &buffer);
@@ -809,20 +809,23 @@ void FlashInitAndLoad(void)
         Report("Parameters Initialized from default", __FILE__,__LINE__,sizeof(EmbeddedParameters), RpMessage, EMBEDDED_PARAMETERS_MAP_IN_FLASH, 0);
     }
 
-    Fresult = FileRead(ProcessParamsPath, &Bytes, &buffer);
+    /*Fresult = FileRead(ProcessParamsPath, &Bytes, &buffer);
     if (Fresult == FR_OK)
     {
         request = upload_process_parameters_request__unpack(NULL, Bytes, buffer);
-        ProcessParams = request->processparameters;
-        Bytes = sizeof(ProcessParams);
-        ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH, 4,&Bytes);
-        ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH+4, Bytes, &ProcessParams);
-        upload_process_parameters_request__free_unpacked(request,NULL);
-        FlashInitResults[2] = true;
-        Report("Process Initialized", __FILE__,__LINE__,Bytes, RpMessage, (int)ProcessParams->dryerzone1temp, 0);
+        if (request)
+        {
+            ProcessParams = request->processparameters;
+            Bytes = sizeof(ProcessParams);
+            ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH, 4,&Bytes);
+            ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH+4, Bytes, &ProcessParams);
+            upload_process_parameters_request__free_unpacked(request,NULL);
+            FlashInitResults[2] = true;
+            Report("Process Initialized", __FILE__,__LINE__,Bytes, RpMessage, (int)ProcessParams->dryerzone1temp, 0);
+        }
     }
     else
-        Report("Process not Initialized", __FILE__,__LINE__,0, RpMessage, 0, 0);
+        Report("Process not Initialized", __FILE__,__LINE__,0, RpMessage, 0, 0);*/
 #ifdef WATCHDOG
         ROM_WatchdogResetEnable(WATCHDOG0_BASE);
         timeout = 120000000*3;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
index aeec7d696..0220d1a6c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
@@ -11,6 +11,7 @@
 extern EventType HeaterEventType[HEATER_TYPE_MAX_HEATERS];
 extern EventType HeaterUnderEventType[HEATER_TYPE_MAX_HEATERS];
 extern EventType HeaterUnderEventType_B[HEATER_TYPE_MAX_HEATERS];
+extern bool specialHeaterState;
 
 extern uint32_t stub_heating_limit;
 //uint32_t HeaterCommandRequestMessage(MessageContainer* requestContainer);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 95441d1a6..380eb99ca 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -392,6 +392,7 @@ uint32_t LoadHeaterSetPoint(HeaterType HeaterType)
     }
     return HeaterCmd[HeaterType].targettemperatue;
 }
+bool specialHeaterState = false;
 void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
 {
     int HeaterId = HeaterType;
@@ -415,11 +416,19 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
     {
         HeaterState->setpoint = HeaterControl[HEATER_TYPE__DryerMainHeater].outputproportionalpowerlimit;
         //HeaterState->isrampingup = InitialHeating;
+        if (specialHeaterState == true)
+        {
+            HeaterState->setpoint = HeaterPIDConfig[HEATER_TYPE__DryerAirHeater].m_integral/10000;
+        }
     }
     if (HeaterId == HEATER_TYPE__DryerSecondaryHeater)
     {
         HeaterState->setpoint = HeaterControl[HEATER_TYPE__DryerSecondaryHeater].outputproportionalpowerlimit;
         //HeaterState->isrampingup = InitialHeating;
+        if (specialHeaterState == true)
+        {
+            HeaterState->setpoint = HeaterPIDConfig[HEATER_TYPE__DryerAirHeater].m_calculatedError/100;
+        }
     }
     return;
 }
@@ -1582,13 +1591,22 @@ double TotalCurrentLimit(double VAC)
     }
 
 }
+uint8_t Histeresis = 0;
+
 uint32_t DrierHeaterVoltageSetup(void)
 {
     double DrierAcVoltage = 0.0;
     char str[100];
     bool tempDrier2 = UseSecondaryDrierHeater;
-    double Z1Current,Z2AssumedCurrent,LimitCurrent;
+    double Z1Current = 0,Z2AssumedCurrent = 0,LimitCurrent = 0;
 
+    if ((Histeresis>0)&&(Histeresis<4))
+    {
+        Histeresis++;
+        REPORT_MSG(Histeresis, "AC handling Histeresis");
+        return OK;
+    }
+    Histeresis = 0;
 #ifndef VAC_TEST
     if (Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD) //rapid/pp machines
 #endif
@@ -1639,8 +1657,9 @@ uint32_t DrierHeaterVoltageSetup(void)
 #endif
     if (tempDrier2 != UseSecondaryDrierHeater)
     {
+        Histeresis = 1;
         usnprintf(str, 100, "Changing Drier 2 from %d to %d  VAC %d D1 Current %d D2 assumed current %d limit %d" ,tempDrier2,UseSecondaryDrierHeater
-                        ,(int)DrierAcVoltage,(int)(Z1Current*100),(int)(Z2AssumedCurrent*100),(int)(LimitCurrent*100));
+                        ,(int)DrierAcVoltage,(int)(Z1Current*100),(int)(Z2AssumedCurrent*100),(int)(abs(LimitCurrent)*100));
         ReportWithPackageFilter(HeatersFilter,str, __FILE__,__LINE__,DrierAcVoltage, RpMessage, UseSecondaryDrierHeater, 0);
         if (UseSecondaryDrierHeater == false)
         {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 501899d7e..8d736f352 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -887,7 +887,15 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
     }
 #endif
+    else
+    if(request->amount == 0xB7)  //fast refresh for pressure
+    {
+        specialHeaterState = request->delay?true:false;
+        LOG_ERROR(specialHeaterState,"set specialHeaterState");
+        response.progress = specialHeaterState;
+        response.has_progress = true;
 
+    }
     else
     if(request->amount == 0xC3)  //suspend I2C task
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 2ad58ea0a..a91781ce4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -322,8 +322,11 @@
         //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2,
         //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4,
         //DeActivateHeadMagnet();
-        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);
+        if (Head_Type != HEAD_TYPE_STAPLE_SPUN)
+        {
+            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);
+        }
         CallbackCounter++;
         //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
         int direction;
@@ -336,9 +339,12 @@
             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);
-        Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0);
-        Trigger_Head_Actuators_Control(ACTOT, LOW,true);
-        Trigger_Head_Actuators_Control(ACTIN, LOW,true);
+        if (Head_Type == HEAD_TYPE_SYLKO)
+        {
+            Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0);
+            Trigger_Head_Actuators_Control(ACTOT, LOW,true);
+            Trigger_Head_Actuators_Control(ACTIN, LOW,true);
+        }
         return OK;
     }
     uint32_t Thread_Load_Lift_Dancers(void)
@@ -455,8 +461,11 @@
         //Close Dyeing Head Cover And Dryer Lid
         //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2,
         //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4,
-        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);
+        if (Head_Type != HEAD_TYPE_STAPLE_SPUN)
+        {
+            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);
+        }
         CallbackCounter++;
 //        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
         int direction;
@@ -469,9 +478,12 @@
             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);
-        Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
-        Trigger_Head_Actuators_Control(ACTOT, LOW,false);
-        Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+        if (Head_Type == HEAD_TYPE_SYLKO)
+        {
+            Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
+            Trigger_Head_Actuators_Control(ACTOT, LOW,false);
+            Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+        }
         return OK;
     }
     uint32_t Thread_Load_Resume_Heating(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 386b34f49..545fb40e6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -877,7 +877,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
         break;
     case HARDWARE_DANCER_TYPE__RightDancer:
         return Adjust_Right_TFU_Tension(tension);
-        break;
+        //break;
     default:
         return ERROR;
     }