merge conflict

6 files changed, 92 insertions, 74 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index e5064ef70..2c7512129 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -606,7 +606,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         StartPT100 = TEMP_SENSE_ANALOG_DRYER_TEMP1;
     if (Ten_msTick)
     {
-        //Speed_Data = Calculate_Speed_Sensor_Velocity();
+        Speed_Data = Read_Speed_Sensor_TypeII();
         //MillisecReadFromTempSensor(Sensor_Read, NULL);
         //if (Sensor_Read++ >= MAX_MAIN_CARD_TEMPERATURE_SENSOR_ID) Sensor_Read = 0;
         if(Machine_Idle_Mode == true)
@@ -720,7 +720,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         }
         Trigger_WHS_PT100_Read_All();
         Trigger_WHS_MAX11614_Read_allADC();
-//    WHS_Blower_Avarege_ORF1(); //drier
+        WHS_Blower_Avarege_ORF1(); //drier
         WHS_Blower_Avarege_ORF3(); //head
         Trigger_WHSReadAllFanTacho ();
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 36d4505d0..63fe510c4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -314,12 +314,14 @@ uint32_t DiagnosticsLoadDigitalValues(void)
     DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_SPARE_SSR13_CTRL;
     DigitalOutputState[index++].value = ReadHeadMagnetBit();
 
-    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_LED3;
-    //DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTIN);
+    /*if (Head_Type == HEAD_TYPE_SYLKO) //rapid/pp machines
+    {
+        DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_LED3;
+        DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTIN);
 
-    DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_LED4;
-    //  indication of movement cause the switch in the tech board to change, also doesn't go through the task
-    //DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTOT);
+        DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_LED4;
+        DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTOT);
+    }*/
 
     DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_FULL;
     DigitalOutputState[index++].value = WHS_IsContainerFull();
@@ -408,7 +410,7 @@ void DiagnosticTenMsecCollection(void)
     DiagnosticLoadDancerError(POOLER_DANCER,ThreadGetMotorCalculatedError(POOLER_DANCER));
     DiagnosticLoadDancerError(FEEDER_DANCER,ThreadGetMotorCalculatedError(FEEDER_DANCER));
 
-    //DiagnosticLoadSpeedSensor(getSensorSpeedData());
+    DiagnosticLoadSpeedSensor(getSensorSpeedData());
 }
 void DiagnosticOneMinuteCollection(void)
 {
@@ -444,7 +446,7 @@ void DiagnosticOneMinuteCollection(void)
     }
     DiagnosticsMonitor.n_overalltemperature = 1;
     OverallTemperature = max(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP1),MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP2));
-    OverallTemperature = ((int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP1))*1000 + (int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP2)));
+    OverallTemperature = ((int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP1))*10 + (int)(MillisecGetTemperatures(TEMP_SENSE_AN_ENCLOSURETEMP2)/100));
     DiagnosticsMonitor.overalltemperature = &OverallTemperature;
 
     DiagnosticsMonitor.n_midtank1level = 1;
@@ -794,7 +796,9 @@ void Diagnostic100msecCollection(void)
         }
     }
 
+    DiagnosticsMonitor.n_drierzone1heatercurrent = 1;
     HeatersCurrent[HEATER_DRYER_CURRENT_1][0] = Get_Heaters_Current(HEATER_DRYER_CURRENT_1);
+    DiagnosticsMonitor.n_drierzone2heatercurrent = 1;
     HeatersCurrent[HEATER_DRYER_CURRENT_2][0] = Get_Heaters_Current(HEATER_DRYER_CURRENT_2);
 
    /*dispenser1motorfrequency[DiagnosticsIndex] = MotorGetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index f43cf8c56..6e4eed580 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -27,9 +27,9 @@
 
 uint32_t CloseValveTimeout = 10;
 uint32_t OpenValveTimeout = 10;
-#define DISPENSER_BUILD_PRESSURE_SPEED 900
-#define DISPENSER_BUILD_PRESSURE_LIMIT 1.5
-#define DISPENSER_BUILD_PRESSURE_TIMEOUT 60000
+#define DISPENSER_BUILD_PRESSURE_SPEED 940
+#define DISPENSER_BUILD_PRESSURE_LIMIT 1.0
+#define DISPENSER_BUILD_PRESSURE_TIMEOUT 120000
 #define DISPENSER_BUILD_PRESSURE_LAG 50
 #define DEFAULT_NANOLITER_PER_PULSE 2.34
 uint32_t DispenserPrepareSpeed = DISPENSER_BUILD_PRESSURE_SPEED;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 14718ab0e..0c28ee564 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -519,12 +519,12 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
              if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
              {
                  HW_Motor_Id = DispenserIdToMotorId[i];
-                 if (GetDispenserPressure(i) > DispenserPreparePressure*1.02)
+                 if (GetDispenserPressure(i) > DispenserPreparePressure*1.05)
                  {
                      NumofReadyDispensers++;
-                     CurrentDispenserSpeed[i] = 0;
 #ifdef SPECIAL_DISPENSERS
                      MotorStop(HW_Motor_Id, Hard_Hiz);
+                     CurrentDispenserSpeed[i] = 0;
                      //Report("IDS stopped ready",__FILE__,i,(int)(DispenserPreparePressure*100),RpWarning,(int)NumofReadyDispensers,0);
 #else
                      tempSpeed = CurrentDispenserSpeed[i];
@@ -569,7 +569,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
              Report("pressureReady = true  or timeout;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
          }
      }
-#ifndef SPECIAL_DISPENSERS
+//#ifndef SPECIAL_DISPENSERS
      else if (endOfPrepareWCF == false)
      {
          if ((DispenserBuildTimeCounter == PRESSURE_READ_TIME_GAP)&&(FirstBrushStop))
@@ -614,8 +614,11 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                              segmentfirst_speed /= 100;
                              DispenserSegmentReady[DispenserId] = false;
                              //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                             //IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,segmentfirst_speed,NULL);
+#ifdef SPECIAL_DISPENSERS
+                             IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,segmentfirst_speed,NULL);
+#else
                              MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
+#endif
                              CurrentDispenserSpeed[Dispenser_i] = segmentfirst_speed;
 
                              usnprintf(IdMessage, 80,
@@ -657,13 +660,13 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
 
          }
      }
-#endif
+/*#endif
 #ifdef SPECIAL_DISPENSERS
      if (pressureReady == true)
-#else
+#else*/
      //start new stage
      if (endOfPrepareWCF == true)
-#endif
+//#endif
      {
          SafeRemoveControlCallback(DispenserPrepareControlId, IDS_Prepare_Callback );
          DispenserPrepareControlId = 0xFF;
@@ -785,6 +788,9 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
          for (i = 0; i < MAX_DYE_DISPENSERS; i++)
          {
              dispenserspeed = DispenserPrepareSpeed;
+#ifdef SPECIAL_DISPENSERS
+             dispenserspeed = 300;
+#endif
              TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[i];
 
              if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
@@ -1060,7 +1066,7 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
          //cleaning
          return OK;
      }
-#ifndef SPECIAL_DISPENSERS
+//#ifndef SPECIAL_DISPENSERS
      if ((InterSegmentStartWFCFDispensers > 12000)&&(InterSegmentStartWFCFDispensers == (InterSegmentStepsCount+12000)))
      {
 	 	//start prepare 4 seconds before wcf
@@ -1141,7 +1147,7 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
          //close waste valve one second before segment - trial
          Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
      }
-#endif
+//#endif
      return OK;
  }
 uint32_t IDSCheckSegmentData(void *SegmentDetails, int SegmentId)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 51fe807d8..d3a97bf3a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -107,64 +107,65 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         }
     }
     else
-    if((request->amount == 0x3E8) && (request->delay <= 0x0fff))// set WHS Blower speed 0x00-0xfff
-    {
-        if (WHS_Type == WHS_TYPE_NEW)
+        if((request->amount == 0x3E8) && (request->delay <= 0x0fff))// set WHS Blower speed 0x00-0xfff
         {
-            Trigger_SetWHSBlowerVoltage (request->delay);
-            response.progress = 0;
-            response.has_progress = true;
-        }        //Trigger_WHS_Set_Volt_Blower_Control(request->delay);
-    }
+            if (WHS_Type == WHS_TYPE_NEW)
+            {
+                Trigger_SetWHSBlowerVoltage (request->delay);
+                response.progress = 0;
+                response.has_progress = false;
+            }
+        }
     else
         if (request->amount == 0x3E7) // set WHS Blower speed by Q value
         {
              if (WHS_Type == WHS_TYPE_NEW)
              {
-                 Trigger_WHS_Set_Blower_Control_Closed_Loop (request->delay);
+                 WHS_Set_Blower_Control_Closed_Loop (request->delay);
                  response.progress = 0;
-                 response.has_progress = true;
-             }        //Trigger_WHS_Set_Volt_Blower_Control(request->delay);
+                 response.has_progress = false;
+             }
         }
-    else if(request->amount == 0x3EA)
-    {
-        uint16_t tempu16 = 0;
-       if (WHS_Type == WHS_TYPE_NEW)
-       {
-           switch(request->delay )// set WHS Blower speed 0x00-0xfff
-           {
-           case 0:
-               get_orf_1(&tempu16);
-               break;
-           case 1:
-               get_orf_2(&tempu16);
-               break;
-           case 2:
-               get_orf_3(&tempu16);
-               break;
-           case 3:
-               get_vlev1(&tempu16);
-               break;
-           case 4:
-               get_vlev2(&tempu16);
-               break;
-           case 5:
-               get_gas_out(&tempu16);
-               break;
-           case 6:
-               get_cur_fan(&tempu16);
-               break;
-           case 7:
-               get_cur_vlv1(&tempu16);
-               break;
-           case 8:
-               tempu16 = 0;  //get_cur_vlv2(&tempu16);
-               break;
-           default :
-               tempu16 = 0x500;  //get_cur_vlv2(&tempu16);
-               break;
+    else
+        if(request->amount == 0x3EA)
+        {
+            uint16_t tempu16 = 0;
+            if (WHS_Type == WHS_TYPE_NEW)
+            {
+                switch(request->delay )// set WHS Blower speed 0x00-0xfff
+                {
+                    case 0:
+                        get_orf_1(&tempu16);
+                        break;
+                    case 1:
+                        get_orf_2(&tempu16);
+                        break;
+                    case 2:
+                        get_orf_3(&tempu16);
+                        break;
+                    case 3:
+                        get_vlev1(&tempu16);
+                        break;
+                    case 4:
+                        get_vlev2(&tempu16);
+                        break;
+                    case 5:
+                        get_gas_out(&tempu16);
+                        break;
+                    case 6:
+                        get_cur_fan(&tempu16);
+                        break;
+                    case 7:
+                        get_cur_vlv1(&tempu16);
+                        break;
+                    case 8:
+                        tempu16 = 0;  //get_cur_vlv2(&tempu16);
+                        break;
+                    default :
+                        tempu16 = 0x500;  //get_cur_vlv2(&tempu16);
+                        break;
+                }
            }
-       }
        response.progress = (double)tempu16;
        response.has_progress = true;
     }
@@ -511,7 +512,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
     if((request->amount == 0x0CE) && (request->delay == 0x0CE)) //Get Gas Sensor
     {
         LOG_ERROR(request->delay,"FlashInitAndLoad");
-        FlashInitAndLoad();
+        FlashInit();
         response.progress = (double)OK;
         response.has_progress = true;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index fd48e799a..1dd101f82 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -28,6 +28,7 @@
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "modules/heaters/heaters.h"
 #include "modules/General/process.h"
 #include "modules/ids/ids_ex.h"
@@ -117,8 +118,8 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 
   if (Current_Read < Previous_Read)
   {
-    ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
     Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
+    ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,Time_Pass,(int)Current_Read,RpWarning,(int)Previous_Read,0);
   }
   else
     Time_Pass = Current_Read - Previous_Read;
@@ -178,7 +179,10 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             initialpos = 0;
         }
         prevprev = PreviousPosition;
-        positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition);
+        if (Extended_Motor_Param[ThreadMotorIdToMotorId[index]] == true) //powerstep driver reverses the direction
+            positionDiff = Control_Delta_Position_Pass(PoolerPreviousPosition,PoolerCurrentPosition);
+        else
+            positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
         //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
         PreviousPosition = CurrentPosition;
 
@@ -268,7 +272,10 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             Poolerinitialpos = 0;
         }
         prevprev = PoolerPreviousPosition;
-        positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
+        if (Extended_Motor_Param[ThreadMotorIdToMotorId[index]] == true) //powerstep driver reverses the direction
+            positionDiff = Control_Delta_Position_Pass(PoolerPreviousPosition,PoolerCurrentPosition);
+        else
+            positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
         //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
         PoolerPreviousPosition = PoolerCurrentPosition;