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

11 files changed, 46 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index d366e8832..eb72de61b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -821,6 +821,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
         if (Head_Type == HEAD_TYPE_ARC) {
             HeadBlowersControlLoop();
         }
+        else
+        {
+            FlatHeadAlarms();
+        }
 
         //call waste state machine
         Waste_StateMachine_OneSecond_Call();
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 9f7994629..d880b1381 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -325,7 +325,7 @@ uint32_t DiagnosticsLoadDigitalValues(void)
     if(Head_Type == HEAD_TYPE_ARC)
         DigitalOutputState[index++].value = FPGA_Read_limit_Switches(I2C_HEADCARD_COVER_LS_ARC);
     else
-        DigitalOutputState[index++].value = FPGA_Read_limit_Switches(GPI_LS_DH_LID_OPEN);
+        DigitalOutputState[index++].value = FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp  [HARDWARE_MOTOR_TYPE__MOTO_DH_LID]);
 
     #ifdef USE_VOC_BUZZER_ALARM
         if (WHS_Type == WHS_TYPE_NEW)
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 7e1424b8a..d20cd65d5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -615,13 +615,14 @@ uint32_t Diagnostics_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint
 uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
 {
     D_numberOfCycles++;
-    uint32_t angle, temp = Read_Dryer_ENC_Position();
+    int angle;
+    uint32_t temp = Read_Dryer_ENC_Position();
 
     angle = Calculate_Arm_Distance(D_DrierPrevLocation,temp);
     ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,(int)angle,(int)ReadValue,RpMessage,temp,0);
 
     MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
-    if ((abs(angle)>14000  )&&(ReadValue == NOTBUSY)) // OK - take another round
+    if ((abs(angle)<400  )&&(ReadValue == NOTBUSY)) // OK - take another round
     {
         D_DrierPrevLocation = temp;
         ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,ReadValue,temp,RpMessage,angle,0);
@@ -653,6 +654,7 @@ uint32_t Diagnostics_Dryer_Loading(void)
     if (dryerbufferlength)
         LoadArmRounds = (int)dryerbufferlength;
     MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&D_DrierPrevLocation);
+
     //MCU_E2PromProgram(EEPROM_DRIER_LOADING_ARM_ANGLE,Calc_angle);
     ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading request: current ",__FILE__,D_DrierPrevLocation,D_numberOfCycles,RpMessage,LoadArmRounds,0);
     Drier_Center_read = D_DrierPrevLocation;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 20efd6e8e..3fbb4e70c 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -44,6 +44,7 @@
 #include "drivers/Flash_ram/MCU_E2Prom.h"
 #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
 #include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
+#include <Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.h>
 
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "StateMachines/Initialization/InitSequence.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
index 63118221b..2f8de1643 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
@@ -258,7 +258,19 @@ void setArcHeadAlarms(uint32_t AlarmId, bool value)
         }
     }
 }
+void FlatHeadAlarms(void)
+{
+    if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp  [HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT) {
+        if (++count9 == ARC_ALARM_LIMIT)
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_COVER_IS_OPEN, true);
+        count9 = (count9 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count9);
+    } else {
+        if (--count9 == 0)
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_COVER_IS_OPEN, false);
+        count9 = (count9 < 0)?(0):(count9);
+    }
 
+}
 void ArcHeadAlarms(void)
 {
     double currentFlow = 0.0;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
index cac543647..a172532c2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
@@ -52,6 +52,7 @@ void HeadBlowersInit();
 uint32_t HeadBlowerPidRequestMessage(void* request, int BlowerId);
 void HeadBlowersCfg();
 void HeadBlowersControlLoop ();
+void FlatHeadAlarms(void);
 uint32_t  HeadBlowerCommandRequestMessage(int blowerId, float flow);
 void HeadBlowersOff(int off);
 uint32_t HeadBlowersOffGet();
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
index d26b3d814..3f1ceeabb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
@@ -47,7 +47,7 @@ uint32_t CalculateRpeat(uint32_t IfIndex, uint32_t BusyFlag)
 
 void Stub_CalculateRequest(MessageContainer* requestContainer)
 {
-    MessageContainer responseContainer;
+    //MessageContainer responseContainer;
 
     CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (CalculateToken, requestContainer->token,36);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Procedure.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Procedure.c
index c2871869d..c84dc5fb5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Procedure.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Procedure.c
@@ -93,7 +93,7 @@ void Stub_ProcedureRequest(MessageContainer* requestContainer)
                 response.replymessage = request->testname;
                 if (n_param)
                 {
-                    response.replyvalue = (float**)my_malloc(sizeof(float *)*(request->n_param));
+                    response.replyvalue = (float*)my_malloc(sizeof(float *)*(request->n_param));
                     response.n_replyvalue = request->n_param;
                     for(i=0;i<n_param;i++)
                     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 3fef1f48b..750dc81af 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -39,6 +39,7 @@
 #include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h>
 #include "drivers/Heater/TemperatureSensor.h"
 #include "Drivers/I2C_Communication/Head_Card/PT100/ADS122X04.h"
+#include "drivers/I2C_Communication/DAC/Blower.h"
 
 #include "Modules/IFS/ifs.h"
 #include "Modules/IDS/ids_ex.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index f2ca4e8d7..f327ef3b2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -258,12 +258,14 @@
         {
             CallbackCounter--;
         }
-        if ((abs(angle)>14000  )&&(BusyFlag == NOTBUSY)) // OK - take another round
+        if ((abs(angle)<200  )&&(BusyFlag == NOTBUSY)) // 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 +274,7 @@
         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 +319,7 @@
                 {
                     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 +689,7 @@
             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 +731,13 @@
         {
             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 +941,7 @@
 
             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 +1498,8 @@ 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;
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