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

4 files changed, 20 insertions, 16 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index fc2fa7625..b7b018cdb 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -291,7 +291,7 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
     }
     return OK;
 }
-uint32_t AlarmHandlingPrepareJob(void *CurrentJob)
+JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
 {
     JobTicket* JobTicket = CurrentJob;
     bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
@@ -301,7 +301,7 @@ uint32_t AlarmHandlingPrepareJob(void *CurrentJob)
     int Segment_i,Brush_i,Dispenser_i,DispenserId,Alarm_i,Heater_i,AlarmId=0;
     HeaterState HeaterState;
 
-    uint32_t status = OK;
+    JobEndReasonEnum status = JOB_OK;
     if (JobTicket->n_segments == 0)
         return OK;
     for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
@@ -362,10 +362,11 @@ uint32_t AlarmHandlingPrepareJob(void *CurrentJob)
     if (status == ERROR)
     {
         JobEndReason = getEndReason(AlarmId);
-        AbortJob(AlarmItem[AlarmId].EventName);
+        //AbortJob(AlarmItem[AlarmId].EventName);
+        //PrepareReady(Module_Alarms,ModuleFail);
         Report(AlarmItem[AlarmId].EventName, __FILE__,__LINE__,AlarmId, RpMessage, DEBUG_LOG_CATEGORY__Error, 0);
     }
-    return status;
+    return JobEndReason;
 }
 
 /*
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
index edce0d9cb..4f9db2fc1 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
@@ -7,6 +7,8 @@
 
 #ifndef MODULES_ALARMHANDLING_ALARMHANDLING_H_
 #define MODULES_ALARMHANDLING_ALARMHANDLING_H_
+#include "StateMachines/Printing/PrintingSTM.h"
+
 
 uint32_t AlarmHandling_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 //uint32_t AlarmHandling_CalculateTemperatures(uint32_t SensorId, uint32_t Data);
@@ -15,7 +17,7 @@ uint32_t AlarmHandlingStart(void);
 uint32_t AlarmHandlingStop(void);
 void AlarmHandlingSetAlarm(uint32_t AlarmId, bool Value);
 
-uint32_t AlarmHandlingPrepareJob(void *CurrentJob);
+JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob);
 uint32_t StartEventsNotificationRequestFunc(MessageContainer* requestContainer);
 uint32_t StopEventsNotificationRequestFunc(MessageContainer* requestContainer);
 uint32_t ResolveEventRequestFunc(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 4f8edde02..3b3ac540a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -474,7 +474,6 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
     return ERROR;
 }
 char ACheatstr[100];
-int printindex=0;
 uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 {
     int index=MAX_HEATERS_NUM;
@@ -490,7 +489,6 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
         LOG_ERROR (IfIndex, "Wrong  Interface ");
         return 0xFFFFFFFF;
     }
-    if (printindex++>MAX_HEATERS_NUM)printindex=0;
     if (HeaterCmd[index].targettemperatue == 0)
     {
         DeActivateHeater(index);
@@ -551,11 +549,10 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             //check only for the proportional band limits
             HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
                                                                               &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
-            len = usnprintf(ACheatstr, 254, "ACD%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
+            len = usnprintf(ACheatstr, 254, "ACD Id, Temp , Integral, Output{ %d, %d ,%d, %d} ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
             //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
             //        #warning PID is now only proportional (above)
-            if (printindex==index)
-                Report(ACheatstr,__FILE__,__LINE__,index,RpWarning,readValue,  HeaterPIDConfig[index].m_calculatedError);
+             Report(ACheatstr,__FILE__,__LINE__,index,RpWarning,readValue,  HeaterPIDConfig[index].m_calculatedError);
             HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, (int)(HeaterPIDConfig[index].m_calculatedError/100));
         }
     }
@@ -653,11 +650,13 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             //        output[index][Counter[index]]   = HeaterPIDConfig[index].m_calculatedError;
             //        if (Counter[index]++ >=100)
             //            Counter[index] = 0;
-            len = usnprintf(heatstr, 254, "PID%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
             //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
             //        #warning PID is now only proportional (above)
-            if (printindex==index)
+            if (index == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1)
+            {
+                len = usnprintf(heatstr, 254, "PID id, Temp, Integral, Output { %d, %d ,%d, %d}",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
                 Report(heatstr,__FILE__,__LINE__,index,RpWarning,HeaterPIDConfig[index].m_calculatedError,0);
+            }
             HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError/100));
 
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 6db7f616e..dc9cfcd6d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -58,6 +58,7 @@ typedef struct
     float               m_integral;
     float               m_calculatedError;
     bool                m_isReady;
+    uint32_t            m_ingnoreValue;
     PID_Config_Params   m_params;
 }MotorControlConfig_t;
 
@@ -387,7 +388,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         if (ReadValue < 10)
         {
             MotorFailedSample[index]++;
-            REPORT_MSG(ReadValue, "Dancer value read too small.");
+            Report("Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
             return OK;
         }
         if (ReadValue == 0x3FFF)
@@ -469,7 +470,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             //KeepNormalizedError = NormalizedError;
         }
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-        if (abs(calculated_speed-CurrentControlledSpeed[index])>2)
+        if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
         {
             if (keepdata == true)
             {
@@ -560,6 +561,7 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             MotorControlConfig[Motor_i].m_params.ProportionalErrorMultiplier = MotorsControl[Pid_Id].outputonoffhysteresisvalue;
             MotorControlConfig[Motor_i].m_params.epsilon = MotorsControl[Pid_Id].epsilon;
             MotorControlConfig[Motor_i].m_params.dt = MotorsControl[Pid_Id].controloutputtype;
+            MotorControlConfig[Motor_i].m_ingnoreValue =  MotorsControl[Pid_Id].sensorcorrectionadjustment; // the minimal change required to change the motor speed in pulses
             MotorControlConfig[Motor_i].m_calculatedError = 0;
             MotorControlConfig[Motor_i].m_integral = 0;
             MotorControlConfig[Motor_i].m_isEnabled = true;
@@ -768,7 +770,7 @@ char Endstr[150];
      if (SpeedControlId != 0xFF)
      {
          if(RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction)!=OK)
-             LOG_ERROR(Motor_i,"RemoveControl Failed");
+             LOG_ERROR(SpeedControlId,"RemoveControl Failed");
          SpeedControlId = 0xFF;
      }
      if (PoolerSpeedControlId != 0xFF)
@@ -783,7 +785,7 @@ char Endstr[150];
          if (ControlIdtoMotorId[Motor_i] != 0xFF)
          {
              if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction) == OK)
-                 ControlIdtoMotorId[Motor_i] == 0xFF;
+                 ControlIdtoMotorId[Motor_i] = 0xFF;
              else
                  LOG_ERROR (ControlIdtoMotorId[Motor_i],"Remove Control failed");
          }