sime fixes for Rapid 2 ( new LTFU)

3 files changed, 19 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index acecf4c7c..bdbf1b33e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -39,7 +39,7 @@ char HomingToken[NUM_OF_MOTORS][36+1]={0};
 /********************************************************************************
  * Motor Homing
  ********************************************************************************/
-int32_t keepkvalright,keepkvalleft;
+//int32_t keepkvalright,keepkvalleft;
 
 uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
 {
@@ -48,11 +48,11 @@ uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
 
     if(deviceID == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
     {
-        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, keepkvalright);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 24);
     }
     if(deviceID == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
     {
-        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, keepkvalleft);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 24);
     }
     responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
     responseContainer.has_continuous = true;
@@ -119,12 +119,12 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
                     {
                         if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)
                         {
-                            keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+                            //keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
                             MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 70);
                         }
                         if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING)
                         {
-                            keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
+                            //keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
                             MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 70);
                         }
                         MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback,30000);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 946eae0ec..698852f00 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -415,7 +415,8 @@
         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);
         MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 0, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
-        Trigger_Head_Actuators_Control(ACTOT, LOW,true);
+        Trigger_Head_Actuators_Control(ACTOT, LOW,false);
+        Trigger_Head_Actuators_Control(ACTIN, LOW,false);
         return OK;
     }
     uint32_t Thread_Load_Lift_Dancers(void)
@@ -427,6 +428,8 @@
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,15000);*/
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
+        CallbackCounter++;
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].directionthreadwize, 500,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
@@ -509,6 +512,11 @@
 
 //        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, (5000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000);
+        CallbackCounter++;
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2, 500);
+
+//        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
+        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].directionthreadwize, (5000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].microstep), Thread_Load_HomingCallback,20000);
 
         return OK;
     }
@@ -523,7 +531,8 @@
         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);
         MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 2, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
-        Trigger_Head_Actuators_Control(ACTOT, LOW,false);
+        Trigger_Head_Actuators_Control(ACTOT, LOW,true);
+        Trigger_Head_Actuators_Control(ACTIN, LOW,true);
         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 26d7ea854..be6644067 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -868,10 +868,10 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
 //////////////////////////////////////////////////
             for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++)
             {
-                if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
+                //if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                     MotorSamples[Motor_i][i] = Control_Read_Dancer_Position(ThreadMotorIdToDancerId[Motor_i],0);  //reset the samples value for control beginning
-                else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR))
-                    MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint;
+               // else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR))
+                //    MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint;
                 //MotorSpeedSamples[Motor_i][i] = 0;
             }
             MotorSamplePointer[Motor_i] = 0;