Version 1.4.6.36 and procedures

10 files changed, 47 insertions, 22 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index cc8ae5be8..07df07309 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -967,6 +967,10 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
             }
         }
     }
+    if (Configured[Module_Waste])
+    {
+        FoundReason = Waste_Prepare();
+    }
     if ((AlarmState[Alarm_i].Status == true)&&(FoundReason == JOB_OK))
     {
         if(AlarmItem[Alarm_i].Severity>=DEBUG_LOG_CATEGORY__Error)
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 1f5093601..0e91f4211 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -147,6 +147,7 @@ double dispenser8motorfrequency[DIAGNOSTICS_LIMIT+1];
 Task_Handle Diagnostics_Task_Handle;
 Mailbox_Handle          DiagnosticsMsgQ = NULL;
 
+extern uint8_t Head_Fan_PWM_Command[2] ;
 bool blowervolatgedisplay = false;
 bool midtankDisplay = false;
 double diagvoltage = 0;
@@ -262,6 +263,7 @@ uint8_t  MotorCounterIndex[MAX_THREAD_MOTORS_NUM]= {0,0,0};
 double MotorValue[MAX_THREAD_MOTORS_NUM][DIAGNOSTICS_LIMIT+1];
 uint8_t  SpeedCounterIndex= 0;
 double SpeedValue[DIAGNOSTICS_DANCER_LIMIT+1];
+double headblowervoltage1 = 0.0, headblowervoltage2 = 0.0;
 
 void DiagnosticLoadMotor(int MotorId, int frequency)
 {
@@ -499,6 +501,16 @@ void CopyTemperaturesToMonitor(void)
         DiagnosticsMonitor.headblower1airflow = HeaterTemperature[HEATER_TYPE__HeaterZone5];
         DiagnosticsMonitor.headblower2airflow = HeaterTemperature[HEATER_TYPE__HeaterZone7];
     }
+    DiagnosticsMonitor.n_headblower1airflow = HeaterCounterIndex[HEATER_TYPE__HeaterZone5];
+    DiagnosticsMonitor.n_headblower2airflow = HeaterCounterIndex[HEATER_TYPE__HeaterZone7];
+    DiagnosticsMonitor.headblower1airflow = HeaterTemperature[HEATER_TYPE__HeaterZone5];
+    DiagnosticsMonitor.headblower2airflow = HeaterTemperature[HEATER_TYPE__HeaterZone7];
+    headblowervoltage1 =(double )Head_Fan_PWM_Command[HEAD_FAN_RIGHT];
+    headblowervoltage2  =(double )Head_Fan_PWM_Command[HEAD_FAN_LEFT];
+    DiagnosticsMonitor.headblowervoltage1 = &headblowervoltage1;
+    DiagnosticsMonitor.headblowervoltage2 = &headblowervoltage2;
+    DiagnosticsMonitor.n_headblowervoltage1 = 1;
+    DiagnosticsMonitor.n_headblowervoltage2 = 1;
     DiagnosticsMonitor.dryerzone1temperature =
             HeaterTemperature[HEATER_TYPE__DryerAirHeater];
     DiagnosticsMonitor.dryerzone2temperature =
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index 647797b69..a48e0df0c 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -49,8 +49,8 @@ void IDS_Dispenser_RefillEnded (char DispenserId,char  MicroSteps);
 //uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);
 
 uint32_t IDS_Cleaning_Move_Actuators(void);
-uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
-uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
+//uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
+//uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
 uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
 uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index c9e9afdde..c6be46bca 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -83,7 +83,7 @@ uint32_t IDS_Cleaning_Move_Actuators()
 
    return OK;
 }
-uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
+/*uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
 {
     uint32_t status = OK;
     SaveLeftRockerSpeed = LeftRockerSpeed;
@@ -109,7 +109,7 @@ uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callbac
     Report("IDS_Cleaning_Center_And_Stop_Rockers actuator down", __FILE__, __LINE__, timeout, RpWarning,   123456, 0);
 
     return status;
-}
+}*/
 uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback)
 {
     uint32_t status = OK;
@@ -128,11 +128,10 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback)
     uint32_t status = OK;
     status = IDS_Dispenser_Close_Valve_And_Stop_Motor(CLEANER_DISPENSER,callback);
     Report("IDS_Cleaning_Stop_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning,   status, 0);
-    if(Head_Type == HEAD_TYPE_SYLKO)
-    {
-        Trigger_Head_Actuators_Control(ACTIN, LOW,false);
-        Report("IDS_Cleaning_MoveDown cleaning stop", __FILE__, __LINE__, Tdelay1, RpWarning,   CleaningStageCounter, 0);
-    }
+    HeadCard_Actuators_Relocate();
+    CleaningStageCounter = 0;
+    CleaningStage = CleaningStageIdle;
+    Report("IDS_Cleaning_Stop_Cleaning_Solution actuator relocate", __FILE__, __LINE__, CleaningStage, RpWarning,   CleaningStageCounter, 0);
 
     return status;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 311f16a19..c8e3d267e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -583,7 +583,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
              HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
              MotorStop(HW_Motor_Id, Hard_Hiz);
              CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
-             Report("IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+             //Report("IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
          }
 
          if ((NumofReadyDispensers)&&(DispenserBuildTimeCounter%1000 == 0))
@@ -1605,7 +1605,8 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 #else
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
 #endif
-     IDS_Cleaning_Stop_Cleaning_Solution(NULL);
+     if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
+         IDS_Cleaning_Stop_Cleaning_Solution(NULL);
      SegmentNumOfBrushStops = Segment->n_brushstops;
      BrushStopTime = Segment->length*1000/(double)SegmentNumOfBrushStops;  //brushstop in meters //brushstop in millisecond
      BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds
@@ -1632,7 +1633,6 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
     if (DispenserPreSegmentControlId != 0xFF)
     {
         Report("IDS presegment not yet ended!!",__FILE__,DispenserPreSegmentControlId,(int)InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
-        //IDS_Cleaning_Stop_Cleaning_Solution (NULL);
         RemoveControlCallback(DispenserPreSegmentControlId, IDSPreSegmentStateCallbackRunner );
         DispenserPreSegmentControlId = 0xFF;
     }
@@ -1751,8 +1751,8 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
      {
          Report("IDS_Valve_EndValveReady start homing",__FILE__,deviceID,(int)AutoHoming_Config,RpWarning,(int)AutoHoming_JobEnd_PowerOn_off,0);
 
-         //if (deviceID!=LUBRICANT_DISPENSER)
-         IDS_HomeDispenser (deviceID, 1000 , NULL);
+         if (deviceID!=LUBRICANT_DISPENSER)
+             IDS_HomeDispenser (deviceID, 1000 , NULL);
      }
      return OK;
  }
@@ -1826,6 +1826,7 @@ uint32_t IDS_StopLubrication(void)
     Lubricant_2Way_Valve (STOP);
     IDS_Dispenser_Close_Valve_And_Stop_Motor(LUBRICANT_DISPENSER,IDS_Valve_EndValveReady);
     CurrentDispenserSpeed[LUBRICANT_DISPENSER] = 0;
-    REPORT_MSG (lubricant_speed, "IDS_StopLubrication");
+    IDS_HomeDispenser (LUBRICANT_DISPENSER, 1000 , NULL);
+    REPORT_MSG (lubricant_speed, "IDS_StopLubrication and home dispenser");
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
index 55d712412..1edc03264 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
@@ -12,7 +12,7 @@
 #define MODULES_IFS_IFS_H_
 
 #define CARTRIDGE_INK_TIMEOUT           420
-#define MidTank_Pressure_EMPTY          0.5
+#define MidTank_Pressure_EMPTY          0.3
 #define CARTRIDGE_CAPATICY              1500
 
 typedef enum{
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 39ff91558..bbb3e4040 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -146,6 +146,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
 //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
     temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
+    if (Motor_i == WINDER_MOTOR)
+    {
+        temp = temp*3/2;
+    }
     DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index c67619e20..f403eeeab 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -723,7 +723,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             {
                 if (calculated_speed>(CurrentControlledSpeed[index]+100))
                 {
-                        ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,CurrentControlledSpeed[index]+100,0);
+                        ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,index,0);
                         calculated_speed=CurrentControlledSpeed[index]+100;
                 }
                 CurrentControlledSpeed[index] = calculated_speed;
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
index af4bd5e08..ee9f668db 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
@@ -44,6 +44,7 @@ bool WHS_IsContainerFull();
 bool WHS_WasteCartridgeLowerPresent();
 bool WHS_WasteCartridgeMiddlePresent();
 bool WHS_IsEmptying();
+uint32_t Waste_Prepare(void);
 
 #endif
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
index d87ebd1a2..c0e51a143 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
@@ -500,27 +500,31 @@ void Waste_StateMachine(void)
             break;
     }
 }
-void Waste_Prepare(void)
+uint32_t Waste_Prepare(void)
 {
     //check if the waste is ready to run - waste level not above overflow level and no cartridge in the slots
     if (wasteLevel > wasteLevelOverflow)
     {
         Report("cannot start a job with waste tank overflow", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
         JobEndReason = JOB_SAFETY_CRITICAL_ALARM;
+        usnprintf(AlarmReasonStr, 100, "cannot start a job with waste tank overflow");
         AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_OVERFLOW,  true);
-        PrepareReady(Module_Waste,ModuleFail);
-        return;
+        //PrepareReady(Module_Waste,ModuleFail);
+        return JOB_SAFETY_CRITICAL_ALARM;
     }
     if ((WHS_IsEmptying())||(NoCartAvailable()))
     {
-        PrepareReady(Module_Waste,ModuleDone);
+        //PrepareReady(Module_Waste,ModuleDone);
+        return JOB_OK;
     }
     else
     {
         Report("cannot start a job with cartridges in the IFS", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
         JobEndReason = JOB_OTHER_ALARM;
         AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
-        PrepareReady(Module_Waste,ModuleFail);
+        usnprintf(AlarmReasonStr, 100, "cannot start a job with cartridges in the IFS");
+        //PrepareReady(Module_Waste,ModuleFail);
+        return JOB_OTHER_ALARM;
     }
     return;