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

8 files changed, 123 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 711a0ab95..3b8a71444 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -36,6 +36,13 @@
 #endif
 //#define BTSR_ROTATED_WINDER_TFU
 
+//#define UFEEDER_BTSR
+#ifdef UFEEDER_BTSR
+#define BTSR_NO_FEEDER_TFU
+#define BTSR_NO_PULLER_TFU
+#define BTSR_ROTATED_WINDER_TFU
+#endif
+
 //#define USE_UART4_FOR_BTSR // need change in FRPGA FPGA_1 yy > 0x20 + jumpers in main board need to read HW Version - no need when working only with stubs
 //#define FORCE_BTSR_CARD_0023 // only for testing, include changes for BTSR without ASSY ID. use it with USE_UART4_FOR_BTSR
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index e90f0622e..00fd2b440 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -317,7 +317,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
             if (failCounter>=8)
             {
                 Report("arm stopped",__FILE__,failCounter,encoder,RpWarning,temp,0);
-                MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Hiz);
+                MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
                 RunningContinues = false;
             }
         }
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
index cfa8c2382..20c6d5a00 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
@@ -22,7 +22,7 @@
 #include "PMR/EmbeddedParameters/MainCardStoredDataResponse.pb-c.h"
 #include "PMR/EmbeddedParameters/MainCardStoredDataRequest.pb-c.h"
 #include "PMR/EmbeddedParameters/MainCardStoredItem.pb-c.h"
-
+#include "PMR/Printing/BTSRParameters.pb-c.h"
 
 uint32_t E2Prom_Data[MAX_EEPROM_STORAGE] = {0,0,0,0,0,0};
 uint32_t MCU_E2PromProgram(int Address,uint32_t Data)
@@ -362,4 +362,53 @@ void MainCardEEpromWriteRequestFunc(MessageContainer* requestContainer)
     stub_main_card_eeprom_write_request__free_unpacked(request,NULL);
 
 }
+uint32_t BtsrSaveParamsToEeprom(void *Data)
+{
+    BTSRParameters* BtsrPrameters = Data;
+    BTSRParameters ExistingBtsrPrameters ;
+    uint32_t status = 0;
+    float data;
+
+    BtsrReadParamsFromEeprom(&ExistingBtsrPrameters);
+    if (memcmp(BtsrPrameters,&ExistingBtsrPrameters,sizeof(ExistingBtsrPrameters)))
+    {
+        data = BtsrPrameters->feedingtension;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_FEEDING_TENSION, data);
+        status |= MCU_E2PromProgram(EEPROM_BTSR_TYPE, BtsrPrameters->btsryarntype);
+        status |= MCU_E2PromProgram(EEPROM_BTSR_APPLICATION, BtsrPrameters->btsrapplicationtype);
+        data = BtsrPrameters->threadlengthfactor;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_LENGTH_OFFSET, data);
+        data = BtsrPrameters->tensionerror;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_TENSION_ERROR, data);
+        data = BtsrPrameters->spooltension;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_SPOOL_TENSION, data);
+        data = BtsrPrameters->exittension;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_EXIT_TENSION, data);
+    }
+    return status;
+}
+
+uint32_t BtsrReadParamsFromEeprom(void *Data)
+{
+    BTSRParameters* BtsrPrameters = Data;
+    uint32_t status = 0;
+    float data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_FEEDING_TENSION, &data);
+    BtsrPrameters->feedingtension = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_TYPE, &data);
+    BtsrPrameters->btsryarntype = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_APPLICATION, &data);
+    BtsrPrameters->btsrapplicationtype = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_LENGTH_OFFSET, &data);
+    BtsrPrameters->threadlengthfactor = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_TENSION_ERROR, &data);
+    BtsrPrameters->tensionerror = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_SPOOL_TENSION, &data);
+    BtsrPrameters->spooltension = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_EXIT_TENSION, &data);
+    BtsrPrameters->exittension = data;
+    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(BtsrPrameters->feedingtension*1000),RpWarning,(int)(BtsrPrameters->tensionerror*1000),(int)(BtsrPrameters->exittension*1000));
+    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(BtsrPrameters->btsrapplicationtype),RpWarning,(int)(BtsrPrameters->btsryarntype),(int)(BtsrPrameters->threadlengthfactor*1000));
+    return status;
+}
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
index aee812973..24f229b2c 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
@@ -47,6 +47,13 @@ typedef enum {
     EEPROM_PRESSURE_SENSOR_V0_0,
     EEPROM_PRESSURE_SENSOR_V0_1,
     EEPROM_DRIER_LOADING_ARM_ANGLE,
+    EEPROM_BTSR_FEEDING_TENSION,
+    EEPROM_BTSR_EXIT_TENSION,
+    EEPROM_BTSR_TYPE,
+    EEPROM_BTSR_APPLICATION,
+    EEPROM_BTSR_TENSION_ERROR,
+    EEPROM_BTSR_LENGTH_OFFSET,
+    EEPROM_BTSR_SPOOL_TENSION,
     MAX_EEPROM_STORAGE
 }EEPROM_STORAGE_USAGE_ENUM;
 #define MAX_SERIAL_NUM_LEN 5 //5*4 bytes
@@ -89,6 +96,9 @@ void MainCardEEpromReadRequestFunc(MessageContainer* requestContainer);
 uint32_t MCU_E2PromEmbeddedVersionProgram(void);
 uint32_t MCU_E2PromEmbeddedVersionRead();
 
+uint32_t BtsrReadParamsFromEeprom(void *);
+uint32_t BtsrSaveParamsToEeprom(void *);
+
 extern char Serial[21];
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 71bae1f40..eb5f12136 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -859,6 +859,11 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
     TargetNumberOfStepsPreRun = InitialDispenserTimeout;
     MaximalPressurePreRun = InitialDispenserPressure;
 
+    if(Head_Type == HEAD_TYPE_ARC)
+    {
+        MotorMovetoLimitSwitch(HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 30,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], NULL,30000);
+    }
+
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
         TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[Motor_i];
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 87ad612ba..697f1bd5d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -36,7 +36,7 @@
 #include "Modules/AlarmHandling/AlarmHandling.h"
 #include "Control/MillisecTask.h"
 #include "drivers/Flash_ram/MCU_E2Prom.h"
-
+#include "Drivers/Uart_Comm/BTSR/BTSR.h"
 #include "drivers/SSI_Comm/SSI_Comm.h"
 
 ////////////////////////////////State machine operation////////////////////////////////////
@@ -79,6 +79,7 @@ double LengthCalculationMultiplier;
 uint32_t PoolerPreviousPosition = 0, PoolerCurrentPosition = 0;
 double PoolerTotalProcessedLength = 0.0;
 double PoolerLengthCalculationMultiplier;
+double threadlengthfactor = 1.0;
 
 double TempPoolerTotalProcessedLength = 0.0;
 double TempTotalProcessedLength = 0.0;
@@ -109,6 +110,7 @@ void SendSegmentFail(void);
 
 double KeepNormalizedError = 0;
 bool ThreadControlActive = false;
+extern BTSR_t BTSR[MaxUFeeders];
 ////////////////////////Slow Motor State////////////////////////////////////
 //uint32_t ThreadPreSegmentState(void *JobDetails);
 
@@ -337,9 +339,13 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         }**/
 
     //}
-#ifdef BTSR_NO_PULLER_TFU
-        if (CurrentControlledSpeed[WINDER_MOTOR]>100)
-            length = dyeingspeed/10;
+#ifdef UFEEDER_BTSR
+        length = BTSR[RUFeeder1].LengthInMeter * threadlengthfactor;
+#else
+    #ifdef BTSR_NO_PULLER_TFU
+            if (CurrentControlledSpeed[WINDER_MOTOR]>100)
+                length = dyeingspeed/10;
+    #endif
 #endif
     PoolerTotalProcessedLength+= (length/100);
     TempPoolerTotalProcessedLength = PoolerTotalProcessedLength;
@@ -1080,6 +1086,16 @@ uint32_t ThreadPrepareState(void *JobDetails)
     initialpos = 0xFFFF;
     Poolerinitialpos = 0xFFFF;
     PrepareState = true;
+
+#ifdef UFEEDER_BTSR
+    int application = JobTicket->btsrparameters->btsrapplicationtype;
+    int type = JobTicket->btsrparameters->btsryarntype;
+    uint16_t tension = (uint16_t)(JobTicket->btsrparameters->feedingtension*10);
+    uint16_t tension_err = (uint16_t)(JobTicket->btsrparameters->tensionerror*10);
+    uint16_t alarm_time = 5; //no parameter
+    threadlengthfactor = JobTicket->btsrparameters->threadlengthfactor;
+#endif
+
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,false);
@@ -1097,8 +1113,18 @@ uint32_t ThreadPrepareState(void *JobDetails)
     IntersegmentLength = JobTicket->intersegmentlength;
 
     PrepareWaitCount = 0;
+
+#ifdef UFEEDER_BTSR
+    status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, JobTicket->btsrparameters->exittension);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpWarning,(int)JobTicket->btsrparameters->exittension,0);
+    BTSR_RML_Settings(RUFeeder1, application, type, tension, tension_err, alarm_time);
+    BTSR_Reset_Length(RUFeeder1, HIGHEST);
+    BTSR_Read_Length(RUFeeder1, HIGHEST);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension BTSR",__FILE__,application,type,RpError,tension,tension_err);
+#else
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpWarning,(int)windertension,0);
+#endif
 #ifndef BTSR_NO_PULLER_TFU
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Puller",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,PrepareWaitCount,RpWarning,(int)pullertension,0);
@@ -1107,6 +1133,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__RightDancer, feedertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Feeder",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,PrepareWaitCount,RpWarning,(int)feedertension,0);
 #endif
+
     FirstCalcInJob = true;
     if(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].speedmaster == false)
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
index 17166a095..4ab177244 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
@@ -115,7 +115,7 @@ void PowerIdleSetIdle(void)
     if (HandleProcessParameters(&ProcessParametersClear,false)!= OK)
     {
         LOG_ERROR (1, "Turn Heaters idle failed");
-        return;
+        //return;
     }
     if (BlowerCfg.enabled == true)
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index bbb75328b..9f5151117 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -81,7 +81,7 @@
 #include "modules/ids/ids_ex.h"
 #include "Modules/heaters/heaters_ex.h"
 #include "Modules/control/control.h"
-
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 
 #define MAX_TICKET_SIZE  10000
 
@@ -106,6 +106,7 @@ JobBrushStop *TbrushStop;
 JobDispenser *Tdispenser;
 JobSpool *Tspool;
 HeadCleaningParameters *CleaningParameters = NULL;
+BTSRParameters *BtsrPrameters = NULL;
 bool CopyConfigured[MAX_SYSTEM_MODULES];
 bool CleaningJobActive = false, JoggingJobActive = false;
 char ErrorMsg[100];
@@ -134,7 +135,6 @@ static ReturnCode ExitState(void *JobDetails);
 void AbortJob(char *Msg);
 void HandleJobEnd(JobEndReasonEnum JobEndReason);
 
-
 typedef enum
 {
     Idle= 0,
@@ -483,6 +483,9 @@ uint32_t ThreadJoggingFunc(int speed)
         Tspool->has_limitswitchstartpointoffset = false;
         Ticket.spool = Tspool;
         Ticket.threadparameters = &SavedThreadParameters;
+#ifdef UFEEDER_BTSR
+        BtsrReadParamsFromEeprom(Ticket.btsrparameters);
+#endif
         CurrentJob = &Ticket;
         InternalWindingConfigMessage(Tspool);
         JoggingJobActive = true;
@@ -681,6 +684,9 @@ uint32_t ThreadCleaningJob(int speed)
                 Tspool->has_limitswitchstartpointoffset = false;
                 Ticket.spool = Tspool;
                 Ticket.threadparameters = &SavedThreadParameters;
+#ifdef UFEEDER_BTSR
+                BtsrReadParamsFromEeprom(Ticket.btsrparameters);
+#endif
                 CurrentJob = &Ticket;
                 job_length = CurrentJob->length + dryerbufferMeters;
 
@@ -923,7 +929,7 @@ void Stub_AbortJobRequest(MessageContainer* requestContainer)
 //********************************************************************************************************************
 void JobRequestFunc(MessageContainer* requestContainer)
 {
-    uint32_t status = NOT_SUPPORTED;
+    uint32_t rc, status = NOT_SUPPORTED;
     MessageContainer responseContainer;
     uint8_t* container_buffer;
     ErrorCode error = ERROR_CODE__NONE;
@@ -1029,7 +1035,16 @@ void JobRequestFunc(MessageContainer* requestContainer)
                         Report("Save job cleaning parameters", __FILE__, __LINE__, CleaningParameters->cleanerflow, RpWarning, CleaningParameters->archeadcleaningmotorspeed, 0);
 
                     }
+                    if (Ticket->btsrparameters)
+                    {
+                        ///store last updated BTSR parameters
+                        if (BtsrPrameters == NULL)
+                            BtsrPrameters = my_malloc(sizeof(BTSRParameters));
+                        memcpy(BtsrPrameters, Ticket->btsrparameters, sizeof(BTSRParameters));
+                        rc = BtsrSaveParamsToEeprom(BtsrPrameters);
+                        Report("Save job BTSR parameters", __FILE__, __LINE__, BtsrPrameters->feedingtension, RpWarning, rc, 0);
 
+                    }
                 }
                 else
                 {