thread loading fixes

4 files changed, 45 insertions, 27 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 4722bfe2f..81e62746a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -44,9 +44,6 @@ uint32_t DrierZeroPosition = 0;
 //bool     DrierBackLashDirection = false;
 uint32_t Arm_Drier_Center = 0;
 callback_fptr UnloadingReset = NULL;
-/*int CallbackCalls=0;
-int FirstCall = 0;
-#define MAX_CONTROL_SAMPLES 10*/
 int32_t ArmSamples[MAX_CONTROL_SAMPLES] = {0};
 int ArmSamplePointer = {0};
 int StoredavreageSampleValue = 0;
@@ -214,6 +211,7 @@ uint32_t MotorGotoWithBusyCallback (TimerMotors_t MotorId,bool direction, uint32
     //MotorStop(MotorId,Hard_Hiz );
     int sign = direction?1:-1;
     MotorGoTo(MotorId,Steps*sign );
+    CallbackCalls = 0;
     MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveCallBackFunction;
     return MotorControlId[MotorId];
@@ -232,6 +230,7 @@ uint32_t MotorRunWithCallback (TimerMotors_t MotorId,bool direction, uint32_t Fr
     MotorTimeout[MotorId] = 0;
     MotorTimeLag[MotorId] = 20;
     MotorTimeLimit[MotorId] = timeout;
+    CallbackCalls = 0;
     if (MotorId ==HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
     {
         InitialArmLocation = Read_Dryer_ENC_Position(0,0);
@@ -289,7 +288,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
                 }
             }
         }
-        else //loading - going up
+        /*else //loading - going up
         {
             //previous number is smaller than current
             if (InitialArmLocation<encoder)
@@ -310,32 +309,32 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
                     InitialArmLocation=encoder;
                 }
             }
-        }
+        }*/
         if (((temp>1000)||(temp<20))&&(CallbackCalls>10))
         {
-            Report("MotorRunCallBackFunctionMotorRunCallBackFunction temp curr prev small",__FILE__,encoder,InitialArmLocation,RpWarning,temp,0);
+            Report("MotorRunCallBackFunction temp curr prev small",__FILE__,encoder,InitialArmLocation,RpWarning,temp,0);
             failCounter++;
             if (failCounter>=20)
             {
                 Report("arm stopped",__FILE__,failCounter,encoder,RpWarning,temp,0);
                 MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Hiz);
-                BusyFlag = NOTBUSY;
+                Busy = NOTBUSY;
             }
         }
         else
         {
             failCounter = 0;
-            BusyFlag = BUSY;
+            Busy = BUSY;
         }
         if (CallbackCalls%50 == 0)
         {
             //encoder = Read_Dryer_ENC_Position(0,0);
-            Report("MotorRunCallBackFunctionMotorRunCallBackFunction periodic curr prev total",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0);
+            Report("MotorRunCallBackFunction periodic curr prev total",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0);
         }
         if (CallbackCalls%200 == 0)
         {
             //encoder = Read_Dryer_ENC_Position(0,0);
-            Report("MotorRunCallBackFunctionMotorRunCallBackFunction",__FILE__,__LINE__,encoder,RpWarning,CallbackCalls,0);
+            Report("MotorRunCallBackFunction",__FILE__,__LINE__,encoder,RpWarning,CallbackCalls,0);
         }
     }
     else
@@ -348,24 +347,25 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
     }
     MotorTimeout[MotorId]+=MotorTimeLag[MotorId];
 
-    if ((BusyFlag == NOTBUSY)||((MotorTimeout[MotorId]>=MotorTimeLimit[MotorId])&&(MotorTimeLimit[MotorId]>0)))
+    if ((Busy == NOTBUSY)||((MotorTimeout[MotorId]>=MotorTimeLimit[MotorId])&&(MotorTimeLimit[MotorId]>0)))
        {
         if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
         {
-            angle = Calculate_Arm_Distance(Arm_Drier_Center,temp);
+            angle = Calculate_Arm_Distance(Arm_Drier_Center,encoder);
 
             if (abs(angle)<400)
             {
-                BusyFlag = NOTBUSY;
+                Busy = NOTBUSY;
             }
             else
             {
-                BusyFlag = BUSY;
+                Busy = BUSY;
             }
             Report("arm stopped call",__FILE__,failCounter,encoder,RpWarning,abs(DrierZeroPosition-encoder),0);
+            Report("arm stopped call 2",__FILE__,MotorTimeout[MotorId],Busy,RpWarning,angle,0);
         }
            //stop this control loop
-        Report("MotorControlGetnBusyState stop",__FILE__,MotorId,BusyFlag,RpMessage,MotorCallback[MotorId],0);
+        Report("MotorControlGetnBusyState stop",__FILE__,MotorId,Busy,RpMessage,MotorCallback[MotorId],0);
            SafeRemoveControlCallback(MotorControlId[MotorId], MotorRunCallBackFunction );
            MotorControlCallback[MotorId] = 0;
            MotorControlId[MotorId] = 0xFF;
@@ -398,7 +398,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S
         Report("MotorControlGetnBusyState print",__FILE__,__LINE__,MotorDriverResponse[MotorId].Busy,RpMessage,0,0);
     }*/
     ReportWithPackageFilter(GeneralFilter,"MotorMoveWithCallback",__FILE__,direction,MotorId,RpMessage,Steps,0);
-
+    CallbackCalls = 0;
     //call driver action to device id with the parameter
     //SetMotorSpeed (deviceId, parameter);
     MotorCallback[MotorId] = callback;
@@ -542,6 +542,7 @@ uint32_t MotorMoveToStopper (TimerMotors_t MotorId,bool direction, uint32_t Spee
     Task_sleep(10);
     Initialcurrentposition = Read_Dryer_ENC_Position();
     cycles = 0;
+    CallbackCalls = 0;
     StoredMotorPosition[MotorId] = Read_Dryer_ENC_Position();
     Report("MotorMoveToStopper initial position",__FILE__,__LINE__,StoredMotorPosition[MotorId],RpWarning,Initialcurrentposition,0);
     MotorSetSpeed (MotorId, Speed);
@@ -664,9 +665,11 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
     }
     MotorId = IfIndex&0xFF;
     CallbackCalls++;
-
     if (MotorId ==HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
     {
+        Read_Dryer_ENC_Position();
+        if (CallbackCalls<50)
+            return;
         if (CallbackCalls%200 == 0)
         {
             Report("MotorMoveCallBackFunction",__FILE__,__LINE__,MotorId,RpWarning,Read_Dryer_ENC_Position(0,0),0);
@@ -1157,7 +1160,7 @@ uint32_t LoadingArmReset_Callback(uint32_t MotorId, uint32_t ReadValue)
     uint32_t temp = Read_Dryer_ENC_Position();
     angle = Calculate_Arm_Distance(Arm_Drier_Center,temp);
     ReportWithPackageFilter(DiagnosticsFilter,"LoadingArmReset_Callback",__FILE__,angle,temp,RpMessage,Arm_Drier_Center,0);
-    //ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),D_numberOfCycles,RpMessage,CallbackCounter,0);
+    //ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_UnLoading_Callback details",__FILE__,__LINE__,ReadValue,RpMessage,0,0);
     //if ((AccumulatedArmMovement>8000  )&&(ReadValue == NOTBUSY)) // OK - take another round
     if (ReadValue == NOTBUSY) // OK - take another round
     {
@@ -1189,6 +1192,7 @@ uint32_t LoadingArmReset_Callback(uint32_t MotorId, uint32_t ReadValue)
     else  //timeout or no movement
     {
         ReportWithPackageFilter(DiagnosticsFilter,"Unloading drier - halted",__FILE__,__LINE__,Arm_Drier_Center,RpMessage,0,0);
+        MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
         //MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-(D_numberOfCycles-2));//it takes two cycles to identify a stop of the arm
 
         ReportWithPackageFilter(DiagnosticsFilter,"Dryer unloading timeout(1) or no movement",__FILE__,temp,Arm_Drier_Center,RpWarning,ReadValue,0);
@@ -1217,7 +1221,8 @@ uint32_t LoadingArmReset (callback_fptr callback,uint32_t timeout) //TODO
     ReportWithPackageFilter(DiagnosticsFilter,"LoadingArmReset",__FILE__,__LINE__,timeout,RpMessage, 0,0);
 
     MotorRunWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                          MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius,    LoadingArmReset_Callback, 300000);
+                          MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius,
+                          LoadingArmReset_Callback, 300000);
 
     return OK;
 
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/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
index eefd42d75..2f8de1643 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
@@ -260,7 +260,7 @@ 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 (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);
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;