fix TFU tension handling. small fix in waste handling

6 files changed, 35 insertions, 23 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index 1045fe792..06a4ed090 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,6,39};
+TangoVersion_t _gTangoVersion = {1,4,6,40};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//e
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 6e0deec97..419c34985 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -447,14 +447,24 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
 
     MotorId = IfIndex;
     CallbackCalls++;
-    if (CallbackCalls%200 == 0)
+    if (MotorId ==HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
     {
-        Read_Dryer_ENC_Position();
+        if (CallbackCalls%200 == 0)
+        {
+            Read_Dryer_ENC_Position();
+        }
+        if (CallbackCalls%200 == 1)
+        {
+            MotorId = Read_Dryer_ENC_Position(0,0);
+            Report("MotorMoveCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,MotorId,0);
+        }
     }
-    if (CallbackCalls%200 == 1)
+    else
     {
-        MotorId = Read_Dryer_ENC_Position(0,0);
-        Report("MotorMoveCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,MotorId,0);
+        if (CallbackCalls%100 == 1)
+        {
+            Report("MotorMoveCallBackFunction",__FILE__,MotorId,MotorTimeout[MotorId],RpWarning,MotorTimeLimit[MotorId],0);
+        }
     }
     MotorTimeout[MotorId]+=MotorTimeLag[MotorId];
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 242bdc3ce..327b5d19b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -804,10 +804,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
     }
     if (TenMinutes_Tick)
     {
-        if (WHS_Type == WHS_TYPE_NEW)
+        /*if (WHS_Type == WHS_TYPE_NEW)
         {
             waste_seq_step1();// include 1Sec delay           <- to open !!!!
-        }
+        }*/
     }
     if (OneHourTick)
     {
@@ -819,10 +819,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
             PumpCounter = 0;
         }
         MidTankReading();
-        /*if (WHS_Type == WHS_TYPE_NEW)
+        if (WHS_Type == WHS_TYPE_NEW)
         {
             waste_seq_step1();// include 1Sec delay           <- to open !!!!
-        }*/
+        }
         //Trigger_WHS_MAX11614_Read_Gas_Sensor();
     }
     //ROM_IntMasterEnable();
diff --git a/Software/Embedded_SW/Embedded/Modules/General/Safety.c b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
index 099ac1769..422b4745f 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/Safety.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
@@ -234,12 +234,12 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
        AlarmHandlingSetAlarm(EVENT_TYPE__AIR_FILTER_NOT_INSTALLED, false);
        AirFilterAlarmState = mAirFilterAlarmState;
    }
-   if  ((mWasteOverflowAlarmState != WasteOverflowAlarmState)|| (mWasteOverflowAlarmState == false))
+   /*if  ((mWasteOverflowAlarmState != WasteOverflowAlarmState)|| (mWasteOverflowAlarmState == false))
    {
       //alarm went off
        AlarmHandlingSetAlarm(EVENT_TYPE__WASTE_CONTAINER_OVERFLOW, false);
        WasteOverflowAlarmState = mWasteOverflowAlarmState;
-   }
+   }*/
 #ifdef CONTROL_DEBUG
                 tempq = HibernateRTCSSGet();
                 if (tempq < tempp)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index e489f78ff..2bdf1b17f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -892,7 +892,7 @@ uint32_t Adjust_Right_TFU_Tension(double tension)
         {
             PrepareWaitCount++;
             MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  GPI_LS_RDANCER_UP, Adjust_Right_TFU_Tension_Callback,15000);
-            Report("Adjust_Right_TFU_Tension",__FILE__,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,GPI_LS_RDANCER_UP,0);
+            Report("Adjust_Right_TFU_Tension",__FILE__,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,PrepareWaitCount,0);
         }
     }
 
@@ -947,7 +947,6 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
         return status;
     else
     {
-        PrepareWaitCount++;
         if (current < request) //go down
         {
             direction = MotorsCfg[HW_Motor_Id].directionthreadwize;
@@ -958,21 +957,23 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
             direction = 1-MotorsCfg[HW_Motor_Id].directionthreadwize;
             movement = current - request;
         }
-        MotorSetMaxSpeed (HW_Motor_Id, 500);
+        MotorSetMaxSpeed (HW_Motor_Id, 800);
         MotorMoveWithCallback (HW_Motor_Id, direction, (movement*MotorsCfg[HW_Motor_Id].microstep), ThreadPrepare_TensionCallback,20000);
+        PrepareWaitCount++;
+        ReportWithPackageFilter(ThreadFilter,"PrepareWaitCount",__FILE__,PrepareWaitCount,current,RpWarning,request,0);
         status |= MCU_E2PromProgram(address,request);
     }
     if (DancerId == HARDWARE_DANCER_TYPE__LeftDancer)
     {
-        usnprintf(Lenstr, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d",
-                  DancerId,request,current,movement,direction,HW_Motor_Id,address);
+        usnprintf(Lenstr, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d call %d",
+                  DancerId,request,current,movement,direction,HW_Motor_Id,address,PrepareWaitCount);
         ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,address,current,RpWarning,request,0);
 
     }
     else
     {
-        usnprintf(TMessage, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d",
-                  DancerId,request,current,movement,direction,HW_Motor_Id,address);
+        usnprintf(TMessage, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d call %d",
+                  DancerId,request,current,movement,direction,HW_Motor_Id,address,PrepareWaitCount);
         ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,address,current,RpWarning,request,0);
 
     }
@@ -1010,12 +1011,13 @@ uint32_t ThreadPrepareState(void *JobDetails)
     EnableIntersegment = JobTicket->enableintersegment;
     IntersegmentLength = JobTicket->intersegmentlength;
 
+    PrepareWaitCount = 0;
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension);
-    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,status,RpFatalError,(int)windertension,0);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpFatalError,(int)windertension,0);
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension);
-    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,status,RpFatalError,(int)pullertension,0);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Puller",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,PrepareWaitCount,RpFatalError,(int)pullertension,0);
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__RightDancer, feedertension);
-    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,status,RpFatalError,(int)feedertension,0);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Feeder",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,PrepareWaitCount,RpFatalError,(int)feedertension,0);
 
     FirstCalcInJob = true;
     if(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].speedmaster == false)
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
index 30e43fe99..815b153d1 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
@@ -592,7 +592,7 @@ uint32_t InitSequenceStartHeating(void)
     SetMachineReadyForHeating(true);
     HeadCard_Actuators_Relocate();
     //SetMachineStatus(MACHINE_STATE__Ready); //prevent job while waiting for the cooler
-
+    waste_seq_step1();
     if (InitialHeating)
     {
         if (ProcessParamsInit() ==OK)