logs, handle prepare counter

2 files changed, 7 insertions, 7 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 03138399c..6e0deec97 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -190,7 +190,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S
 
     //MotorStop(MotorId,Hard_Hiz );
     MotorMove(MotorId,direction,Steps );
-    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,MotorId, MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveCallBackFunction;
     return MotorControlId[MotorId];
 }
@@ -439,12 +439,13 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
 {
     uint32_t MotorId;
     uint32_t Busy = BusyFlag;
-    if (IfIndex>>8 != IfTypeMotors)
+    /*if (IfIndex>>8 != IfTypeMotors)
     {
         LOG_ERROR (IfIndex, "Wrong  Interface type");
         return 0xFFFFFFFF;
-    }
+    }*/
 
+    MotorId = IfIndex;
     CallbackCalls++;
     if (CallbackCalls%200 == 0)
     {
@@ -455,7 +456,6 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
         MotorId = Read_Dryer_ENC_Position(0,0);
         Report("MotorMoveCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,MotorId,0);
     }
-    MotorId = IfIndex&0xFF;
     MotorTimeout[MotorId]+=MotorTimeLag[MotorId];
 
     if ((BusyFlag == NOTBUSY)||((MotorTimeout[MotorId]>=MotorTimeLimit[MotorId])&&(MotorTimeLimit[MotorId]>0)))
@@ -463,9 +463,9 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
         /*if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
         {
             printBusy = false;
-            Report("MotorControlGetnBusyState stop",__FILE__,__LINE__,MotorDriverResponse[MotorId].Busy,RpMessage,0,0);
         }*/
            //stop this control loop
+        Report("MotorControlGetnBusyState stop",__FILE__,__LINE__,BusyFlag,RpMessage,MotorTimeout[MotorId],0);
            SafeRemoveControlCallback(MotorControlId[MotorId], MotorMoveCallBackFunction );
            MotorControlCallback[MotorId] = 0;
            MotorControlId[MotorId] = 0xFF;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 64425256f..b6a4a455f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -888,9 +888,9 @@ uint32_t Adjust_Right_TFU_Tension(double tension)
     uint32_t status = OK;
     if (tension > 0.5) //0 = lower position, 1 = high position
     {
-        //PrepareWaitCount++;
         if (FPGA_Read_limit_Switches(GPI_LS_RDANCER_UP) == NO_LIMIT)
         {
+            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);
         }
@@ -901,9 +901,9 @@ uint32_t Adjust_Right_TFU_Tension(double tension)
 uint32_t ThreadPrepare_TensionCallback (int MotorId, double tension)
 {
     //MotorStop(MotorId,Hard_Hiz);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0);
     if (PrepareWaitCount)
     {
-        ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0);
         PrepareWaitCount--;
     }
     if ((PrepareWaitCount == 0)&&(PrepareState == true))