fixes

5 files changed, 14 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 779d7e82f..ae862505a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -354,7 +354,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
         {
             angle = Calculate_Arm_Distance(Arm_Drier_Center,temp);
 
-            if ((angle<400)||(angle>16000))
+            if (abs(angle)<400)
             {
                 BusyFlag = NOTBUSY;
             }
@@ -376,7 +376,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
                Report("motor timeout",__FILE__,__LINE__,MotorId,RpMessage,MotorTimeout[MotorId],0);
                Busy = BUSY;
             }
-            Report("MotorRunCallBackFunctionMotorRunCallBackFunction curr prev return",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0);
+            Report("MotorRunCallBackFunction curr prev return",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0);
            //call the module callback
            if (MotorCallback[MotorId])
            {
@@ -1128,10 +1128,10 @@ float Calculate_Arm_Angle(uint32_t Drier_Center,uint32_t Current_Angle)
 int Calculate_Arm_Distance(uint32_t Drier_Center,uint32_t Current_Angle)
 {
     int angle;
-    if (Current_Angle >= Drier_Center)
+    //if (Current_Angle >= Drier_Center)
         angle = Current_Angle - Drier_Center;
-    else
-        angle = Current_Angle + 0x3FFF - Drier_Center;
+    //else
+    //    angle = Current_Angle + 0x3FFF - Drier_Center;
     ReportWithPackageFilter(DiagnosticsFilter,"Calculate_Arm_Distance",__FILE__,angle,Current_Angle,RpMessage,Drier_Center,0);
     return angle;
 }
@@ -1163,7 +1163,7 @@ uint32_t LoadingArmReset_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         ReportWithPackageFilter(DiagnosticsFilter,"LoadingArmReset_Callback OK",__FILE__,__LINE__,Arm_Drier_Center,RpMessage,ReadValue,0);
         MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0);
-        if ((angle<400)||(angle>16000))
+        if (abs(angle)<400)
         //if (fabs(angle)<0.2)
         {
             ReportWithPackageFilter(DiagnosticsFilter,"drier center proximity",__FILE__,temp,Arm_Drier_Center,RpMessage,angle,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index c7f8740d1..9a14cd1b8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -475,7 +475,7 @@ uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_
 
     angle = Calculate_Arm_Distance(D_DrierPrevLocation,temp);
 
-    if ((angle<14000  )||(BusyFlag == BUSY)) // OK - take another round
+    if ((abs (angle)<14000  )||(BusyFlag == BUSY)) // OK - take another round
     {
         responseContainer.has_error = true;
         responseContainer.error = ERROR_CODE__GENERAL_ERROR;
@@ -611,7 +611,7 @@ uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue
     ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,(int)angle,(int)ReadValue,RpMessage,temp,0);
 
     MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
-    if ((angle>14000  )&&(ReadValue == NOTBUSY)) // OK - take another round
+    if ((abs(angle)>14000  )&&(ReadValue == NOTBUSY)) // OK - take another round
     {
         D_DrierPrevLocation = temp;
         //ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index fcd1c05a2..3a2bbc347 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -591,10 +591,10 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
              {
                  DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond);
                  HW_Motor_Id = DispenserIdToMotorId[i];
-                 if ((DispenserTotalPrepareSteps[i]>TargetNumberOfStepsPreRun)&&(DispenserTotalPrepareSteps[i]<(TargetNumberOfStepsPreRun+InitialDispenserSpeed)))
+                 /*if ((DispenserTotalPrepareSteps[i]>TargetNumberOfStepsPreRun)&&(DispenserTotalPrepareSteps[i]<(TargetNumberOfStepsPreRun+InitialDispenserSpeed)))
                  {
                      ReportWithPackageFilter(IDSFilter,"IDS dispenser pre-run ended",__FILE__,i,(int)DispenserTotalPrepareSteps[i],RpWarning,(int)(pressure*100),0);
-                 }
+                 }*/
                  if (DispenserTotalPrepareSteps[i]<TargetNumberOfStepsPreRun)
                  {
                      AdjustDispenserSpeedToPressure(i,MaximalPressurePreRun,pressure);
@@ -1935,6 +1935,8 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          }
 
      }
+     if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
+         IDS_Cleaning_Stop_Cleaning_Solution(NULL);
 	IDS_StopLubrication();
 	Init_CleaningStageCounter();//set the counter before relocating
 	HeadCard_Actuators_Relocate();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index cdb726b5e..c3f15aff8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -258,7 +258,7 @@
         {
             CallbackCounter--;
         }
-        if ((angle>14000  )&&(BusyFlag == NOTBUSY)) // OK - take another round
+        if ((abs(angle)>14000  )&&(BusyFlag == NOTBUSY)) // OK - take another round
         {
             Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 626bcde7c..869485b71 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -217,12 +217,7 @@ uint32_t StoreDancerConfigMessage(int DancerId)
 
 
     status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint);
-    Report("~~~~~~Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0);
-#ifdef FOUR_WINDERS
-    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_3,DancersCfg[HARDWARE_DANCER_3].zeropoint);
-    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_4,DancersCfg[HARDWARE_DANCER_4].zeropoint);
-    Report("~~~~~~Store eeprom 1",__FILE__,__LINE__,(int)DancersCfg[HARDWARE_DANCER_3].zeropoint,RpWarning,(int)DancersCfg[HARDWARE_DANCER_4].zeropoint,0);
-#endif
+    Report("~~~~~~Store eeprom dancer",__FILE__,__LINE__,Dancer_i,RpWarning,(int)DancersCfg[Dancer_i].zeropoint,0);
     /*
     response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig));
     if (response_buffer)