merge

2 files changed, 20 insertions, 27 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 75f68d00c..81e62746a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -249,10 +249,10 @@ uint32_t MotorRunWithCallback (TimerMotors_t MotorId,bool direction, uint32_t Fr
     MotorControlCallback[MotorId] = MotorMoveCallBackFunction;
     return MotorControlId[MotorId];
 }
-uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
+uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
 {
     uint32_t MotorId,encoder,temp = 0;
-    uint32_t RunningContinues = true;
+    uint32_t Busy = BUSY;
     int     angle;
 
     if (IfIndex>>8 != IfTypeMotors)
@@ -314,17 +314,17 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
         {
             Report("MotorRunCallBackFunction temp curr prev small",__FILE__,encoder,InitialArmLocation,RpWarning,temp,0);
             failCounter++;
-            if (failCounter>=5)
+            if (failCounter>=20)
             {
                 Report("arm stopped",__FILE__,failCounter,encoder,RpWarning,temp,0);
                 MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Hiz);
-                RunningContinues = false;
+                Busy = NOTBUSY;
             }
         }
         else
         {
             failCounter = 0;
-            RunningContinues = true;
+            Busy = BUSY;
         }
         if (CallbackCalls%50 == 0)
         {
@@ -347,7 +347,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
     }
     MotorTimeout[MotorId]+=MotorTimeLag[MotorId];
 
-    if ((RunningContinues == false)||((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)
         {
@@ -355,17 +355,17 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
 
             if (abs(angle)<400)
             {
-                RunningContinues = false;
+                Busy = NOTBUSY;
             }
             else
             {
-                RunningContinues = true;
+                Busy = BUSY;
             }
             Report("arm stopped call",__FILE__,failCounter,encoder,RpWarning,abs(DrierZeroPosition-encoder),0);
-            Report("arm stopped call 2",__FILE__,MotorTimeout[MotorId],RunningContinues,RpWarning,angle,0);
+            Report("arm stopped call 2",__FILE__,MotorTimeout[MotorId],Busy,RpWarning,angle,0);
         }
            //stop this control loop
-        Report("MotorControlGetnBusyState stop",__FILE__,MotorId,RunningContinues,RpMessage,MotorCallback[MotorId],0);
+        Report("MotorControlGetnBusyState stop",__FILE__,MotorId,Busy,RpMessage,MotorCallback[MotorId],0);
            SafeRemoveControlCallback(MotorControlId[MotorId], MotorRunCallBackFunction );
            MotorControlCallback[MotorId] = 0;
            MotorControlId[MotorId] = 0xFF;
@@ -374,13 +374,13 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
             if ((MotorTimeout[MotorId]>=MotorTimeLimit[MotorId])&&(MotorTimeLimit[MotorId]>0))
             {
                Report("motor timeout",__FILE__,__LINE__,MotorId,RpMessage,MotorTimeout[MotorId],0);
-               RunningContinues = true;
+               Busy = BUSY;
             }
             Report("MotorRunCallBackFunction curr prev return",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0);
            //call the module callback
            if (MotorCallback[MotorId])
            {
-               MotorCallback[MotorId](MotorId,RunningContinues);
+               MotorCallback[MotorId](MotorId,Busy);
            }
 
        }
@@ -620,8 +620,8 @@ uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callb
     currentposition = Control_Read_Dryer_Position(0,0);
     MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierZeroPosition);
     Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,DrierZeroPosition,RpWarning,currentposition,0);
-    Report("MotorMovetoEncoderPosition callback",__FILE__,__LINE__,direction,RpWarning,speed,0);
-    if (abs(currentposition - DrierZeroPosition)<2)
+    Report("MotorMovetoEncoderPosition callback",__FILE__,__LINE__,callback,RpWarning,speed,0);
+    if (abs(currentposition - DrierZeroPosition)<5)
     {
         if (callback)
             callback(MotorId,0);
@@ -669,7 +669,7 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
     {
         Read_Dryer_ENC_Position();
         if (CallbackCalls<50)
-            return OK;
+            return;
         if (CallbackCalls%200 == 0)
         {
             Report("MotorMoveCallBackFunction",__FILE__,__LINE__,MotorId,RpWarning,Read_Dryer_ENC_Position(0,0),0);
@@ -1170,11 +1170,11 @@ uint32_t LoadingArmReset_Callback(uint32_t MotorId, uint32_t ReadValue)
         //if (fabs(angle)<0.2)
         {
             ReportWithPackageFilter(DiagnosticsFilter,"drier center proximity",__FILE__,temp,Arm_Drier_Center,RpMessage,angle,0);
-            if (angle>0)
+            if (angle<400)
                 direction = 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize;
             else
                 direction = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize;
-            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,LoadingArmReset_Callback_Stopper_Callback,/*3000*/16000,direction,5);
+            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,LoadingArmReset_Callback_Stopper_Callback,/*3000*/16000,direction,10);
 
         }
         else
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index ffbb504db..f327ef3b2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -247,8 +247,7 @@
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
-        uint32_t temp = Read_Dryer_ENC_Position();
-        int angle;
+        uint32_t angle, temp = Read_Dryer_ENC_Position();
 
         ReportWithPackageFilter(DiagnosticsFilter,"Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,(int)numberOfCycles,(int)DrierPrevLocation,RpMessage,temp,0);
 
@@ -259,7 +258,7 @@
         {
             CallbackCounter--;
         }
-        if (abs(angle)<10  ) // OK
+        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);
 
@@ -275,7 +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;
@@ -1532,12 +1531,6 @@ uint32_t TryThreadLoadingFunc(MessageContainer* requestContainer)
     {
         responseContainer = createContainer(MESSAGE_TYPE__TryThreadLoadingResponse, requestContainer->token, true, &Cresponse, &try_thread_loading_response__pack, &try_thread_loading_response__get_packed_size);
         responseContainer.continuous = false;
-        if (JobIsActive()||(MachineReadyForHeating == false)||(FPGABurningActive==true))
-        {
-            responseContainer.has_error = true;
-            responseContainer.error = ERROR_CODE__GENERAL_ERROR;
-            responseContainer.errormessage = "The machine is not ready for loading";
-        }
         uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
         size_t container_size = message_container__pack(&responseContainer, container_buffer);
         my_free(responseContainer.data.data);