From bd956ee825d2a4ce5305858558ce6f4a83bb9585 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Thu, 10 Oct 2019 18:30:20 +0300
Subject: improve thread loading

---
 Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index c68156e68..5935396a0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -375,9 +375,9 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,4000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
-- 
cgit v1.3.1


From d27432fbfa2707bbe77704ad8eab80ccb68673d5 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Wed, 16 Oct 2019 13:48:33 +0300
Subject: fix parameters

---
 .../Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c   | 17 +++++------------
 .../Embedded/Modules/Diagnostics/Diagnostics.c          |  2 +-
 .../Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c    |  4 ++--
 3 files changed, 8 insertions(+), 15 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')

diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 13efd983a..e712187bd 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -418,6 +418,11 @@ void FPGA_SetMotorsInit()
 {
     uint8_t i=0;
 
+    for(i=0;i<NUM_OF_MOTORS;i++)
+    {
+        Change_Motor_SPI_Direction(i,Current_Or_Voltage);
+    }
+
     //LOW logic level resets the logic and puts the device into Standby mode.
     F1_Moto_Driver_NSTBYRST1 = 0;
     F1_Moto_Driver_NSTBYRST2 = 0;
@@ -435,18 +440,6 @@ void FPGA_SetMotorsInit()
     {
         MotorDriverRequest[i].Stop = Hard_Hiz;
         FPGA_SetMotStop((HardwareMotorType)i);
-        switch (i) //set the kval hold to a lower value for now
-        {
-            case HARDWARE_MOTOR_TYPE__MOTO_LDANCER1:
-            case HARDWARE_MOTOR_TYPE__MOTO_LDANCER2:
-            case HARDWARE_MOTOR_TYPE__MOTO_RDANCER:
-            case HARDWARE_MOTOR_TYPE__MOTO_LLOADING:
-            case HARDWARE_MOTOR_TYPE__MOTO_RLOADING:
-                MotorSetKvalHold(i, 3);
-                break;
-            default:
-                break;
-        }
 
 #ifdef TEST_POWERSTEP01
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 169cf5a11..6db76e842 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -415,7 +415,7 @@ void Diagnostic100msecCollection(void)
 
     if (DiagnosticMode >= Diagnostic_Extended_Mode)
     {
-        if (JobIsActive())
+        //if (JobIsActive())
         {
             DiagnosticLoadMotor(FEEDER_MOTOR, ThreadGetMotorSpeed (FEEDER_MOTOR));
             DiagnosticLoadMotor(DRYER_MOTOR, ThreadGetMotorSpeed (DRYER_MOTOR));
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 5935396a0..a860c553c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -202,7 +202,7 @@
         MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/
 
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
-
+//move to exact location?
 //        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         CallbackCounter = 0;
         Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
@@ -497,7 +497,7 @@
         MotorControlConfig[FEEDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize);
 
-        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4);
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 
         LoadingControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         Report("AddControlCallback feeder",__FILE__,__LINE__,LoadingControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
-- 
cgit v1.3.1