From 5baa36de16ba1e55cd8dd735e8e83caaf56a358e Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Mon, 1 Jun 2020 10:48:22 +0300
Subject: fix head identification; remove adc interrupt

---
 .../Embedded/Modules/Control/MillisecTask.c        |   4 +
 .../Embedded/Modules/Diagnostics/Diagnostics.c     |  18 +-
 .../Modules/Diagnostics/DiagnosticsHoming.c        | 204 +++++++++++++--------
 3 files changed, 150 insertions(+), 76 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules')

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index d334c9001..9609e445e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -626,6 +626,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
         Trigger_HeaterWriting();
 
     }
+    if (m20msecTick)
+    {
+        ADC0SS0Handler();
+    }
     if(Fifty_msTick)
     {
         WHS_Read_GPI_Registers();
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 3f9811636..5f6bb6424 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -781,6 +781,9 @@ void DiagnosticOneSecCollection(void)
         DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone10, MillisecGetTemperatures(HEAD_PT100_ZONE_10_0X88_1));
         DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone11, MillisecGetTemperatures(HEAD_PT100_ZONE_11_0X8A_0));
         DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone12, MillisecGetTemperatures(HEAD_PT100_ZONE_12_0X8A_1));
+
+        DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater1, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_2_0X8C_1));
+        DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater2, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_1_0X8C_0));
     }
     if (Head_Type == HEAD_TYPE_STAPLE_SPUN)
     {
@@ -790,6 +793,8 @@ void DiagnosticOneSecCollection(void)
         DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone3, MillisecGetTemperatures(HEAD_PT100_ZONE_3_0X82_0));
         DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater1, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_2_0X8C_1));
         DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater2, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_1_0X8C_0));
+        DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone4, MillisecGetTemperatures(HEAD_PT100_ZONE_4_0X82_1));
+        DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone6, MillisecGetTemperatures(HEAD_PT100_ZONE_6_0X84_1));
     }
     DiagnosticLoadTemperature(HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature, MillisecGetTemperatures(TEMP_SENSE_ANALOG_DRYER_TEMP1));
     DiagnosticLoadTemperature(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, MillisecGetTemperatures(TEMP_SENSE_ANALOG_DRYER_TEMP2));
@@ -977,14 +982,23 @@ void SendDiagnostics(void)
         DiagnosticsMonitor.n_headzone10temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone10];
         DiagnosticsMonitor.n_headzone11temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone11];
         DiagnosticsMonitor.n_headzone12temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone12];
+//temporary
+        DiagnosticsMonitor.headcoverheater1temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater1];
+        DiagnosticsMonitor.headcoverheater2temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater2];
+        DiagnosticsMonitor.n_headcoverheater1temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater1];
+        DiagnosticsMonitor.n_headcoverheater2temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater2];
     }
-    if ((Head_Type == HEAD_TYPE_SYLKO)||(Head_Type == HEAD_TYPE_STAPLE_SPUN))
-//    if (Head_Type == HEAD_TYPE_STAPLE_SPUN)
+    //if ((Head_Type == HEAD_TYPE_SYLKO)||(Head_Type == HEAD_TYPE_STAPLE_SPUN))
+    if (Head_Type == HEAD_TYPE_STAPLE_SPUN)
     {
         DiagnosticsMonitor.headcoverheater1temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater1];
         DiagnosticsMonitor.headcoverheater2temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater2];
         DiagnosticsMonitor.n_headcoverheater1temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater1];
         DiagnosticsMonitor.n_headcoverheater2temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater2];
+        DiagnosticsMonitor.headzone4temperature = HeaterTemperature[HEATER_TYPE__HeaterZone4];
+        DiagnosticsMonitor.headzone6temperature = HeaterTemperature[HEATER_TYPE__HeaterZone6];
+        DiagnosticsMonitor.n_headzone4temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone4];
+        DiagnosticsMonitor.n_headzone6temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone6];
     }
     DiagnosticsMonitor.dryerzone1temperature = HeaterTemperature[HEATER_TYPE__DryerAirHeater];
     DiagnosticsMonitor.dryerzone2temperature = HeaterTemperature[HEATER_TYPE__DryerMainHeater];
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index d81ab7abb..3b010247d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -30,6 +30,7 @@
 #include "drivers/Valves/Valve.h"
 #include "Drivers/I2C_Communication/DAC/blower.h"
 #include "drivers/Flash_ram/MCU_E2Prom.h"
+#include <Drivers/SSI_Comm/Dancer/Dancer.h>
 
 #include "ids/ids_ex.h"
 #include "General/process.h"
@@ -40,6 +41,9 @@ char HomingToken[NUM_OF_MOTORS][36+1]={0};
 int HomingCounter[NUM_OF_MOTORS];
 uint32_t HomingControlId[NUM_OF_MOTORS];
 
+uint32_t Diagnostics_Dryer_UnLoading(void);
+uint32_t Diagnostics_Dryer_Loading(void);
+
 /********************************************************************************
  * Motor Homing
  ********************************************************************************/
@@ -119,61 +123,9 @@ uint32_t D_numberOfSteps = 0;
 float D_numberOfCycles = 0;
 double D_DrierPrevLocation = 0;
 
-uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
-{
-    Report("Diagnostics_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,D_numberOfCycles,RpMessage,0,0);
-    //storeLoadArmParameters();
-
-    SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
-    if (HomingControlId[deviceID] != 0xff)
-    {
-        Report("MotorHomingProgressReport stopped",__FILE__,__LINE__,deviceID,RpMessage,HomingCounter[deviceID],0);
-        RemoveControlCallback(HomingControlId[deviceID],MotorHomingProgressReport);
-        HomingControlId[deviceID] = 0xff;
-    }
-    return OK;
-}
-
-uint32_t Diagnostics_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue)
-{
-    D_numberOfCycles++;
-    uint32_t temp = Read_Dryer_ENC_Position();
-    Report("Thread_Load_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,D_DrierPrevLocation,0);
-    //Report("Thread_Load_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),D_numberOfCycles,RpMessage,CallbackCounter,0);
-    if ((abs (temp -D_DrierPrevLocation)>1000  )&&(ReadValue == NOTBUSY)) // OK - take another round
-    {
-        D_DrierPrevLocation = temp;
-        Report("Thread_Load_Dryer_UnLoading cycles",__FILE__,D_numberOfCycles,LoadArmRounds,RpMessage,0,0);
-        if (D_numberOfCycles<LoadArmRounds)
-        {
-            MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                                   D_numberOfSteps,    Diagnostics_Dryer_UnLoading_Callback, 10000);
-        }
-        else //done enough cycles, go to the center point
-        {
-            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Set_Load_Arm_To_Stopper_Callback,30000);
-            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-D_numberOfCycles);
-            Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
-        }
-    }
-    else  //timeout or no movement
-    {
-        Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
-        MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-(D_numberOfCycles-2));//it takes two cycles to identify a stop of the arm
-        Report("Drier unloading timeout(1) or no movement",__FILE__,temp,D_DrierPrevLocation,RpWarning,ReadValue,0);
-        if (HomingControlId[MotorId] != 0xff)
-        {
-            Report("MotorHomingProgressReport stopped",__FILE__,__LINE__,MotorId,RpMessage,HomingCounter[MotorId],0);
-            RemoveControlCallback(HomingControlId[MotorId],MotorHomingProgressReport);
-            HomingControlId[MotorId] = 0xff;
-        }
-    }
-    return OK;
-}
 
 uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
 {
-    //uint32_t numberOfSteps = 0;
     uint32_t status = FAILED;
     MessageContainer responseContainer;
 
@@ -215,16 +167,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
                 {
                     if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
                     {
-                        D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
-                        Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,D_numberOfSteps,RpMessage,LoadArmRounds,0);
-                        //MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
-                        //                                MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/2, MotorHomingRequestCallback,0,1000);
-                        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                                               D_numberOfSteps-800,    Diagnostics_Dryer_UnLoading_Callback, 10000);
-                        D_numberOfCycles = 0;
-
-                        //MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
-                        //                                D_numberOfSteps, MotorHomingRequestCallback,1000);
+                        Diagnostics_Dryer_UnLoading();
                         status = OK;
                     }
                     if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI)
@@ -265,18 +208,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
                 {
                     if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
                     {
-                        if (LoadArmRounds <= 2)
-                                LoadArmRounds = 30;
-
-                        D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
-                        D_numberOfSteps -= 100;
-                        D_numberOfCycles = LoadArmRounds;
-                        Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,D_numberOfSteps,RpMessage,LoadArmRounds,0);
-
-                        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4);
-
-                        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                                               D_numberOfSteps,    MotorHomingRequestCallback, 100000);
+                        Diagnostics_Dryer_Loading();
                         status = OK;
                     }
                     if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI)
@@ -486,4 +418,128 @@ uint32_t DispenserAbortHomingRequestFunc(MessageContainer* requestContainer)
 
 return OK;
 }
+uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
+{
+
+    Report("Diagnostics_Set_Load_Arm_To_Stopper time",__FILE__,__LINE__,msec_millisecondCounter,RpMessage,0,0);
+
+    //NumberOfDrierLoaderCycles=0;
+    //storeLoadArmParameters();
+    SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
+
+    return OK;
+}
+
+uint32_t Diagnostics_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue)
+{
+    D_numberOfCycles++;
+    uint32_t temp = Read_Dryer_ENC_Position();
+    Report("Diagnostics_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,D_DrierPrevLocation,0);
+    //Report("Diagnostics_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),D_numberOfCycles,RpMessage,CallbackCounter,0);
+    if (ReadValue == NOTBUSY) // OK - take another round
+    {
+        D_DrierPrevLocation = temp;
+        Report("Diagnostics_Dryer_UnLoading cycles",__FILE__,D_numberOfCycles,LoadArmRounds,RpMessage,0,0);
+        if (D_numberOfCycles<LoadArmRounds)
+        {
+            MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+                                   D_numberOfSteps,    Diagnostics_Dryer_UnLoading_Callback, 10000);
+        }
+        else //done enough cycles, go to the center point
+        {
+            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Set_Load_Arm_To_Stopper_Callback,15000);
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-D_numberOfCycles);
+            Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
+        }
+    }
+    else  //timeout or no movement
+    {
+        Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
+        MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-(D_numberOfCycles-2));//it takes two cycles to identify a stop of the arm
+
+        Report("Drier unloading timeout(1) or no movement",__FILE__,temp,D_DrierPrevLocation,RpWarning,ReadValue,0);
+    }
+    return OK;
+}
+uint32_t Diagnostics_Dryer_UnLoading(void)
+{
+    uint32_t temp;
+
+    D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
+    D_numberOfCycles = 0;
+
+    MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
+    if (LoadArmRounds == 0) //prev trial stopped
+    {
+        LoadArmRounds = (int)dryerbufferlength;
+    }
+    if (LoadArmRounds <= 2)
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
+
+    MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&temp);
+    D_DrierPrevLocation = temp;
+    Report("Diagnostics_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,D_DrierPrevLocation,RpMessage, LoadArmRounds,0);
+    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/6*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
+//        status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
+//                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Diagnostics_Set_Load_Arm_To_Stopper_Callback,0,1000);
+    MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+                           D_numberOfSteps-800,    Diagnostics_Dryer_UnLoading_Callback, 10000);
+
+    return OK;
+}
+uint32_t Diagnostics_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue)
+{
+    //Report("Diagnostics_Dryer_MovetoEncoderPosition_Callback",__FILE__,__LINE__,0,RpMessage,CallbackCounter,0);
+    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
+
+    return OK;
+}
+
+uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
+{
+    D_numberOfCycles++;
+
+    Report("Diagnostics_Dryer_Loading_Callback",__FILE__,(int)D_numberOfCycles,(int)D_DrierPrevLocation,RpMessage,ReadValue,0);
+
+    if (ReadValue == NOTBUSY)
+    {
+        //Report("Diagnostics_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        //Report("Diagnostics_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
+        if (D_numberOfCycles<LoadArmRounds)
+        {
+            MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+                                   D_numberOfSteps,    Diagnostics_Dryer_Loading_Callback, 10000);
+        }
+        else
+        {
+            MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Dryer_MovetoEncoderPosition_Callback,15000);
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
+            Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
+        }
+    }
+    else
+    {
+        Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0);
+        MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
+    }
+    return OK;
+}
+
+uint32_t Diagnostics_Dryer_Loading(void)
+{
+    if (dryerbufferlength)
+        LoadArmRounds = (int)dryerbufferlength;
+    MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&D_DrierPrevLocation);
+    D_numberOfCycles = 0;
+    D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
+
+    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/6*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
+    //6 seconds per round
+
+    //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
+    MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
+                           D_numberOfSteps-800,    Diagnostics_Dryer_Loading_Callback, 10000);
+    return OK;
+}
 
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