From 61b72c2bcb2798f7b0d96f1b4ccb5e176b2051dc Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 2 Dec 2020 19:56:02 +0200 Subject: thread loading fixes --- .../Modules/Diagnostics/DiagnosticsHoming.c | 6 ++++-- .../Embedded/Modules/Heaters/Heaters_Blowers.c | 2 +- .../Embedded/Modules/Thread/ThreadLoad.c | 21 ++++++++++++++++----- 3 files changed, 21 insertions(+), 8 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules') diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index 7e1424b8a..d20cd65d5 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -615,13 +615,14 @@ uint32_t Diagnostics_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue) { D_numberOfCycles++; - uint32_t angle, temp = Read_Dryer_ENC_Position(); + int angle; + uint32_t temp = Read_Dryer_ENC_Position(); angle = Calculate_Arm_Distance(D_DrierPrevLocation,temp); ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,(int)angle,(int)ReadValue,RpMessage,temp,0); MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles); - if ((abs(angle)>14000 )&&(ReadValue == NOTBUSY)) // OK - take another round + if ((abs(angle)<400 )&&(ReadValue == NOTBUSY)) // OK - take another round { D_DrierPrevLocation = temp; ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,ReadValue,temp,RpMessage,angle,0); @@ -653,6 +654,7 @@ uint32_t Diagnostics_Dryer_Loading(void) if (dryerbufferlength) LoadArmRounds = (int)dryerbufferlength; MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&D_DrierPrevLocation); + //MCU_E2PromProgram(EEPROM_DRIER_LOADING_ARM_ANGLE,Calc_angle); ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading request: current ",__FILE__,D_DrierPrevLocation,D_numberOfCycles,RpMessage,LoadArmRounds,0); Drier_Center_read = D_DrierPrevLocation; diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c index eefd42d75..2f8de1643 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c @@ -260,7 +260,7 @@ void setArcHeadAlarms(uint32_t AlarmId, bool value) } void FlatHeadAlarms(void) { - if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp [HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT) { + if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp [HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT) { if (++count9 == ARC_ALARM_LIMIT) setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_COVER_IS_OPEN, true); count9 = (count9 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count9); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index f2ca4e8d7..f327ef3b2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -258,12 +258,14 @@ { CallbackCounter--; } - if ((abs(angle)>14000 )&&(BusyFlag == NOTBUSY)) // OK - take another round + 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); Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); NumberOfDrierLoaderCycles=0; + MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0); + //storeLoadArmParameters(); LoadStages++; @@ -272,7 +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; @@ -317,7 +319,7 @@ { TimeoutsCounter = 0; load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]); + usnprintf(LoadErrorMsg, 100, "/Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; @@ -687,7 +689,7 @@ TimeoutsCounter = 0; CallbackCounter = 0; load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); + usnprintf(LoadErrorMsg, 100, "$Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200); @@ -729,6 +731,13 @@ { LoadArmRounds -= CurrentlyLoaded; } + if (LoadArmRounds == CurrentlyLoaded) + { + Report("Thread_Load_Dryer_Loading no need for cycles",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); + LoadStages++; + ThreadLoadStateMachine(LoadStages); + return OK; + } ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ; ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING; @@ -932,7 +941,7 @@ MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz); load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); + usnprintf(LoadErrorMsg, 100, "&Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); Report("Dryer unloading timeout(1) or no movement",__FILE__,temp,DrierPrevLocation,RpWarning,ReadValue,0); LoadStatus = ERROR; @@ -1489,6 +1498,8 @@ uint32_t ThreadLoadingRestartReport(void) //sending after a failure in the final if (ThreadLoadingToken[0] == 0) return OK; + if (LoadStages == THREAD_LOAD_INIT) + return OK; ThreadLoadingRestartFlag = true; response.has_state = true; -- cgit v1.3.1