From da1b671bef36b771d7c417baadd8156287d481d2 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Wed, 27 Feb 2019 16:06:23 +0200
Subject: automstic loading

---
 Software/Embedded_SW/Embedded/.cproject            |  1 +
 .../Embedded/Drivers/Motors/MotorActions.c         |  5 ++++-
 .../Embedded/Modules/Thread/ThreadLoad.c           | 26 +++++++++++++++++-----
 3 files changed, 25 insertions(+), 7 deletions(-)

(limited to 'Software/Embedded_SW')

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index d1abfd6c1..ae0630bbb 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -65,6 +65,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Communication}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Common}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Modules&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${CG_TOOL_ROOT}/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${TIVAWARE_DRIVERS}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;C:\ti\xdctools_3_32_00_06_core\include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${COM_TI_RTSC_TIRTOSTIVAC_INSTALL_DIR}/products/TivaWare_C_Series-2.1.1.71b&quot;"/>
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index c9a6391c3..27f7f2a52 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -366,9 +366,12 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t MotorId,bool direction, uint32_t
     MotorTimeLag[MotorId] = eTenMillisecond;
     MotorTimeLimit[MotorId] = timeout;
 
+    if ((MotorId == HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD)||(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH))
+        MotorTimeLag[MotorId] = 2;
+
     MotorSetDirection( MotorId, direction);
     MotorSetSpeed(MotorId, Freq);
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveToLimitSwitchCallBackFunction, eTenMillisecond , FPGA_Read_limit_Switches,(IfTypeMotors*0x100+MotorId), LimitSwitchId, 0 );
+    MotorControlId[MotorId] = AddControlCallback( MotorMoveToLimitSwitchCallBackFunction, MotorTimeLag[MotorId] , FPGA_Read_limit_Switches,(IfTypeMotors*0x100+MotorId), LimitSwitchId, 0 );
     if ( MotorControlId[MotorId] == 0xFF)
         return ERROR;
     MotorCallback[MotorId] = callback;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 2689ea34a..a82fe37e6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -199,6 +199,7 @@
         return OK;
     }
     uint8_t CallbackCounter = 0;
+    uint8_t TimeoutsCounter = 0;
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
@@ -206,12 +207,25 @@
         if (CallbackCounter)
         {
             CallbackCounter--;
+            if (ReadValue != LIMIT)
+            {
+                //returned with a timeout
+                TimeoutsCounter++;
+            }
             if (CallbackCounter == 0)
             {
-                LoadStages++;
-                if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                if (TimeoutsCounter)
                 {
-                    //ThreadLoadStateMachine(LoadStages);
+                    LOG_ERROR(LoadStages,"Load sequence timeout");
+                    TimeoutsCounter = 0;
+                }
+                else
+                {
+                    LoadStages++;
+                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                    {
+                        ThreadLoadStateMachine(LoadStages);
+                    }
                 }
             }
         }
@@ -326,7 +340,7 @@
         {
             Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            //ThreadLoadStateMachine(LoadStages);
+            ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -357,7 +371,7 @@
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
-                    //ThreadLoadStateMachine(LoadStages);
+                    ThreadLoadStateMachine(LoadStages);
                 }
             }
         }
@@ -414,7 +428,7 @@
         ControlId = 0xFF;
         ThreadAbortJoggingFunc();
         LoadStages++;
-        //ThreadLoadStateMachine(LoadStages);
+        ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Jog_Thread(void)
-- 
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