Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

1 files changed, 50 insertions, 34 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 2009943b0..fed1311bd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -124,7 +124,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
-    REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2");
+    REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2");
 
     status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback);
      //set motor location 0 here
@@ -141,7 +141,7 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     ScrewSpeed = 0;
     ScrewControlId = 0xFF;
     ScrewNumberOfSteps = 0;
-    REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback");
+    REPORT_MSG(millisecondCounter, "Winder_ScrewAtOffsetCallback");
     MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Soft_Hiz); //per L6470 errata between mov and run commands
     PrepareReady(Module_Winder, ModuleDone);
     return OK;
@@ -174,15 +174,21 @@ InternalWinderCfg.segmentoffsetpulses
   
 numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 */
+char ScrewStr[100];
+//char TempScrewStr[100];
+double WinderReferenceSpeed=0;
+int32_t  TotalWinderSpeed=0;
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
-    uint32_t Steps,i,winderspeed=0;
-    double temp;
-    uint32_t WinderReferenceSpeed = OriginalMotorSpd_2PPS[WINDER_MOTOR];
-    float screw_horizontal_speed = 0;
-    float RotationsPerSecond;
+    uint32_t Steps;
+    double temp,tempScrewSpeed;
+    double screw_horizontal_speed = 0;
+    double RotationsPerSecond;
+    int32_t Averagewinderspeed = 0;
 
+    TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
     WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
+    TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
     if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
     {
         WinderMotorSpeedCounter=0;
@@ -214,31 +220,41 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     }
     if (WinderMotorSpeedRollOver)
     {
-        for (i=0;i<MAX_WINDER_SPEED_CALCULATION;i++)
+        /*for (i=0;i<MAX_WINDER_SPEED_CALCULATION;i++)
         {
-            winderspeed+=WinderMotorSpeed[i];
-        }
-        winderspeed/=MAX_WINDER_SPEED_CALCULATION;
-        //LOG_ERROR(winderspeed, "WinderSpeedUpdated");
-        Report("WinderSpeedUpdated",__FILE__,__LINE__,winderspeed,RpWarning,ScrewNumberOfSteps,0);
+            TotalWinderSpeed+=WinderMotorSpeed[i];
+        }*/
+        Averagewinderspeed = TotalWinderSpeed/MAX_WINDER_SPEED_CALCULATION;
+        //REPORT_MSG(winderspeed, "WinderSpeedUpdated");
+        Report("WinderSpeedUpdated",__FILE__,__LINE__,TotalWinderSpeed,RpWarning,Averagewinderspeed,0);
 
-        WinderReferenceSpeed = winderspeed;
+        WinderReferenceSpeed = Averagewinderspeed;
     }
     screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
-    RotationsPerSecond =  WinderReferenceSpeed / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
-    ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+    RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
+    tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+    //ROM_IntMasterDisable();
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
     temp = SYS_CLK_FREQ;
     temp *= ScrewNumberOfSteps;
-    temp /= ScrewSpeed;
-    if (ScrewRunningTime != temp)
+    temp /= tempScrewSpeed;
+    if ((ScrewRunningTime != temp)||(ScrewSpeed != tempScrewSpeed))
     {
-        //LOG_ERROR(temp , "new winder speed");
-        Report("new winder speed",__FILE__,__LINE__,temp,RpWarning,ScrewSpeed,0);
+        ScrewSpeed = tempScrewSpeed;
+        ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
+        //ROM_IntMasterEnable();
+        //usnprintf(TempScrewStr, 100, "Winder: Horizon,Rotation, PPR, RPP{ %d, %d ,%d, %d} ",(int)screw_horizontal_speed,(int)RotationsPerSecond,(int)InternalWinderCfg.NumberOfRotationPerPassage,(int)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround);
+        usnprintf(ScrewStr, 100, "Winder: Steps,Speed, Time, WinderSpeed{ %d, %d ,%d, %d} ",(int)ScrewNumberOfSteps,(int)ScrewSpeed,(int)temp,(int)WinderReferenceSpeed);
+        //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
+        //        #warning PID is now only proportional (above)
+        //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
+        Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
+        //REPORT_MSG(temp , "new winder speed");
+        //Report("new winder speed",__FILE__,__LINE__,temp,RpWarning,ScrewSpeed,0);
     }
-    ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
 
     /********************************************************************************/
+    //ROM_IntMasterEnable();
     return OK;
 
 }
@@ -251,9 +267,8 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
 {
     //JobTicket* JobTicket = JobDetails;
-    float screw_horizontal_speed = 0;
-    float RotationsPerSecond;
-    char Message[80];
+    double screw_horizontal_speed = 0;
+    double RotationsPerSecond;
 	double temp = 0;
     if (dyeingspeed == 0)
     {
@@ -277,13 +292,14 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
         //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-        usnprintf(Message, 80, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed);
-        //LOG_ERROR(segmentfirst_speed,Message);
-        //Report(Message,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0);
-        SendJobProgress(0.0,0,false, Message);
+        usnprintf(ScrewStr, 100, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed);
+        //REPORT_MSG(segmentfirst_speed,ScrewStr);
+        Report(ScrewStr,__FILE__,__LINE__,RotationsPerSecond,RpWarning,ScrewSpeed,0);
+        SendJobProgress(0.0,0,false, ScrewStr);
 
         CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
         OriginalMotorSpd_2PPS[SCREW_MOTOR] = ScrewSpeed;
+        WinderReferenceSpeed = OriginalMotorSpd_2PPS[WINDER_MOTOR];
         //screw_horizontal_speed = InternalWinderCfg.milimetersperrotation
     //     * 2. determine optimal micro-step setting
     //     * 3. calculate cart travel length from winding parameters
@@ -294,11 +310,12 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         temp *= InternalWinderCfg.segmentoffsetpulses;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
-        LOG_ERROR(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
-        LOG_ERROR(ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
+        REPORT_MSG(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
+        REPORT_MSG(ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
 //        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
         //ScrewDirection = 1-ScrewDirection;
-        LOG_ERROR(ScrewSpeed,"Winder pre segment - ScrewSpeed");
+        REPORT_MSG(SegmentId,"Winder pre segment - SegmentId");
+        REPORT_MSG(ScrewSpeed,"Winder pre segment - ScrewSpeed");
         //MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ScrewsStartControlTimer ();
         ScrewControlId = AddControlCallback(Screw100msecDirectionChange, eHundredMillisecond,TemplateDataReadCBFunction,0,0,0);
@@ -306,6 +323,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         CalculationDirectionChangeCounter = 1;
         memset (WinderMotorSpeed,0,sizeof(WinderMotorSpeed) );
         WinderMotorSpeedCounter=0;
+        TotalWinderSpeed = 0;
         WinderMotorSpeedRollOver=false;
    }
     PreSegmentReady(Module_Winder,ModuleDone);
@@ -382,12 +400,10 @@ void ScrewTimerInterrupt(int ARG0)
 {
     ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     ROM_IntMasterDisable();
-    //ScrewDirectionChange(0,NOTBUSY);
 
     if (SCREW_TimerActivated == true)
     {
         MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
-//        ScrewCurrentDirection = 1-ScrewCurrentDirection;
         MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
         ScrewDirectionChangeCounter++;
@@ -396,11 +412,11 @@ void ScrewTimerInterrupt(int ARG0)
     {
         TimerDisable(Screw_timerBase, TIMER_A);
     }
+    ROM_IntMasterEnable();
     //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
     //
     // Enable all interrupts.
     //
-    ROM_IntMasterEnable();
     return ;
 
 }