First print and some winder improvements

1 files changed, 59 insertions, 8 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index b61247fe4..17d683444 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -9,9 +9,14 @@
 #include "Drivers/Peripheral_GPIO/GPIO.h"
 #include "drivers/Motors/Motor.h"
 #include "StateMachines/Printing/PrintingSTM.h"
+
+#include "drivers/FPGA/FPGA.h"
+
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+
 bool Winder_ScrewHoming = false;
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t NumberOfSteps);
-uint32_t Winder_PrepareStage2(void);
+uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue);
 
 double ScrewSpeed = 0;
 
@@ -19,11 +24,57 @@ uint32_t Winder_Init(void)
 {
     return OK;
 }
-uint32_t Winder_Prepare(void)
+uint32_t Winder_Test2(uint32_t deviceID, uint32_t ReadValue);
+uint32_t Winder_Test1(uint32_t deviceID, uint32_t ReadValue)
+{
+    uint32_t status;
+    uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
+    uint32_t position;
+    /*
+     * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
+     * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
+     * report ready to the job STM
+     */
+    MotorGetPositionFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+    //deley TODO
+    SysCtlDelay(100000);
+    position = Fpga_Spi[HARDWARE_MOTOR_TYPE__MOTO_SCREW].RX_MISO;//MotorGetPositionFromFPGA_Res(Motor_Id);
+
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI112_LS_SCREW_LEFT, Winder_Test2);
+        //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
+        //set motor location 0 here
+        return status;
+
+}
+uint32_t Winder_Test2(uint32_t deviceID, uint32_t ReadValue)
+{
+    uint32_t status;
+    uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
+    uint32_t position;
+    /*
+     * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
+     * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
+     * report ready to the job STM
+     */
+    MotorGetPositionFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+    //deley TODO
+    SysCtlDelay(100000);
+    position = Fpga_Spi[HARDWARE_MOTOR_TYPE__MOTO_SCREW].RX_MISO;//MotorGetPositionFromFPGA_Res(Motor_Id);
+
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI113_LS_SCREW_RIGHT, Winder_Test1);
+        //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
+        //set motor location 0 here
+        return status;
+
+}
+uint32_t Winder_Prepare(void *JobDetails)
 {
     uint32_t status = 0;
+    JobTicket* JobTicket = JobDetails;
+
+    float process_speed = JobTicket->processparameters->dyeingspeed;
 //    double ScrewSpeed = (50 *  MotorsCfg[SCREW_MOTOR].pulseperround *  MotorsCfg[SCREW_MOTOR].microstep)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
-    double ScrewSpeed = (50 *  MotorsCfg[SCREW_MOTOR].pulseperround)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
+    double ScrewSpeed = (process_speed *  MotorsCfg[SCREW_MOTOR].pulseperround)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
 
     /*
      * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
@@ -33,17 +84,17 @@ uint32_t Winder_Prepare(void)
     if (PollGPIO(GPI113_LS_SCREW_RIGHT))
     {
         //go to prepare stage 2
-        Winder_PrepareStage2();
+        Winder_PrepareStage2(0,0);
     }
     else
     {
         Winder_ScrewHoming = true;
-        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1);//make sur to move the cart home
-        status |=  MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewSpeed);
+//        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI113_LS_SCREW_RIGHT, Winder_PrepareStage2);
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI113_LS_SCREW_RIGHT, Winder_Test1);
     }
     return status;
 }
-uint32_t Winder_PrepareStage2(void)
+uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 {
     uint32_t status;
     uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
@@ -52,7 +103,7 @@ uint32_t Winder_PrepareStage2(void)
      * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
      * report ready to the job STM
      */
-        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,0);//make sur to move the cart out
+        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,(1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize));//make sur to move the cart out
         //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
         //set motor location 0 here
         return status;