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

1 files changed, 27 insertions, 28 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 14769ec05..b080c45c9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -26,29 +26,28 @@
 #include <inc/hw_memmap.h>
 
 
-bool Winder_ScrewHoming = false;
-
 #define MAX_WINDER_SPEED_CALCULATION 200
+
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag);
 uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue);
+void ScrewTimerInterruptInit(void);
+void ScrewsStopControlTimer (void);
+void ScrewsStartControlTimer (void);
 
-bool ScrewCurrentDirection = false;  //holds current screw direction
+bool     Winder_ScrewHoming = false;
+bool     ScrewCurrentDirection = false;  //holds current screw direction
 uint32_t ScrewDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
 uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
 uint16_t WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
-bool WinderMotorSpeedRollOver = false;
-double ScrewSpeed = 0;
-double ScrewRunningTime = 0;
+bool     WinderMotorSpeedRollOver = false;
+double   ScrewSpeed = 0;
+double   ScrewRunningTime = 0;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
-bool SCREW_TimerActivated = false;
-//ScrewSpeed
+bool     SCREW_TimerActivated = false;
 uint32_t ScrewControlId = 0xFF;
 
 InternalWinderConfigStruc InternalWinderCfg = {0};
-void ScrewTimerInterruptInit(void);
-void ScrewsStopControlTimer (void);
-void ScrewsStartControlTimer (void);
 
 uint32_t Winder_Init(void)
 {
@@ -107,7 +106,7 @@ uint32_t Winder_Prepare(void)
         //REPORT_MSG(ScrewSpeed, "Winder_Prepare");
         Winder_ScrewHoming = true;
         //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit");
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2);
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2,2000);
     }
     return status;
 }
@@ -126,7 +125,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
     //REPORT_MSG(numOfSteps, "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);
+    status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback,1000);
      //set motor location 0 here
         return status;
 
@@ -181,7 +180,7 @@ int32_t  TotalWinderSpeed=0;
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     uint32_t Steps;
-    double temp;
+    double temp,tempScrewSpeed;
     double screw_horizontal_speed = 0;
     double RotationsPerSecond;
     int32_t Averagewinderspeed = 0;
@@ -226,34 +225,35 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         }*/
         Averagewinderspeed = TotalWinderSpeed/MAX_WINDER_SPEED_CALCULATION;
         //REPORT_MSG(winderspeed, "WinderSpeedUpdated");
-        Report("WinderSpeedUpdated",__FILE__,__LINE__,TotalWinderSpeed,RpWarning,Averagewinderspeed,0);
+        //Report("WinderSpeedUpdated",__FILE__,__LINE__,TotalWinderSpeed,RpWarning,Averagewinderspeed,0);
 
         WinderReferenceSpeed = Averagewinderspeed;
     }
     screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
     RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
-    ROM_IntMasterDisable();
-    ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+    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))
     {
+        ScrewSpeed = tempScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
-        ROM_IntMasterEnable();
+        //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);
+        //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(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
         //Report("new winder speed",__FILE__,__LINE__,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
-    ROM_IntMasterEnable();
+    //ROM_IntMasterEnable();
     return OK;
 
 }
@@ -313,6 +313,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         REPORT_MSG(ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
 //        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
         //ScrewDirection = 1-ScrewDirection;
+        REPORT_MSG(SegmentId,"Winder pre segment - SegmentId");
         REPORT_MSG(ScrewSpeed,"Winder pre segment - ScrewSpeed");
         //MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ScrewsStartControlTimer ();
@@ -340,7 +341,7 @@ uint32_t Winder_End(void)
     CurrentControlledSpeed[SCREW_MOTOR] = 0;
     ScrewsStopControlTimer();
     //move the cart to the edge so the spool can be easily replaced
-    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL);
+    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
 
     return OK;
 }
@@ -398,12 +399,10 @@ 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++;
@@ -412,11 +411,11 @@ void ScrewTimerInterrupt(int ARG0)
     {
         TimerDisable(Screw_timerBase, TIMER_A);
     }
-    Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
+    ROM_IntMasterEnable();
+    //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
     //
     // Enable all interrupts.
     //
-    ROM_IntMasterEnable();
     return ;
 
 }