uart order and improvements. thread winder log for prepare error. break sensor active!

1 files changed, 5 insertions, 1 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 0ec10a072..c8d2e6362 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -73,7 +73,7 @@ uint32_t Winder_Prepare(void)
 
     //float process_speed = JobTicket->processparameters->dyeingspeed;
     double ScrewSpeed = 500;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);  // we will use pulley radius of the screw for this purpose, as of now
-
+    //REPORT_MSG(ScrewSpeed, "Winder_Prepare");
     /*
      * 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
@@ -81,11 +81,13 @@ uint32_t Winder_Prepare(void)
      */
     if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT)
     {
+        REPORT_MSG(LIMIT, "Winder_Prepare at limit");
         Winder_PrepareStage2(0,0);
     }
     else
     {
         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);
     }
     return status;
@@ -102,6 +104,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
     uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
     MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency);
+    //REPORT_MSG(numOfSteps, "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
@@ -119,6 +122,7 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     ScrewControlId = 0xFF;
     ScrewNumberOfSteps = 0;
     DirectionChangeCounter = 0;
+    //REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback");
 
     PrepareReady(Module_Winder, ModuleDone);
     return OK;