merge alarm handling from remote

1 files changed, 57 insertions, 19 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 18aceb767..70f32ce6d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -40,6 +40,8 @@ void ScrewsStartControlTimer (void);
 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 ScrewChangeCounter = 0;
+//uint32_t ScrewChangeLimit = 0;
 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;
@@ -75,7 +77,7 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.spoolbackingrate = request->backingrate;
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
-    InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+    InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage;
     InternalWinderCfg.diameter = request->diameter;
 
     return status;
@@ -135,8 +137,16 @@ 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(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,1000);
+    if (ReadValue != LIMIT)
+    {
+        LOG_ERROR(ReadValue,"Screw failed to reach the limit switch!!");
+        //returned with a timeout
+        Winder_ScrewAtOffsetCallback(0,0);
+    }
+    else
+    {
+        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;
 
@@ -188,6 +198,8 @@ char ScrewStr[100];
 //char TempScrewStr[100];
 double WinderReferenceSpeed=0;
 int32_t  TotalWinderSpeed=0;
+bool Add100 = false;
+double Rotations = 6.0;
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     //uint32_t Steps;
@@ -196,13 +208,21 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     double RotationsPerSecond;
     int32_t Averagewinderspeed = 0;
 
-    TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
-    WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
-    TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
-    if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
+    //ScrewChangeCounter++;
+    //if ((ScrewChangeCounter>3)&&(ScrewChangeCounter<(ScrewChangeLimit-2))) //do not take the winder speed near the limits
     {
-        WinderMotorSpeedCounter=0;
-        WinderMotorSpeedRollOver=true;
+        TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
+        WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
+        TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
+        if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
+        {
+            if (WinderMotorSpeedRollOver == false)
+            {
+                Add100 = true;
+            }
+            WinderMotorSpeedCounter=0;
+            WinderMotorSpeedRollOver=true;
+        }
     }
 
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
@@ -213,6 +233,12 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
+        if (Add100 == true) //once per job
+        {
+            ScrewNumberOfSteps += 100;
+            Add100 = false;
+        }
+
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0)
         {
             ScrewNumberOfSteps--;
@@ -240,7 +266,9 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 
         WinderReferenceSpeed = Averagewinderspeed;
     }
-    screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
+    screw_horizontal_speed = ScrewNumberOfSteps /  Rotations;//InternalWinderCfg.NumberOfRotationPerPassage;
+    if (Rotations > 7.0)
+        Rotations = 6.0;
     RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
     tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
     //ROM_IntMasterDisable();
@@ -260,7 +288,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         //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);
+//        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
@@ -274,7 +302,7 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
     return PreSegmentReady(Module_Winder,ModuleDone);
 }
 
-uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
+uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
 {
     //JobTicket* JobTicket = JobDetails;
     double screw_horizontal_speed = 0;
@@ -294,7 +322,9 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         //     * calculate
         //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
         //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
-        screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        ScrewNumberOfSteps -= 100;
+        screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
         // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
         //RotationsPerSecond = dyeingspeed / (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulleyradius * PI);
         RotationsPerSecond =  OriginalMotorSpd_2PPS[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
@@ -315,9 +345,8 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
     //     * 3. calculate cart travel length from winding parameters
     //     * 4. start move of travel length
     //     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
-        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
         temp = SYS_CLK_FREQ;
-        temp *= InternalWinderCfg.segmentoffsetpulses;
+        temp *= ScrewNumberOfSteps;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
         REPORT_MSG(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
@@ -335,6 +364,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         WinderMotorSpeedCounter=0;
         TotalWinderSpeed = 0;
         WinderMotorSpeedRollOver=false;
+        Add100 = false;
    }
     PreSegmentReady(Module_Winder,ModuleDone);
 
@@ -352,8 +382,8 @@ 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,0);
-
+    //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
     return OK;
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
@@ -397,12 +427,14 @@ void ScrewsStartControlTimer (void)
     //ROM_TimerConfigure(Screw_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
     TimerEnable(Screw_timerBase, TIMER_A);
     ROM_IntEnable(INT_TIMER3A);
+    //IntPrioritySet(Screw_timerBase, 0x40);
     ROM_TimerIntEnable(Screw_timerBase, TIMER_TIMA_TIMEOUT);
     ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)1200000/*10 millisec*/ );
     Report("ScrewsStartControlTimer direction,speed ", __FILE__,__LINE__,ScrewCurrentDirection, RpMessage, ScrewSpeed, 0);
     return;
 }
 
+int random = 0;
 void ScrewTimerInterrupt(int ARG0)
 {
     ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
@@ -410,9 +442,11 @@ void ScrewTimerInterrupt(int ARG0)
 
     if (SCREW_TimerActivated == true)
     {
-        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
-        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
+        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
+        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed+random);
+      //  ScrewChangeCounter = 0;
+      //  ScrewChangeLimit = ScrewRunningTime/12000000;
         ScrewDirectionChangeCounter++;
     }
     else
@@ -420,6 +454,10 @@ void ScrewTimerInterrupt(int ARG0)
         TimerDisable(Screw_timerBase, TIMER_A);
     }
     ROM_IntMasterEnable();
+    Rotations+=0.03;
+    /*random++;
+    if (random >= 2)
+        random = -1;*/
     //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
     //
     // Enable all interrupts.