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

1 files changed, 14 insertions, 4 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index f4d34284d..0440d2241 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -17,7 +17,7 @@
 #include "Common/report/report.h"
 
 #include "drivers/FPGA/FPGA.h"
-
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
@@ -102,18 +102,25 @@ char ScrewStr[150];
 uint32_t InternalWindingConfigMessage(JobSpool* request)
 {
     uint32_t status = PASSED;
+    int limitswitchstartpointoffset = 0;
 
     InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
     InternalWinderCfg.spoolbackingrate = request->backingrate;
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     if (request->has_limitswitchstartpointoffset)
     {
-        InternalWinderCfg.startoffsetpulses += request->limitswitchstartpointoffset;
+        //InternalWinderCfg.startoffsetpulses += request->limitswitchstartpointoffset;
         Report("limit switch start point offset",__FILE__,__LINE__,(int)(request->startoffsetpulses),RpWarning,(int)(request->limitswitchstartpointoffset), 0);
     }
+    status |= MCU_E2PromRead(EEPROM_STORAGE_WINDER_CALIBRATION,&limitswitchstartpointoffset);
+    if ((status!= OK )||(limitswitchstartpointoffset == 0xFFFF))
+        limitswitchstartpointoffset = 0;
+    Report("limit switch start point offset",__FILE__,(int)(request->startoffsetpulses),(int)(limitswitchstartpointoffset),RpWarning,status, 0);
+    InternalWinderCfg.startoffsetpulses += limitswitchstartpointoffset;
+
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
     InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*3;//request->rotationsperpassage;
-    if (request->rotationsperpassage > 6.1)
+    if (request->rotationsperpassage > 5.1)
         InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
     if (NumberOfRotationPerPassage > 1)
     {
@@ -241,6 +248,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
             LOG_ERROR(deviceID,"Screw failed to reach the limit switch!!");
             //returned with a timeout
             Winder_ScrewAtOffsetCallback(0,0);
+            PrepareReady(Module_Winder, ModuleFail);
         }
         else //short jog, etc
         {
@@ -356,7 +364,9 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     //uint32_t Steps;
     double temp,tempScrewSpeed;
-    int i,tempmot;
+#ifdef FOUR_WINDERS
+    int tempmot;
+#endif
     //double screw_horizontal_speed = 0;
     //double RotationsPerSecond;
         if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)