Spool cone handling, debug log in job progress

3 files changed, 62 insertions, 28 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index dad7a1db6..7780287fb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -48,7 +48,7 @@ extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];
 
 extern HardwareMotor                MotorsCfg[NUM_OF_MOTORS];
 extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
-extern InternalWinderConfigStruc    InternalWinderCfg;
+//extern InternalWinderConfigStruc    InternalWinderCfg;
 extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
 
 #define MAX_CONTROL_SAMPLES 10
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 759e16d09..33086b636 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -11,6 +11,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "Modules/Control/Control.h"
 
+#include "Common/report/report.h"
+
 #include "drivers/FPGA/FPGA.h"
 
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
@@ -27,10 +29,35 @@ uint32_t ScrewControlId = 0xFF;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
 uint32_t DirectionChangeCounter = 0; //holds the current number of runs of the screw  - will be used to build the cone
 
+InternalWinderConfigStruc InternalWinderCfg = {0};
+
 uint32_t Winder_Init(void)
 {
     return OK;
 }
+
+
+uint32_t InternalWinderConfigMessage(HardwareWinder* request)
+{
+    uint32_t status = PASSED;
+
+    InternalWinderCfg.milimetersperrotation = request->millimeterperrotation;
+
+    return status;
+}
+uint32_t InternalWindingConfigMessage(JobSpool* request)
+{
+    uint32_t status = PASSED;
+
+    InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
+    InternalWinderCfg.spoolbackingrate = request->backingrate;
+    InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
+    InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
+    InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+    InternalWinderCfg.diameter = request->diameter;
+
+    return status;
+}
 /*
  *uint32_t Winder_Prepare(void *JobDetails)
 
@@ -107,7 +134,13 @@ uint32_t ScrewControlId = 0xFF;
 uint32_t ScrewNumberOfSteps = 0;
 uint32_t DirectionChangeCounter = 0;
 */
-
+/*
+    InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
+    InternalWinderCfg.spoolbackingrate = request->backingrate;
+    InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
+    InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
+    InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+ *
 Calculate the number of steps.
 Initial home position = ...
 Initial out movement = ScrewNumberOfSteps
@@ -125,6 +158,32 @@ InternalWinderCfg.segmentoffsetpulses
   
 numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 */
+uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
+{
+    uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+
+    if (Counter)
+    {
+        if (Counter%InternalWinderCfg.spoolbackingrate == 0)
+        {
+            NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate);
+            REPORT_MSG(ScrewNumberOfSteps, "Head Backing");
+            ScrewNumberOfSteps--;
+        }
+        if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 0))
+        {
+            if (direction != MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize)
+            {
+                NumberOfSteps += (Counter/InternalWinderCfg.SpoolBottomBackingRate);
+                ScrewNumberOfSteps++;
+                REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing");
+            }
+
+        }
+    }
+    return CalculateNumberOfSteps;
+
+}
 uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     if (BusyfirstCall)
@@ -135,6 +194,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     //ScrewCurrentDirection: false moves out, true moves home
     if (BusyFlag == NOTBUSY)
     {
+        CalculateNumberOfSteps (DirectionChangeCounter++, ScrewCurrentDirection);
         if (ScrewCurrentDirection == false)
         {
             ScrewCurrentDirection = true;
@@ -144,7 +204,6 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             ScrewCurrentDirection = false;
         }
         MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
-        DirectionChangeCounter++;
     }
 /*
  * calculate new ScrewSpeed and call     MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 3c9adbc31..c5f45da78 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -18,35 +18,10 @@ int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
 int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
 double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
 int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0};
-InternalWinderConfigStruc InternalWinderCfg = {0};
 HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0};
 
 HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0};
 
-
-
-uint32_t InternalWinderConfigMessage(HardwareWinder* request)
-{
-    uint32_t status = PASSED;
-
-    InternalWinderCfg.milimetersperrotation = request->millimeterperrotation;
-
-    return status;
-}
-uint32_t InternalWindingConfigMessage(JobSpool* request)
-{
-    uint32_t status = PASSED;
-
-    InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
-    InternalWinderCfg.spoolbackingrate = request->backingrate;
-    InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
-    InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
-    InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
-    InternalWinderCfg.diameter = request->diameter;
-
-    return status;
-}
-
 //********************************************************************************************************************
 uint32_t MotorsConfigMessage(HardwareMotor * request)
 {