FS_SPD inmotors handled. some bugs ahndling

2 files changed, 27 insertions, 23 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index e564e52d0..aa9e6ec94 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -145,37 +145,41 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
     return PreSegmentReady(Module_Winder,ModuleDone);
 }
 
-uint32_t Winder_Presegment(void *JobDetails)
+uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
 {
     JobTicket* JobTicket = JobDetails;
     int process_speed = JobTicket->processparameters->dyeingspeed;
     float screw_speed = 0;
     float RotationsPerSecond;
 
-    ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);
+    if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job)
+    {
+        ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);
+
+        //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
+        //     * 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_speed = InternalWinderCfg.segmentoffsetpulses /  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 = process_speed / (InternalWinderCfg.diameter * PI);
+        // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
+        ScrewSpeed = screw_speed*RotationsPerSecond;
 
-    //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
-    //     * 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_speed = InternalWinderCfg.segmentoffsetpulses /  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 = process_speed / (InternalWinderCfg.diameter * PI);
-    // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
-    ScrewSpeed = screw_speed*RotationsPerSecond;
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
+        //screw_speed = InternalWinderCfg.milimetersperrotation
+    //     * 2. determine optimal micro-step setting
+    //     * 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;
+        MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
+        ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0);
 
-    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-    //screw_speed = InternalWinderCfg.milimetersperrotation
-//     * 2. determine optimal micro-step setting
-//     * 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;
-    MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
-    ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0);
+        // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_speed,WinderPresegmentReady);
+        //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
 
-    // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_speed,WinderPresegmentReady);
-    //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
+    }
     PreSegmentReady(Module_Winder,ModuleDone);
 
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index b7401c77f..4a7f1144c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -23,7 +23,7 @@ uint32_t ThreadInitialTestStub();
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 uint32_t Winder_Init(void);
 uint32_t Winder_Prepare(void);
-uint32_t Winder_Presegment(void *JobDetails);
+uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId);
 uint32_t Winder_End(void);