some fixes from 1.4.5.110 (Beta +)

3 files changed, 36 insertions, 18 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 40000b8bb..25c36f3fd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -359,6 +359,7 @@
                 else
                 {
                     LoadStages++;
+                    LoadStatus = OK;
                     if (LoadStages == THREAD_LOAD_CLOSE_DANCERS)
                     {
                         MotorSetKvalHold(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, keepkvalhold);
@@ -558,6 +559,8 @@
             CallbackCounter--;
             if (CallbackCounter == 0)
             {
+                LoadStatus = OK;
+
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
@@ -681,7 +684,8 @@
         //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
         LengthCalculationMultiplier = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].pulleyradius*2*PI)/(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].pulseperround*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].microstep);
         TotalLoadedLen = 0;
-        SpeedTControlId = AddControlCallback(NULL,ThreadLoadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+HARDWARE_MOTOR_TYPE__MOTO_RDRIVING),HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,0);
+        DrierPrevLocation = 200; //initial safe value
+        SpeedTControlId = AddControlCallback(ThreadLoadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+HARDWARE_MOTOR_TYPE__MOTO_RDRIVING),HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,0);
         Tinitialpos = 0xFFFF;previousPosition = 0; currentPosition = 0;
         CallbackCounter++;
         Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
@@ -709,12 +713,13 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         ThreadJoggingFunc(20);
-        LoadingControlId = AddControlCallback(NULL,Thread_Load_Jog_ThreadStop, eOneSecond*25,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
+        LoadingControlId = AddControlCallback(Thread_Load_Jog_ThreadStop, eOneSecond*25,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         return OK;
     }
     uint32_t Thread_Load_End(void)
     {
         REPORT_MSG(LoadStages,"Loading Ended");
+        ThreadLoadingReport();
         if(LoadingControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
@@ -752,6 +757,7 @@
             usnprintf(LoadErrorMsg, 100, "Load sequence stopped by user on stage %d",LoadStages);
             LoadStatus = ERROR;
         }
+
         LoadStages = THREAD_LOAD_INIT;
         load.color = colorON;
         return OK;
@@ -766,21 +772,19 @@
             return OK;
         }
         Screw_Dir = 1-Screw_Dir;
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,30000);
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,13000);
 
         return OK;
     }
     uint32_t Thread_Load_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         numberOfCycles++;
-        uint32_t temp = Control_Read_Dryer_Position(0,0);
-        Report("Thread_Load_Dryer_Loading_Callback",__FILE__,ReadValue,temp,RpMessage,DrierPrevLocation,0);
-        //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
-        if ((abs (temp -DrierPrevLocation)>20  )&&(ReadValue == NOTBUSY))
+        uint32_t temp = Read_Dryer_ENC_Position();
+        Report("Thread_Load_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,DrierPrevLocation,0);
+        //Report("Thread_Load_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
+        if ((abs (temp -DrierPrevLocation)>1000  )&&(ReadValue == NOTBUSY))
         {
             DrierPrevLocation = temp;
-            //Report("Thread_Load_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-            //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
             if (LoadStages != THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION)
             {
                 return OK;
@@ -801,7 +805,7 @@
         {
             LOG_ERROR(LoadStages,"Load sequence timeout - drier Unloading");
             Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
-            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds-numberOfCycles);
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds-(numberOfCycles-2));//it takes two cycles to identify a stop of the arm
             TimeoutsCounter = 0;
             CallbackCounter = 0;
             if(PullerControlId != 0xFF)
@@ -826,12 +830,14 @@
             load.color = fastBILNK;
             usnprintf(LoadErrorMsg, 100, "Load sequence timeout %d motor %d",LoadStages, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);
             LoadStatus = ERROR;
+            TryAgain = true;
             ThreadLoadingReport();
         }
         return OK;
     }
     uint32_t Thread_Load_Dryer_UnLoading(void)
     {
+        uint32_t temp;
         REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
         //LoadArmInfo.LoadArmRounds = 0;
         //uint32_t numberOfSteps = 0;
@@ -899,9 +905,10 @@
         numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmInfo.LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
         numberOfCycles = 0;
 
-        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierPrevLocation);
-
-        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage, LoadArmInfo.LoadArmRounds,0);
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&temp);
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
+        DrierPrevLocation = temp;
+        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,DrierPrevLocation,RpMessage, LoadArmInfo.LoadArmRounds,0);
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 //        status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
 //                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
@@ -1002,7 +1009,6 @@
             ThreadLoadingReport();
             break;
         case THREAD_LOAD_END:
-            MessageState = 0;
             LoadStages = THREAD_LOAD_END;
             Thread_Load_End();
             break;
@@ -1025,23 +1031,27 @@ uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
         return ERROR;
     }
     Report("ThreadLoadButton",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
+    Report("ThreadLoadButton params",__FILE__,LoadStatus,TryAgain,RpMessage,SecondTry,0);
     if (LoadStatus == ERROR)
     {
         if ((SecondTry == false)&&(TryAgain == true))
         {
             LoadStatus = OK;
             SecondTry = true;
+            Report("Calling State machine",__FILE__,LoadStages,LoadStatus,RpMessage,SecondTry,0);
             ThreadLoadStateMachine(LoadStages);
         }
         else
         {
             SecondTry = false;
+            Report("Calling State machine",__FILE__,LoadStages,LoadStatus,RpMessage,SecondTry,0);
             ThreadLoadStateMachine(LoadStages+1);
         }
     }
     else
     {
-        ThreadLoadStateMachine(ReadValue);
+        Report("Calling State machine status OK",__FILE__,ReadValue,LoadStatus,RpMessage,SecondTry,0);
+        ThreadLoadStateMachine(LoadStages);
     }
     return OK;
 }
@@ -1145,7 +1155,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
     NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
     MotorControlConfig[index].m_mesuredParam = NormalizedError;
-    MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
+    MotorControlConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                           &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
     if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index f0b709ff2..78092ae2b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -61,6 +61,7 @@ static bool KeepWindingCone = false;
 static uint32_t WindingConeLocation;
 static uint32_t WinderBackToBaseTime = 800;
 
+float NumberOfRotationPerPassage = 0.0;
 InternalWinderConfigStruc InternalWinderCfg = {0};
 //#define READ_SCREW_ENCODER
 #ifdef READ_SCREW_ENCODER
@@ -106,12 +107,17 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.spoolbackingrate = request->backingrate;
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
-    InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage;
+    InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*3;//request->rotationsperpassage;
     if (request->rotationsperpassage > 6.1)
         InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+    if (NumberOfRotationPerPassage > 1)
+    {
+        InternalWinderCfg.NumberOfRotationPerPassage = NumberOfRotationPerPassage;
+        Report("Rotation per passage set from stub",__FILE__,__LINE__,(int)(request->rotationsperpassage*1000),RpWarning,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000), 0);
+    }
     InternalWinderCfg.diameter = request->diameter;
     usnprintf(ScrewStr, 150, "WindingConfig start,offset,head,tail {, %d, %d, %d, %d, %d}",InternalWinderCfg.startoffsetpulses,(int)InternalWinderCfg.segmentoffsetpulses,
-              (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate);
+              (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000));
     Report(ScrewStr,__FILE__,__LINE__,(int)InternalWinderCfg.diameter,RpWarning,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000), 0);
 
     return status;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index dd9395248..420b782b5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -42,6 +42,8 @@ uint32_t StoreDancerConfigMessage(void);
 uint32_t LoadDancerConfigMessage(void);
 
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
+extern float NumberOfRotationPerPassage; //debug for rotation per passage trials
+
 uint32_t Winder_Init(void);
 uint32_t Winder_Prepare(void *JobDetails);
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId);