merge conflict

2 files changed, 14 insertions, 7 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 1b32e50fd..4b381e401 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -22,7 +22,7 @@
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
 bool Winder_ScrewHoming = false;
-bool Winder_Active = false;
+//bool Winder_Active = false;
 
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag);
 uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue);
@@ -73,7 +73,7 @@ uint32_t Winder_Prepare(void)
 {
     uint32_t status = 0;
     //JobTicket* JobTicket = JobDetails;
-    Winder_Active = true;
+//    Winder_Active = true;
     //float process_speed = JobTicket->processparameters->dyeingspeed;
     double ScrewSpeed = 1000;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);  // we will use pulley radius of the screw for this purpose, as of now
     //REPORT_MSG(ScrewSpeed, "Winder_Prepare");
@@ -89,6 +89,7 @@ uint32_t Winder_Prepare(void)
     }
     else
     {
+        REPORT_MSG(ScrewSpeed, "Winder_Prepare");
         Winder_ScrewHoming = true;
         //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit");
         status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2);
@@ -108,6 +109,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 
     MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
+    REPORT_MSG(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);
      //set motor location 0 here
@@ -125,7 +127,7 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     ScrewControlId = 0xFF;
     ScrewNumberOfSteps = 0;
     DirectionChangeCounter = 0;
-    //REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback");
+    REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback");
 
     PrepareReady(Module_Winder, ModuleDone);
     return OK;
@@ -188,6 +190,7 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
             ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
             MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
+            REPORT_MSG(ScrewSpeed, "CalculateNumberOfSteps");
             CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
 
         }
@@ -208,6 +211,7 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
 uint32_t wtick=0,prevwtick = 0;
 uint32_t wgap[100];
 uint32_t wgap_counter=0;
+extern   void  ScrewReq(void);
 uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     uint32_t Steps;
@@ -216,12 +220,14 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         BusyfirstCall = false;
         return OK;
     }
-    if (Winder_Active == false)
-        return OK;
+//    if (Winder_Active == false)
+//        return OK;
     wtick++;
     //ScrewCurrentDirection: false moves out, true moves home
     if (BusyFlag == NOTBUSY)
     {
+        ScrewReq();
+
         if (wtick-prevwtick>10)
         {
             wgap[wgap_counter++] = wtick-prevwtick;
@@ -254,6 +260,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         }
 */
         MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,Steps); //process: set point 0, set max speed, move to the specified length, return back.
+        REPORT_MSG(ScrewCurrentDirection, "ScrewDirectionChange");
     }
 /*
  * calculate new ScrewSpeed and call     MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
@@ -329,7 +336,7 @@ uint32_t Winder_End(void)
     int pend;
     //stop screw
     ScrewNumberOfSteps = 0;
-    Winder_Active = false;
+//    Winder_Active = false;
     if (ScrewControlId != 0xFF)
         RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
     CurrentControlledSpeed[SCREW_MOTOR] = 0;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index c7d5998c6..77e1939f9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -401,7 +401,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
             //JobAbortedByUser = true;
             ThreadControlActive = false;
-            JobEndReason = JOB_DANCER_FAIL;
+            JobEndReason = JOB_WINDER_DANCER_FAIL+index;
             SendJobProgress(0.0,0,false, Message);
             //EndState(CurrentJob,Message );
             SegmentReady(Module_Thread,ModuleFail);