MREGE

2 files changed, 12 insertions, 57 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 856812c12..852c19a1a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -67,6 +67,7 @@
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
 
+    uint32_t UnloadingStart = 0;
     uint8_t NumberOfDrierLoaderCycles = 0;
     uint32_t status = OK;
     uint32_t LoadingControlId = 0xFF,PullerControlId = 0xFF,WinderControlId = 0xFF;
@@ -184,8 +185,6 @@
         {
             Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             //storeLoadArmParameters();
-            MotorMove(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,LoadArmInfo.LoadArmBackLash );
-
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
             ThreadLoadStateMachine(LoadStages);
@@ -215,6 +214,8 @@
 //move to exact location?
 //        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         CallbackCounter = 0;
+        Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
+
         Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         NumberOfDrierLoaderCycles=0;
         //storeLoadArmParameters();
@@ -614,7 +615,7 @@
         LoadArmInfo.LoadArmRounds = 0;
         //uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
-        SetOriginMotorSpeed(19);
+        SetOriginMotorSpeed(30);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
@@ -670,14 +671,14 @@
         CallbackCounter++;
         //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
         //                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
-        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        UnloadingStart = msec_millisecondCounter;
+        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         LoadArmInfo.LoadArmBackLash = 5;
-
         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);
+                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/2, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
         //Keep Notation How Many Rotations In The Dryer
-        LoadArmInfo.LoadArmBackLash = 5;
+        //LoadArmInfo.LoadArmBackLash = 0;
         LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         load.color = BLINK;
         return OK;
@@ -840,7 +841,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
     }
-    if (index == POOLER_MOTOR)
+   /* if (index == POOLER_MOTOR)
     {
         if ((TranslatedReadValue)<(-1200))
         {
@@ -868,7 +869,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
         }
 
-    }
+    }*/
 /*    LoadCounter++;
     if ((LoadCounter % 5001) == 0)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 741fed7af..4de702e14 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -107,6 +107,8 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
     InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage;
+    if (request->rotationsperpassage > 6.1)
+        InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
     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);
@@ -279,7 +281,6 @@ numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__
 double WinderReferenceSpeed=0;
 double  TotalWinderSpeed=0;
 bool Add100 = false;
-double Rotations = 6.0;
 int flipflop = 0;
 uint32_t motspeed;
 float speedf;
@@ -290,12 +291,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     double temp,tempScrewSpeed;
     double screw_horizontal_speed = 0;
     double RotationsPerSecond;
-    //double Averagewinderspeed = 0;
-
-//    {
-//        TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
-//        WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
-//        TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
         if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
         {
             if (WinderMotorSpeedRollOver == false)
@@ -305,17 +300,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             }
 //            WinderMotorSpeedCounter=0;
         }
-//    }
-    /*if (flipflop == 0)
-    {
-        MotorGetSpeedFromFPGA1(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    }
-    else if (flipflop == 1)
-    {
-        speedf = MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    }
-    flipflop ++;
-    */
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
         return OK;
     //deley TODO
@@ -353,16 +337,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
          Report("Winder difference",__FILE__,CalculationDirectionChangeCounter,ScrewLocationPrev[0],RpWarning,ScrewLocationRun[0], 0);
      }
      ScrewLocationPrev[0] = ScrewLocationRun[0];
-     //else
-     //    Report("winder run error value" ,__FILE__,WinderRun,ScrewLocationRun[0],RpWarning,ScrewLocationRun[1], 0);
-
-         //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
-    //REPORT_MSG(abs(ScrewLocationRun[1] - ScrewLocationRun[0]), "Screw Run NumberOfSteps");
-    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d intent %d rot %d",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,Rotations*10);
-    //usnprintf(ScrewStr, 150, "Winder Encoder:id, diff, intended,  winderspeed,  rotation, speed, time, mot speed {, %d, %d, %d, %d, %d, %d, %d, %d, }",CalculationDirectionChangeCounter,
-    //          abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,(int)(WinderReferenceSpeed),(int)(Rotations*10),(int)ScrewSpeed,(int)ScrewRunningTime,(int)speedf);
-    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 %d 1 %d diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],ScrewLocationRun[1] - ScrewLocationRun[0]);
-    //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
 #endif
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
@@ -388,24 +362,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     //        Report("Bottom Backing ",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0);
         }
     }
-   /* if (WinderMotorSpeedRollOver)
-    {
-        if (WinderCalculation%60000 == 0)//100 minutes
-        {
-            Averagewinderspeed = TotalWinderSpeed/MAX_WINDER_SPEED_CALCULATION;
-            //Report("WinderSpeedUpdated",__FILE__,__LINE__,(int)TotalWinderSpeed,RpWarning,(int)Averagewinderspeed,0);
-            WinderReferenceSpeed = Averagewinderspeed;
-        }
-        WinderCalculation++;
-    }*/
-    //WinderReferenceSpeed = 1000;
-    //ScrewNumberOfSteps = 1000;
-    screw_horizontal_speed = ScrewNumberOfSteps /  Rotations;//InternalWinderCfg.NumberOfRotationPerPassage;
-  //  if (Rotations > 6.6)//7.0)
-  //      Rotations = 6.0;
-    RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
-    tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
-    //ROM_IntMasterDisable();
     tempScrewSpeed = ScrewSpeed;
 
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
@@ -468,7 +424,6 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
             InternalWinderCfg.SpoolBottomBackingRate =  2000; //no cone shape for samples
             InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             JobSegment* Segment = SegmentDetails;
-            InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             ScrewSpeed = InternalWinderCfg.segmentoffsetpulses/(((Segment->length *100)/dyeingspeed)/3);
             ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
@@ -481,7 +436,6 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
             InternalWinderCfg.SpoolBottomBackingRate =  2000; //no cone shape for samples
             InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             JobSegment* Segment = SegmentDetails;
-            InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             ScrewSpeed = InternalWinderCfg.segmentoffsetpulses/(((Segment->length *100)/dyeingspeed)/20);
             ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
         }