Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

4 files changed, 34 insertions, 15 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 3e2a6aa40..97f3811c7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -41,8 +41,8 @@ typedef struct
 }MotorControlConfig_t;
 
 
-#define MAX_THREAD_FEED_MOTORS WINDER_MOTOR+1
-#define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
+#define MAX_THREAD_FEED_MOTORS (WINDER_MOTOR+1)
+#define MAX_SYSTEM_DANCERS (HARDWARE_DANCER_TYPE__RightDancer+1)
 
 extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
 extern HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM];
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 70f32ce6d..df88db3f9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -54,6 +54,9 @@ uint32_t ScrewControlId = 0xFF;
 
 InternalWinderConfigStruc InternalWinderCfg = {0};
 
+uint32_t ScrewLocationLimitSwitch = 0,ScrewLocationStart = 0;
+uint32_t ScrewLocationRun[3];
+
 uint32_t Winder_Init(void)
 {
     ScrewTimerInterruptInit();
@@ -109,6 +112,10 @@ uint32_t Winder_Prepare(void)
         AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,true);
         return ERROR;
     }*/
+
+    ScrewLocationRun[0] = 0;
+    ScrewLocationRun[1] = 0;
+
     if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT)
     {
         //REPORT_MSG(LIMIT, "Winder_Prepare at limit");
@@ -136,6 +143,11 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
+    //Read_Screw_Encoder();
+    //ScrewLocationLimitSwitch = Screw_RotEnc.Position;
+    //REPORT_MSG(ScrewLocationLimitSwitch, "Winder_PrepareStage2 Encoder Location");
+
+
     REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2");
     if (ReadValue != LIMIT)
     {
@@ -157,7 +169,13 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     //SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW);  //set this point as the spool home
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,temp_MaxFrequency);
 
+    //Read_Screw_Encoder();
+    //ScrewLocationStart = Screw_RotEnc.Position;
+
+    REPORT_MSG(ScrewLocationStart, "Winder_ScrewAtOffsetCallback Encoder Location");
+
     ScrewCurrentDirection = false;
+    ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position;
     ScrewSpeed = 0;
     ScrewControlId = 0xFF;
     ScrewNumberOfSteps = 0;
@@ -230,6 +248,10 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 
     ScrewCurrentDirection = 1-ScrewCurrentDirection;
     CalculationDirectionChangeCounter++;
+    //REPORT_MSG(ScrewLocationRun[1] - ScrewLocationRun[0], "Screw Run NumberOfSteps");
+    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]));
+    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 %d 1 %d diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],ScrewLocationRun[1] - ScrewLocationRun[0]);
+    //Report(ScrewStr,__FILE__,__LINE__,ScrewLocationLimitSwitch,RpWarning,ScrewLocationStart, 0);
 
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
@@ -242,7 +264,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0)
         {
             ScrewNumberOfSteps--;
-            //REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps");
+            REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps");
 
         }
     }
@@ -251,7 +273,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.SpoolBottomBackingRate == 0)
         {
             ScrewNumberOfSteps++;
-            //REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing ScrewNumberOfSteps");
+            REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing ScrewNumberOfSteps");
         }
     }
     if (WinderMotorSpeedRollOver)
@@ -288,7 +310,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
         //Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
-//        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
+        //Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
@@ -440,6 +462,9 @@ void ScrewTimerInterrupt(int ARG0)
     ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     ROM_IntMasterDisable();
 
+    //Read_Screw_Encoder();
+    //ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position;
+
     if (SCREW_TimerActivated == true)
     {
         ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
@@ -455,13 +480,7 @@ void ScrewTimerInterrupt(int ARG0)
     }
     ROM_IntMasterEnable();
     Rotations+=0.03;
-    /*random++;
-    if (random >= 2)
-        random = -1;*/
-    //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
-    //
-    // Enable all interrupts.
-    //
+
     return ;
 
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index d7ce917c0..91eedeb6b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -9,7 +9,7 @@
 #define WINDER_DANCER HARDWARE_DANCER_TYPE__LeftDancer
 #define POOLER_DANCER HARDWARE_DANCER_TYPE__MiddleDancer
 #define FEEDER_DANCER HARDWARE_DANCER_TYPE__RightDancer
-#define NUM_OF_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1
+#define NUM_OF_DANCERS (HARDWARE_DANCER_TYPE__RightDancer+1)
 //} DANCER_ENUM;
 typedef enum threadMotorsEnum
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index a4208ad25..c292f7dcd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -842,8 +842,8 @@ char Endstr[150];
      Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
 
      ThreadUpdateProcessLength (0.0,(void *)NULL);
-     TotalProcessedLength = 0.0;
-    SetOriginMotorSpeed(0);
+     //TotalProcessedLength = 0.0;
+     SetOriginMotorSpeed(0);
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogClose();
 #endif