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

3 files changed, 38 insertions, 37 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index ccc9623a3..c7dd4f7ae 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -107,7 +107,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
     uint32_t status=OK;
     uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
-    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency);
+    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
     REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2");
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 2961bd105..c5e3edc85 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -27,6 +27,7 @@ uint32_t InternalWindingConfigMessage(JobSpool* request);
 uint32_t ThreadConfigBreakSensor(void *request);
 
 uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId);
+double ThreadGetMotorCalculatedError(int DancerId);
 uint32_t ThreadPrepareState(void *JobDetails);
 uint32_t ThreadPreSegmentState(void *JobDetails);
 uint32_t ThreadSegmentState(void *JobDetails, int SegmentId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 023e0dfc8..54309a187 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -14,7 +14,6 @@
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
-#include "PMR/common/ErrorCode.pb-c.h"
 #include  <PMR/Diagnostics/EventType.pb-c.h>
 
 #include <utils/ustdlib.h>
@@ -71,10 +70,12 @@ double TotalProcessedLength = 0.0;
 double LengthCalculationMultiplier;
 
 uint32_t PoolerPreviousPosition = 0, PoolerCurrentPosition = 0;
-double PoolerCurrentProcessedLength = 0.0;
 double PoolerTotalProcessedLength = 0.0;
 double PoolerLengthCalculationMultiplier;
 
+double TempPoolerTotalProcessedLength = 0.0;
+double TempTotalProcessedLength = 0.0;
+
 bool PrepareState = false;
 int CurrentSegmentId = 0;
 typedef  void (* ProcessedLengthFunc)(void);
@@ -133,17 +134,16 @@ void ThreadUpdateProcessLength (double length, void *Funcptr)
 {
     CurrentRequestedLength = length*100;//Centimetres
     CurrentProcessedLength = 0;
-    PoolerCurrentProcessedLength = 0;
     ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
     initialpos = 0xFFFF;
     Poolerinitialpos = 0xFFFF;
 }
-
+char Lenstr[150];
 uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     uint32_t positionDiff = 0;
     double length = 0.0;
-    char str[150];
+
     int index = MAX_THREAD_MOTORS_NUM;
  //   if (ThreadControlActive == false)
  //       return OK;
@@ -185,14 +185,15 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     static int pooler_counter = 0;
     pooler_counter++;
     TotalProcessedLength+= (length/100);
+    TempTotalProcessedLength = TotalProcessedLength;
     if (pooler_counter%10 == 0)
     {
         if (PrepareState == true)
         {
             //later - add temperatures
-             TemperatureListString(str);
+             TemperatureListString(Lenstr);
 
-            SendJobProgress(0.0,0,false, str);
+            SendJobProgress(0.0,0,false, Lenstr);
         }
         else
         {
@@ -202,9 +203,9 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     if (CurrentProcessedLength>=CurrentRequestedLength )
     {
-        usnprintf(str, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
-        SendJobProgress(0.0,0,false, str);
-        Report(str,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
+        usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
+        SendJobProgress(0.0,0,false, Lenstr);
+        Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
         // segment/intersegment/distance to spool finished
         if (ProcessedLengthFuncPtr)
             ProcessedLengthFuncPtr();
@@ -248,7 +249,8 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     PoolerPreviousPosition = PoolerCurrentPosition;
 
     length = (double)(positionDiff)*PoolerLengthCalculationMultiplier;
-    PoolerCurrentProcessedLength+=length;
+    PoolerTotalProcessedLength+= (length/100);
+    TempPoolerTotalProcessedLength = PoolerTotalProcessedLength;
 
 return OK;
 }
@@ -311,14 +313,14 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     return OK;
 }
-double calculatedError[1000];
 //double eNormalizedError[100];
+//int    TranslatedreadValue[100];
+/*double calculatedError[1000];
 int    MotorId[1000];
 int    readValue[1000];
-//int    TranslatedreadValue[100];
 int    AveragereadValue[1000];
 int    calculatedspeed[1000];
-int    timestamp[1000];
+int    timestamp[1000];*/
 int controlIndex = 0;
 bool keepdata = true;
 /*int32_t KeepReadValue = 0;
@@ -440,7 +442,7 @@ 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_WINDER_DANCER_FAIL+index;
+            JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
             SendJobProgress(0.0,0,false, Message);
             //EndState(CurrentJob,Message );
             SegmentReady(Module_Thread,ModuleFail);
@@ -462,36 +464,19 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             //KeepNormalizedError = NormalizedError;
         }
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-        /*if (index == FEEDER_MOTOR)
-        {
-            if (KeepReadValue != TranslatedReadValue)
-            {
-                eNormalizedError[controlIndex] = NormalizedError;
-                calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
-                readValue[controlIndex] = ReadValue;
-                TranslatedreadValue[controlIndex] = TranslatedReadValue;
-                AveragereadValue[controlIndex] = avreageSampleValue;
-                calculatedspeed[controlIndex] = calculated_speed;
-                controlIndex++;
-                if (controlIndex >= 99) controlIndex = 0;
-                KeepReadValue = TranslatedReadValue;
-            }
-        }*/
         if (abs(calculated_speed-CurrentControlledSpeed[index])>2)
         {
-            if (keepdata == true)
+            /*if (keepdata == true)
             {
                  calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
-                //double eNormalizedError[100];
                     MotorId[controlIndex] = index;
                     readValue[controlIndex] = ReadValue;
-                //int    TranslatedreadValue[100];
                     AveragereadValue[controlIndex] = avreageSampleValue;
                     calculatedspeed[controlIndex] = calculated_speed;
                     timestamp[controlIndex] = HibernateRTCSSGet();
                  if (controlIndex++>=999)
                      controlIndex = 0;
-            }
+            }*/
             CurrentControlledSpeed[index] = calculated_speed;
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
         }
@@ -508,6 +493,21 @@ uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
 {
     return  CurrentControlledSpeed[MotorId];
 }
+//********************************************************************************************************************
+double ThreadGetMotorCalculatedError(int DancerId)
+{
+    switch (DancerId)
+    {
+        case FEEDER_DANCER:
+            return  (double)MotorControlConfig[FEEDER_MOTOR].m_calculatedError;
+        case POOLER_DANCER:
+            return  (double)MotorControlConfig[POOLER_MOTOR].m_calculatedError;
+        case WINDER_DANCER:
+            return  (double)MotorControlConfig[WINDER_MOTOR].m_calculatedError;
+
+    }
+    return 0;
+}
 
 //********************************************************************************************************************
 uint32_t ThreadInitialTestStub(HardwareMotor * request)
@@ -579,7 +579,7 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                     PoolerSpeedControlId = 0xFF;
                 }
                 //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
-                LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
+                PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
                 PoolerSpeedControlId = AddControlCallback(PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
             }
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
@@ -737,7 +737,7 @@ char Endstr[150];
      int Motor_i;
      ThreadControlActive = false;
 
-     usnprintf(Endstr, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
+     usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength);
      SendJobProgress(0.0,0,false, Endstr);
      Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);