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

3 files changed, 67 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index a68995168..2bbc93523 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -46,7 +46,7 @@ uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of ru
 double WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
 bool     WinderMotorSpeedRollOver = false;
-#define DEFAULT_SCREW_SPEED 1400
+#define DEFAULT_SCREW_SPEED 1200
 double   ScrewSpeed = DEFAULT_SCREW_SPEED;
 double   ScrewRunningTime = 0;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
@@ -270,10 +270,10 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     //double calcsteps = (ScrewRunningTime/SYS_CLK_FREQ)*ScrewSpeed;
     //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, 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);
+    //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
 
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
@@ -315,7 +315,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
     tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
     //ROM_IntMasterDisable();
-    tempScrewSpeed = DEFAULT_SCREW_SPEED;
+    tempScrewSpeed = ScrewSpeed;
 
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
 
@@ -325,7 +325,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     if ((ScrewRunningTime != temp)||(ScrewSpeed != tempScrewSpeed))
     {
         ScrewSpeed = tempScrewSpeed;
-        ScrewSpeed = DEFAULT_SCREW_SPEED;
+        //ScrewSpeed = DEFAULT_SCREW_SPEED;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
         //ROM_IntMasterEnable();
         //usnprintf(TempScrewStr, 100, "Winder: Horizon,Rotation, PPR, RPP{ %d, %d ,%d, %d} ",(int)screw_horizontal_speed,(int)RotationsPerSecond,(int)InternalWinderCfg.NumberOfRotationPerPassage,(int)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround);
@@ -364,12 +364,12 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
     if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job)
     {
         ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);
-
+/*
         //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
         //     * calculate
         //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
         //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
-        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
         ScrewNumberOfSteps -= 100;
         screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
         // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
@@ -384,7 +384,25 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         //REPORT_MSG(segmentfirst_speed,ScrewStr);
         Report(ScrewStr,__FILE__,__LINE__,RotationsPerSecond,RpWarning,ScrewSpeed,0);
         SendJobProgress(0.0,0,false, ScrewStr);
+*/
+        //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
+        //     * calculate
+        //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
+        //     * calculation input: traverse length in pulses, number of rotations per traverse ==> length of traverse per rotation.
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;  //steps per winder cycle
+        // calculation input#2: number of rotations per second - speed/winder diameter.  WE USE HERE 39 MM AS ATHE WINDER DIAMETER - SOME AVERAGE BETWEEN EMPTY AND FULL
+        RotationsPerSecond =  (dyeingspeed*10.0)/(19.50*PI);
+        // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
+        ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+        usnprintf(ScrewStr, 100, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond*100,(int)screw_horizontal_speed*100,(int)ScrewSpeed);
+        //REPORT_MSG(segmentfirst_speed,ScrewStr);
+        Report(ScrewStr,__FILE__,__LINE__,RotationsPerSecond,RpWarning,ScrewSpeed,0);
+        SendJobProgress(0.0,0,false, ScrewStr);
+        ScrewNumberOfSteps -= 100;
 
+
+        ///////////////////////
         CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
         OriginalMotorSpd_2PPS[SCREW_MOTOR] = ScrewSpeed;
         WinderReferenceSpeed = OriginalMotorSpd_2PPS[WINDER_MOTOR];
@@ -419,6 +437,42 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
 
     return OK;
 }
+uint32_t ScrewDTSControlId = 0xFF;
+uint32_t WinderDistanceToSpoolEnded(uint32_t deviceID, uint32_t ReadValue)
+{
+    REPORT_MSG ((int)msec_millisecondCounter,"WinderDistanceToSpoolEnded called");
+}
+uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
+{
+    REPORT_MSG ((int)msec_millisecondCounter,"ScrewDTSCallback called");
+    SafeRemoveControlCallback(ScrewDTSControlId, ScrewDTSCallback);
+
+    if (ScrewControlId != 0xFF)
+    {
+        RemoveControlCallback(ScrewControlId,Screw100msecDirectionChange);
+        ScrewControlId = 0xFF;
+    }
+    CurrentControlledSpeed[SCREW_MOTOR] = 0;
+    ScrewsStopControlTimer();
+    //move the cart to the edge so the spool can be easily replaced
+    //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
+    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, WinderDistanceToSpoolEnded,2000);
+
+
+    return OK;
+}
+uint32_t WinderDistanceToSpoolState(void )
+{
+    double DTS_Time = ((dryerbufferlength*100)/dyeingspeed)*1000;//distance to spool time in milliseconds
+    REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
+
+    ScrewDTSControlId = AddControlCallback(ScrewDTSCallback, DTS_Time-800,TemplateDataReadCBFunction,0,0,0);
+    REPORT_MSG ((int)msec_millisecondCounter,"ScrewDTSCallback start");
+
+    return OK;
+}
+
 uint32_t Winder_End(void)
 {
     //stop screw
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 0acb587b2..b741f33f3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -56,7 +56,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
         MotorsCfg[Motor_i].pulseperround = request->pulseperround;
         MotorsCfg[Motor_i].pulleyradius = request->pulleyradius;
         MotorsCfg[Motor_i].configword = request->configword;
-        if(MotorDriverResponse[Motor_i].DriverType == VoltageCombinedMotDriver)
+        if(MotorDriverResponse[Motor_i].DriverType == CombinrdMotDriver)
         {
             MotorsCfg[Motor_i].directionthreadwize = !(request->directionthreadwize);//PowerSTEP01
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index a285d4194..4743008e5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -114,7 +114,10 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 
 
   if (Current_Read < Previous_Read)
+  {
     Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
+    Report("Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
+  }
   else
     Time_Pass = Current_Read - Previous_Read;
 
@@ -771,7 +774,7 @@ void SetOriginMotorSpeed(float process_speed)
         //MotorControlConfig[Motor_i].m_SetParam = motor_speed;
         OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed;
         CurrentControlledSpeed[Motor_i] = (int) motor_speed;
-        Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
+        //Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
 
         for (i = 0; i <= MAX_CONTROL_SAMPLES; i++)
             MotorSpeedSamples[Motor_i][i] = motor_speed;