First print and some winder improvements

5 files changed, 73 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index db3bfc46e..ba6597449 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -65,8 +65,5 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 
 uint32_t DancerConfigMessage(HardwareDancer * request);
 
-uint32_t ThreadPrepareState(void *JobDetails);
-uint32_t Winder_Prepare(void);
-
 #endif //MODULES_THREAD_THREAD_H_
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index b61247fe4..17d683444 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -9,9 +9,14 @@
 #include "Drivers/Peripheral_GPIO/GPIO.h"
 #include "drivers/Motors/Motor.h"
 #include "StateMachines/Printing/PrintingSTM.h"
+
+#include "drivers/FPGA/FPGA.h"
+
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+
 bool Winder_ScrewHoming = false;
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t NumberOfSteps);
-uint32_t Winder_PrepareStage2(void);
+uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue);
 
 double ScrewSpeed = 0;
 
@@ -19,11 +24,57 @@ uint32_t Winder_Init(void)
 {
     return OK;
 }
-uint32_t Winder_Prepare(void)
+uint32_t Winder_Test2(uint32_t deviceID, uint32_t ReadValue);
+uint32_t Winder_Test1(uint32_t deviceID, uint32_t ReadValue)
+{
+    uint32_t status;
+    uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
+    uint32_t position;
+    /*
+     * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
+     * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
+     * report ready to the job STM
+     */
+    MotorGetPositionFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+    //deley TODO
+    SysCtlDelay(100000);
+    position = Fpga_Spi[HARDWARE_MOTOR_TYPE__MOTO_SCREW].RX_MISO;//MotorGetPositionFromFPGA_Res(Motor_Id);
+
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI112_LS_SCREW_LEFT, Winder_Test2);
+        //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
+        //set motor location 0 here
+        return status;
+
+}
+uint32_t Winder_Test2(uint32_t deviceID, uint32_t ReadValue)
+{
+    uint32_t status;
+    uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
+    uint32_t position;
+    /*
+     * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
+     * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
+     * report ready to the job STM
+     */
+    MotorGetPositionFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+    //deley TODO
+    SysCtlDelay(100000);
+    position = Fpga_Spi[HARDWARE_MOTOR_TYPE__MOTO_SCREW].RX_MISO;//MotorGetPositionFromFPGA_Res(Motor_Id);
+
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI113_LS_SCREW_RIGHT, Winder_Test1);
+        //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
+        //set motor location 0 here
+        return status;
+
+}
+uint32_t Winder_Prepare(void *JobDetails)
 {
     uint32_t status = 0;
+    JobTicket* JobTicket = JobDetails;
+
+    float process_speed = JobTicket->processparameters->dyeingspeed;
 //    double ScrewSpeed = (50 *  MotorsCfg[SCREW_MOTOR].pulseperround *  MotorsCfg[SCREW_MOTOR].microstep)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
-    double ScrewSpeed = (50 *  MotorsCfg[SCREW_MOTOR].pulseperround)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
+    double ScrewSpeed = (process_speed *  MotorsCfg[SCREW_MOTOR].pulseperround)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
 
     /*
      * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
@@ -33,17 +84,17 @@ uint32_t Winder_Prepare(void)
     if (PollGPIO(GPI113_LS_SCREW_RIGHT))
     {
         //go to prepare stage 2
-        Winder_PrepareStage2();
+        Winder_PrepareStage2(0,0);
     }
     else
     {
         Winder_ScrewHoming = true;
-        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1);//make sur to move the cart home
-        status |=  MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewSpeed);
+//        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI113_LS_SCREW_RIGHT, Winder_PrepareStage2);
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI113_LS_SCREW_RIGHT, Winder_Test1);
     }
     return status;
 }
-uint32_t Winder_PrepareStage2(void)
+uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 {
     uint32_t status;
     uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
@@ -52,7 +103,7 @@ uint32_t Winder_PrepareStage2(void)
      * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
      * report ready to the job STM
      */
-        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,0);//make sur to move the cart out
+        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,(1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize));//make sur to move the cart out
         //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
         //set motor location 0 here
         return status;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index ea75bffa3..28a2346c1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -18,7 +18,7 @@ uint32_t ThreadInitialTestStub();
 
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 uint32_t Winder_Init(void);
-uint32_t Winder_Prepare(void);
+uint32_t Winder_Prepare(void *JobDetails);
 uint32_t Winder_Presegment(void *JobDetails);
 uint32_t Winder_End(void);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 0e276fe92..d27b4f94e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -97,7 +97,7 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
         MotorSamples[Motor_i][i] = 0;  //reset the samples value for control beginning
     NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
-    temp=(100*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
+    temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
     NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp;
 //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 92bfa9c92..3ebb0304b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -22,6 +22,7 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "modules/heaters/heaters.h"
 
 ////////////////////////////////State machine operation////////////////////////////////////
@@ -66,6 +67,8 @@ ProcessedLengthFunc ProcessedLengthFuncPtr = NULL;
 void ThreadSegmentEnded(void);
 void ThreadInterSegmentEnded(void);
 void ThreadDistanceToSpoolEnded(void);
+
+double KeepNormalizedError = 0;
 ////////////////////////Slow Motor State////////////////////////////////////
 //uint32_t ThreadPreSegmentState(void *JobDetails);
 
@@ -176,7 +179,9 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     pooler_counter++;
     if (pooler_counter%10 == 0)
     {
-        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
+        //SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
+        SendJobProgress(/*KeepNormalizedError*/MotorControlConfig[index].m_calculatedError,CurrentSegmentId,false);
+
     }
     if (pooler_counter>=100)
     {
@@ -280,7 +285,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         DancerId = ThreadMotorIdToDancerId[index];
         if (ReadValue < 10)
-            return;
+            return OK;
         TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
         if (index == POOLER_MOTOR) //pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
@@ -295,8 +300,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
-        if (index == FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
+        if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
             MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
+        else
+            KeepNormalizedError = NormalizedError;
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
         if (abs(calculated_speed-CurrentControlledSpeed[index])>5)
         {
@@ -324,7 +331,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }*/
             //HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
 
-            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,calculated_speed,ReadValue, "FeederSpeed");
+            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,MotorControlConfig[index].m_calculatedError,ReadValue, "FeederSpeed");
                 pooler_counter = 0;
         }
     }
@@ -475,6 +482,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 10);
 //#warning rocker disabled
 
+//    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO
 
     // activate control fr all motors
     //set speed for both rocker motors