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

4 files changed, 44 insertions, 41 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index c68156e68..5a1bb9063 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -43,20 +43,19 @@
         0 THREAD_LOAD_INIT,
         1 THREAD_LOAD_REDUCE_HEAT,                           //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
         2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,        //USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
-        3 THREAD_LOAD_CENTER_HEAD_ROCKERS,                   //puthead cleaning rockers to middle position
-        4 THREAD_LOAD_OPEN_COVERS,                           //OPEN DYEING HEAD COVER AND DRYER LID
-        5 THREAD_LOAD_LIFT_DANCERS,
-        6 THREAD_LOAD_LIFT_ROCKERS,                          //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
-        7 THREAD_LOAD_INITIAL_TENSION,                       //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
-        8 THREAD_LOAD_CLOSE_ROCKERS,
-        9 THREAD_LOAD_CLOSE_DANCERS,                         //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
-        10 THREAD_LOAD_CLOSE_LIDS,
-        11 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,           //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
-        12 THREAD_LOAD_DRYER_LOADING,                        //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
+        3 THREAD_LOAD_OPEN_COVERS,                           //OPEN DYEING HEAD COVER AND DRYER LID
+        4 THREAD_LOAD_LIFT_DANCERS,
+        5 THREAD_LOAD_LIFT_ROCKERS,                          //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
+        6 THREAD_LOAD_INITIAL_TENSION,                       //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
+        7 THREAD_LOAD_CLOSE_ROCKERS,
+        8 THREAD_LOAD_CLOSE_DANCERS,                         //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
+        9  THREAD_LOAD_CLOSE_LIDS,
+        10 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,           //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+        11 THREAD_LOAD_DRYER_LOADING,                        //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
                                                              //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
-        13 THREAD_LOAD_RESUME_HEATING,
-        14 THREAD_LOAD_JOG_THREAD,                           //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
-        15 THREAD_LOAD_END
+        12 THREAD_LOAD_RESUME_HEATING,
+        13 THREAD_LOAD_JOG_THREAD,                           //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
+        14 THREAD_LOAD_END
     }THREAD_LOAD_STAGES_ENUM;*/
     THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT;
     ProcessParameters ProcessParametersClear,ProcessParametersRecover;
@@ -202,7 +201,7 @@
         MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/
 
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
-
+//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_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
@@ -292,7 +291,7 @@
             LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0");
         return OK;
     }
-    uint32_t Thread_Load_Center_Head_Rockers(void)
+    /*uint32_t Thread_Load_Center_Head_Rockers(void)
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
@@ -300,7 +299,7 @@
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 80,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000);
         return OK;
-    }
+    }*/
     uint32_t Thread_Load_Open_Covers(void)
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
@@ -375,9 +374,9 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,4000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
@@ -497,7 +496,7 @@
         MotorControlConfig[FEEDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize);
 
-        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4);
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 
         LoadingControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         Report("AddControlCallback feeder",__FILE__,__LINE__,LoadingControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
@@ -658,10 +657,10 @@
             //Thread_Load_Set_Load_Arm_To_Start_Position();
             Thread_Load_Dryer_UnLoading();
             break;
-        case THREAD_LOAD_CENTER_HEAD_ROCKERS:
+        /*case THREAD_LOAD_CENTER_HEAD_ROCKERS:
             //LoadStages++;
             Thread_Load_Center_Head_Rockers();
-            break;
+            break;*/
         case THREAD_LOAD_OPEN_COVERS:  //OPEN DYEING HEAD COVER AND DRYER LID
             //LoadStages++;
             Thread_Load_Open_Covers();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 50c1f6c33..9d57cd29f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -47,6 +47,7 @@ uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of ru
 double WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
 bool     WinderMotorSpeedRollOver = false;
+int StartWinderCalculation = 0;
 #define DEFAULT_SCREW_SPEED 1200
 double   ScrewSpeed = DEFAULT_SCREW_SPEED;
 double   ScrewRunningTime = 0;
@@ -127,7 +128,7 @@ uint32_t Winder_Prepare(void *JobDetails)
     //float process_speed = JobTicket->processparameters->dyeingspeed;
     double ScrewSpeed = DEFAULT_SCREW_SPEED;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);  // we will use pulley radius of the screw for this purpose, as of now
     WinderMotorSpeedRollOver=false;
-
+    StartWinderCalculation = 0;
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(ScrewSpeed, "Winder_Prepare");
     /*
@@ -299,10 +300,9 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             if (WinderMotorSpeedRollOver == false)
             {
                 Add100 = true;
-                LOG_ERROR(Add100, "Add100 = true");
+                //LOG_ERROR(Add100, "Add100 = true");
             }
 //            WinderMotorSpeedCounter=0;
-            WinderMotorSpeedRollOver=true;
         }
 //    }
     if (flipflop == 0)
@@ -328,11 +328,13 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 #ifdef READ_SCREW_ENCODER
     int WinderRun;
      WinderRun = abs(ScrewLocationRun[1] - ScrewLocationRun[0]);
-     if ((WinderRun < 30000)&&(WinderMotorSpeedRollOver == true))
+     if (WinderMotorSpeedRollOver == true)
+         StartWinderCalculation++;
+     if ((WinderRun < 30000)&&(StartWinderCalculation >= 2))
      {
          WinderRunSamples++;
          WinderRunSum+=WinderRun;
-         WinderRunAverage = WinderRunSum/(WinderRunSamples);
+         WinderRunAverage = WinderRunSum/WinderRunSamples;
          if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
          {
              usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
@@ -340,8 +342,8 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
              Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
          }
      }
-     else
-         Report("winder run error value" ,__FILE__,WinderRun,ScrewLocationRun[0],RpWarning,ScrewLocationRun[1], 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");
@@ -357,6 +359,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         {
             ScrewNumberOfSteps += 100;
             Add100 = false;
+            WinderMotorSpeedRollOver=true;
         }
 
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 32d7772de..99117ca5d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -53,20 +53,19 @@ typedef enum
     /*01*/ THREAD_LOAD_INIT,
     /*02*/ THREAD_LOAD_REDUCE_HEAT,  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
     /*03*/ THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,//USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
-    /*04*/ THREAD_LOAD_CENTER_HEAD_ROCKERS,  //puthead cleaning rockers to middle position
-    /*05*/ THREAD_LOAD_OPEN_COVERS,  //OPEN DYEING HEAD COVER AND DRYER LID
-    /*06*/ THREAD_LOAD_LIFT_DANCERS,
-    /*07*/ THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
-    /*08*/ THREAD_LOAD_INITIAL_TENSION,//CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
-    /*09*/ THREAD_LOAD_CLOSE_ROCKERS,
-    /*10*/ THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
-    /*11*/ THREAD_LOAD_CLOSE_LIDS,
-    /*12*/ THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
-    /*13*/ THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
+    /*04*/ THREAD_LOAD_OPEN_COVERS,  //OPEN DYEING HEAD COVER AND DRYER LID
+    /*05*/ THREAD_LOAD_LIFT_DANCERS,
+    /*06*/ THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
+    /*07*/ THREAD_LOAD_INITIAL_TENSION,//CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
+    /*08*/ THREAD_LOAD_CLOSE_ROCKERS,
+    /*09*/ THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
+    /*10*/ THREAD_LOAD_CLOSE_LIDS,
+    /*11*/ THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+    /*12*/ THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
                                 //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
-    /*14*/ THREAD_LOAD_RESUME_HEATING,
-    /*15*/ THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
-    /*16*/ THREAD_LOAD_END
+    /*13*/ THREAD_LOAD_RESUME_HEATING,
+    /*14*/ THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
+    /*15*/ THREAD_LOAD_END
 }THREAD_LOAD_STAGES_ENUM;
 uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue);
 bool ThreadLoadingActive(void);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 59542ec38..47fc37081 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -729,6 +729,8 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
     EnableIntersegment = JobTicket->enableintersegment;
     IntersegmentLength = JobTicket->intersegmentlength;
 
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, Hard_Stop);
+
 
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)