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

3 files changed, 29 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 794559d57..486f8384f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -168,7 +168,7 @@ numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__
 uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
 {
     uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
-    float screw_speed = 0;
+    float screw_horizontal_speed = 0;
     float RotationsPerSecond;
 
     if (Counter)
@@ -178,14 +178,15 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
             NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate);
             REPORT_MSG(ScrewNumberOfSteps, "Head Backing");
             ScrewNumberOfSteps--;
-            screw_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+            screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  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.
             RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI);
             RotationsPerSecond =  CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
             // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
-            ScrewSpeed = screw_speed*RotationsPerSecond;
+            ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
             MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
+            CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
 
         }
         if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 1))
@@ -258,7 +259,7 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
 {
     //JobTicket* JobTicket = JobDetails;
-    float screw_speed = 0;
+    float screw_horizontal_speed = 0;
     float RotationsPerSecond;
 
     if (dyeingspeed == 0)
@@ -275,15 +276,16 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         //     * 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.
-        screw_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+        screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  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.
         RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI);
         RotationsPerSecond =  CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
         // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
-        ScrewSpeed = screw_speed*RotationsPerSecond;
+        ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-        //screw_speed = InternalWinderCfg.milimetersperrotation
+        CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
+        //screw_horizontal_speed = InternalWinderCfg.milimetersperrotation
     //     * 2. determine optimal micro-step setting
     //     * 3. calculate cart travel length from winding parameters
     //     * 4. start move of travel length
@@ -292,7 +294,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
         ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0);
 
-        // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_speed,WinderPresegmentReady);
+        // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_horizontal_speed,WinderPresegmentReady);
         //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
 
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 7405a91d9..79c2bf843 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -25,6 +25,7 @@ extern double TotalProcessedLength;
 
 uint32_t InternalWindingConfigMessage(JobSpool* request);
 
+uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId);
 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 8d1ea20fa..fbf5cb811 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -20,7 +20,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
+//#include "drivers/SSI_Comm/ssi_comm.h"
+#include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
@@ -127,8 +128,8 @@ void ThreadUpdateProcessLength (double length, void *Funcptr)
     ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
     initialpos = 0xFFFF;
 }
-double MotorSentData[102] = {0};
-uint32_t PosDif[102] = {0};
+double MotorSentData[100] = {0};
+uint32_t PosDif[100] = {0};
 
 
 int MotorDataIndex = 0;
@@ -181,7 +182,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     //PosDif[MotorDataIndex] = positionDiff;
     MotorSentData[MotorDataIndex] = length;
     MotorDataIndex+=1;
-    if (MotorDataIndex >= 97) MotorDataIndex = 0;
+    if (MotorDataIndex == 99) MotorDataIndex = 0;
     static int pooler_counter = 0;
     pooler_counter++;
     TotalProcessedLength+= (length/100);
@@ -415,6 +416,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 
 //********************************************************************************************************************
+uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
+{
+    return  CurrentControlledSpeed[MotorId];
+}
 
 //********************************************************************************************************************
 uint32_t ThreadInitialTestStub(HardwareMotor * request)
@@ -561,13 +566,17 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]);
 
 //#warning rocker disabled
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].has_directionthreadwize)
+    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0)
+    {
         MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2);
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].has_directionthreadwize)
+        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2);
+    }
+    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0)
+    {
         MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2);
-//#warning rocker disabled
+        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2);
+    }
+ //#warning rocker disabled
 
 //    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO