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

8 files changed, 58 insertions, 84 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 829261533..db4535e06 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -490,16 +490,12 @@ uint32_t AlarmHandlingLoadFile(void)
                 F_count = 0;
                 for (i = 0; i < AlarmParametersTable->n_alarmitem ;i++)
                 {
-                    FileAlarmItem[F_count].AlarmDirection = AlarmParametersTable->alarmitem[i]->alarmdirection;
                     FileAlarmItem[F_count].AlarmDirection =  AlarmParametersTable->alarmitem[i]->alarmdirection;
-                    //FileAlarmItem[F_count].Frequency =       AlarmParametersTable->alarmitem[i]->frequency;  //1/10/100/1000
                     FileAlarmItem[F_count].AlarmSource =     AlarmParametersTable->alarmitem[i]->alarmsource;
                     FileAlarmItem[F_count].DeviceId =        AlarmParametersTable->alarmitem[i]->deviceid;
                     FileAlarmItem[F_count].ModuleDeviceId =  AlarmParametersTable->alarmitem[i]->moduledeviceid;
                     FileAlarmItem[F_count].AlarmValue =      AlarmParametersTable->alarmitem[i]->alarmvalue;
-                    FileAlarmItem[F_count].AlarmDirection =  AlarmParametersTable->alarmitem[i]->alarmdirection;
                     FileAlarmItem[F_count].Severity =        AlarmParametersTable->alarmitem[i]->severity;
-                    //FileAlarmItem[F_count].Predecessor =     AlarmParametersTable->alarmitem[i]->predecessor;
                     FileAlarmItem[F_count].DebounceValue =   AlarmParametersTable->alarmitem[i]->debouncevalue;
                     FileAlarmItem[F_count].EventType =       AlarmParametersTable->alarmitem[i]->eventtype;
                     FileAlarmItem[F_count].isPersistent =    AlarmParametersTable->alarmitem[i]->ispersistent;
@@ -1010,30 +1006,33 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                 }
             }
     }
-    if ((AlarmState[Alarm_i].Status == true)&&(FoundReason == JOB_OK))
+    for (Alarm_i = 0;Alarm_i<NumOfSystemAlarms;Alarm_i++)
     {
-        if(AlarmItem[Alarm_i].Severity>=DEBUG_LOG_CATEGORY__Error)
+        if ((AlarmState[Alarm_i].Status == true)&&(FoundReason == JOB_OK))
         {
-            ReportWithPackageFilter(AlarmFilter,"an alarm existing before job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
-            switch (AlarmItem[Alarm_i].EventType )
+            if(AlarmItem[Alarm_i].Severity>=DEBUG_LOG_CATEGORY__Error)
             {
-                case EVENT_TYPE__INSUFFICIENT_AIR_FLOW:
-                case EVENT_TYPE__VOC_SENSOR_ALARM_TIME:
-#warning unmark to prevent job on voc alarm//case EVENT_TYPE__VOC_SENSOR_ALARM_SLOPE:
-                //case EVENT_TYPE__POWER_UP_BIT_FAILURE:
-                    FoundReason = JOB_WASTE_HANDLING_PROBLEM;
-                    AlarmId = Alarm_i;
-                    ReportWithPackageFilter(AlarmFilter,"an alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
-                    break;
-                case EVENT_TYPE__ELECTRICAL_CABINET_OVERTEMPERATURE:
-                case EVENT_TYPE__MACHINE_INTERNAL_OVERTEMPERATURE:
-                case EVENT_TYPE__MACHINE_INTERNAL_OVERTEMPERATURE_2:
-                    FoundReason = JOB_TEMPERATURE_ALARM;
-                    AlarmId = Alarm_i;
-                    ReportWithPackageFilter(AlarmFilter,"machine internal over-temperature is preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
-                    break;
-                default:
-                    break;
+                ReportWithPackageFilter(AlarmFilter,"an alarm existing before job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
+                switch (AlarmItem[Alarm_i].EventType )
+                {
+                    case EVENT_TYPE__INSUFFICIENT_AIR_FLOW:
+                    case EVENT_TYPE__VOC_SENSOR_ALARM_TIME:
+                    //case EVENT_TYPE__VOC_SENSOR_ALARM_SLOPE:
+                    //case EVENT_TYPE__POWER_UP_BIT_FAILURE:
+                        FoundReason = JOB_WASTE_HANDLING_PROBLEM;
+                        AlarmId = Alarm_i;
+                        ReportWithPackageFilter(AlarmFilter,"an alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
+                        break;
+                    case EVENT_TYPE__ELECTRICAL_CABINET_OVERTEMPERATURE:
+                    case EVENT_TYPE__MACHINE_INTERNAL_OVERTEMPERATURE:
+                    case EVENT_TYPE__MACHINE_INTERNAL_OVERTEMPERATURE_2:
+                        FoundReason = JOB_TEMPERATURE_ALARM;
+                        AlarmId = Alarm_i;
+                        ReportWithPackageFilter(AlarmFilter,"machine internal over-temperature is preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
+                        break;
+                    default:
+                        break;
+                }
             }
         }
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index eb72de61b..ad5a1d5ca 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -544,8 +544,12 @@ int MillisecCalculateTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId)
     calc = TemperatureSum[SensorId] / (TemperatureCount[SensorId]-2);
     if (TemperatureSum[SensorId]>10)
     {
+
         if(abs(TemperatureMax[SensorId]-TemperatureMin[SensorId])>2000)
+        {
+            if ((Head_Type == HEAD_TYPE_FLAT_WITHOUT_CARD)||(SensorId!=TEMP_SENSE_AN_ENCLOSURETEMP3))
                 Report("Millisec Temp spike",__FILE__,SensorId,(int)TemperatureMax[SensorId],RpWarning,(int) TemperatureMin[SensorId],0);
+        }
     }
     TemperatureSum[SensorId] = 0;
     TemperatureCount[SensorId] = 0;
@@ -645,7 +649,6 @@ uint32_t MillisecLowLoop(uint32_t tick)
     //Screw_ENC_Velocity_to_DAC(); - for testing the screw enc
     if (Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD)
         StartPT100 = TEMP_SENSE_ANALOG_DRYER_TEMP1;
-
     if (Ten_msTick)
     {
         //Speed_Data = Read_Speed_Sensor_TypeII();
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index e02bd8191..e6da43178 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -83,6 +83,7 @@ typedef struct
   DataReadCBFunction ControlDataReadPtr;
   ControlCBFunction ControlCallbackPtr;
   uint32_t ControlTiming;
+  uint32_t LastCalled;
   char *Name;
 }ControlDeviceStruc;
 
@@ -613,10 +614,13 @@ uint32_t ControlLowLoop(uint32_t tick)
         {
             if (tick - ControlArray[ControlLowDevice_i].StartTick<=skipped_ticks)
                 continue;
+            if (tick - ControlArray[ControlLowDevice_i].LastCalled<=skipped_ticks)
+                continue;
             if (ControlArray[ControlLowDevice_i].ControlTiming == eOneMillisecond)
                 continue;
             if (ControlArray[ControlLowDevice_i].StartTick == tick)
                 continue;
+            ControlArray[ControlLowDevice_i].LastCalled = tick;
 
             if (((tick - ControlArray[ControlLowDevice_i].StartTick)%ControlArray[ControlLowDevice_i].ControlTiming)<=skipped_ticks) // run the control on exact intervals
             {
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index d880b1381..9cad274b9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -78,7 +78,7 @@ DiagnosticsMonitors DiagnosticsMonitor = DIAGNOSTICS_MONITORS__INIT;
 #define DIAGNOSTICS_LIMIT 3
 #define DIAGNOSTICS_DANCER_LIMIT 30
 int DiagnosticsIndex = 0;
-int DiagnosticCollectionLimit = 3;  //number of data samples to collect before sending to the host
+int DiagnosticCollectionLimit = 1;  //number of data samples to collect before sending to the host
 //int DiagnosticLimit = eHundredMillisecond; //frequency of data collection
 //int DiagnosticFastLimit = eTenMillisecond; //frequency of data collection
 int DiagnosticLimit =eHundredMillisecond; //frequency of data collection
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 7b4a30dd2..010fc9607 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -220,7 +220,7 @@ void LoadConfigurationParameters(ConfigurationParameters *Params)
             EmbeddedParameters->has_initialdispenserpressure = true;
             EmbeddedParameters->initialdispenserpressure=3.85;
             EmbeddedParameters->has_initialdispensertimeout = true;
-            EmbeddedParameters->initialdispensertimeout=120000.0 ;
+            EmbeddedParameters->initialdispensertimeout=119999.0 ;
             EmbeddedParameters->has_initialdispensertimelag = true;
             EmbeddedParameters->initialdispensertimelag=100.0 ;
 
@@ -229,7 +229,7 @@ void LoadConfigurationParameters(ConfigurationParameters *Params)
             EmbeddedParameters->has_dispenserbuildpressurelimit = true;
             EmbeddedParameters->dispenserbuildpressurelimit=1.0 ;
             EmbeddedParameters->has_dispenserbuildpressuretimeout = true;
-            EmbeddedParameters->dispenserbuildpressuretimeout=150000;
+            EmbeddedParameters->dispenserbuildpressuretimeout=419999.0;
             EmbeddedParameters->has_dispenserbuildpressurelag = true;
             EmbeddedParameters->dispenserbuildpressurelag=50;
 
@@ -297,6 +297,7 @@ void LoadConfigurationParameters(ConfigurationParameters *Params)
             EmbeddedParameters->powerofftemperaturelimit = 90;
             EmbeddedParameters->has_ids_presegment_wfcf_timebeforesegment = true;
             EmbeddedParameters->ids_presegment_wfcf_timebeforesegment = 20000;
+            EmbeddedParameters->description = "default embedded parameters";
             uint8_t* response_buffer = my_malloc(configuration_parameters__get_packed_size(EmbeddedParameters));
 
             if (response_buffer)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/Safety.c b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
index ebbc3d326..a70866fd6 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/Safety.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
@@ -205,10 +205,10 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
            {
                if (Check_Disp_Safety_Stop_Indication(Disp_i) == false)
                {
-                   AlarmHandlingSetAlarm(DispenserAlarm[Disp_i], false);
                    if (DispenserAlarm[Disp_i] == true)
                    {
                        IDS_Dispenser_Alarm_Off(Disp_i);
+                       AlarmHandlingSetAlarm(DispenserAlarm[Disp_i], false);
                    }
                    DispenserAlarm[Disp_i] = 0;
                    DispenserOverPressure[Disp_i] = false;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index d567f8ad9..c196ea031 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -701,6 +701,8 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                          {
                              continue;
                          }
+                         if (DispenserId!=Dispenser_i)
+                             ReportWithPackageFilter(IDSFilter,"DispenserId!=Dispenser_i",__FILE__,__LINE__,DispenserId,RpWarning,(int)Dispenser_i,0);
                          //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
                          segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
                                  / Dispensers[Dispenser_i]->nanoliterperpulse;
@@ -729,7 +731,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                              {
                                  MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
                              }
-                             CurrentDispenserSpeed[Dispenser_i] = segmentfirst_speed;
+                             CurrentDispenserSpeed[DispenserId] = segmentfirst_speed;
 
                              /*usnprintf(IdMessage, 80,
                                        "WFCF Dispenser %d nl/sec %d nl/pulse %d Pulse/sec %d speed %d",
@@ -747,7 +749,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                              if (DispenserUsedInJob[DispenserId] == true)
                              {
                                  MotorStop(HW_Motor_Id, Hard_Hiz);
-                                 CurrentDispenserSpeed[Dispenser_i] = 0;
+                                 CurrentDispenserSpeed[DispenserId] = 0;
                                  //usnprintf(IdsMessage, 80,"WFCF Prepare Dispenser %d stopped",DispenserId,(int) segmentfirst_speed);
                                  //ReportWithPackageFilter(IDSFilter,IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
                              }
@@ -1085,9 +1087,9 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                          / Dispensers[Dispenser_i]->nanoliterperpulse;
                  if (segmentfirst_speed > MINIMAL_MOTOR_SPEED)
                  {
-                     DispenserUsedInSegment[Dispenser_i] = true;
+                     DispenserUsedInSegment[DispenserId] = true;
                      MotorSetSpeed(HW_Motor_Id, DispenserPrepareSpeed);
-                     CurrentDispenserSpeed[Dispenser_i] = DispenserPrepareSpeed;
+                     CurrentDispenserSpeed[DispenserId] = DispenserPrepareSpeed;
                      //usnprintf(IdsMessage, 80,"Presegment Prepare Dispenser %d speed %d",DispenserId,(int) DispenserPrepareSpeed);
                      //REPORT_MSG(segmentfirst_speed,IdsMessage);
                      //ReportWithPackageFilter(IDSFilter,IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   DispenserPrepareSpeed, 0);
@@ -1105,7 +1107,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                          {
                              MotorStop(HW_Motor_Id, Hard_Hiz);
                          }
-                         CurrentDispenserSpeed[Dispenser_i] = 0;
+                         CurrentDispenserSpeed[DispenserId] = 0;
                          //usnprintf(IdsMessage, 80,"Presegment Prepare Dispenser %d stopped",DispenserId,(int) segmentfirst_speed);
                          //ReportWithPackageFilter(IDSFilter,IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
                      }
@@ -1302,7 +1304,7 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
                          //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
                          //IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,segmentfirst_speed,NULL);
                          MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
-                         CurrentDispenserSpeed[Dispenser_i] = segmentfirst_speed;
+                         CurrentDispenserSpeed[DispenserId] = segmentfirst_speed;
 
                          /*usnprintf(IdMessage, 80,
                                    "WFCF Dispenser %d nl/sec %d nl/pulse %d Pulse/sec %d speed %d",
@@ -1422,47 +1424,8 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
                 }
                 ReportWithPackageFilter(IDSFilter,"Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)lInterSegmentLength,0);
             }
-            /*if (EnableCleaning == true)
-            {
-                InterSegmentStartSprayCleaner = 500;
-                InterSegmentStartRocking = 1000;
-                InterSegmentCenterRockers = 3000;
-            }*/
-
-            //InterSegmentStartWFCFDispensers = (lInterSegmentLength>5000)?lInterSegmentLength-5000:lInterSegmentLength;
         }
     }
-    /*if (SegmentId == 0)//first segment - running the DTS out of the drier
-    {
-        Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); //if intersegment is defined throw the ink away
-        for (Dispenser_i = 0; Dispenser_i < MAX_SYSTEM_DISPENSERS; Dispenser_i++)
-        {
-            HW_Motor_Id = DispenserIdToMotorId[Dispenser_i];
-            //MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
-            if (DispenserUsedInJob[Dispenser_i]==true)//unconfigured dispenser
-            {
-                MotorStop(HW_Motor_Id, Soft_Hiz);
-                CurrentDispenserSpeed[Dispenser_i] = 0;
-            }
-        }
-        lInterSegmentLength = (dryerbufferCentimeters*1000/dyeingspeed);
-        lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
-        InterSegmentStepsCount = 0;
-        DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 );
-        if (DispenserPreSegmentControlId == 0xFF)
-        {
-            ReportWithPackageFilter(IDSFilter,"Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
-            return ERROR;
-        }
-        ReportWithPackageFilter(IDSFilter,"Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)lInterSegmentLength,0);
-        if (EnableCleaning == true)
-        {
-            InterSegmentStartSprayCleaner = 500;
-            InterSegmentStartRocking = 1000;
-            InterSegmentCenterRockers = 3000;
-        }
-        InterSegmentStartWFCFDispensers = lInterSegmentLength-5000;
-    }*/
 
     if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
     {
@@ -1539,8 +1502,6 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
                         MotorStop(HW_Motor_Id,Soft_Hiz); //26/03/19 test  without valves
                     }
                     CurrentDispenserSpeed[DispenserId] = 0;
-                    //MotorSetSpeed(HW_Motor_Id, 5);
-                    //CurrentDispenserSpeed[Dispenser_i] = 5;
                     DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
                     REPORT_MSG(DispenserId,"Dispenser stopped pre Segment");
                 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index a75241671..03bc9d24d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -50,6 +50,7 @@ bool     WinderMotorSpeedRollOver = false;
 int StartWinderCalculation = 0;
 #define DEFAULT_SCREW_SPEED 1200
 double   ScrewSpeed = DEFAULT_SCREW_SPEED;
+double RetreatTime = 0;
 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
 bool     SCREW_TimerActivated = false;
@@ -635,6 +636,7 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         temp *= ScrewNumberOfSteps;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
+        RetreatTime = ScrewNumberOfSteps*1000/ScrewSpeed;
         REPORT_MSG((int)ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
         REPORT_MSG((int)ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
         //MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
@@ -673,11 +675,11 @@ uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
     //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);
+    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, WinderDistanceToSpoolEnded,RetreatTime*2);
 #ifdef FOUR_WINDERS
-    MotorMovetoLimitSwitch (SCREW_2_Motor,MotorsCfg[SCREW_2_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE2_2, NULL,2000);
-    MotorMovetoLimitSwitch (SCREW_3_Motor,MotorsCfg[SCREW_3_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE1_2, NULL,2000);
-    MotorMovetoLimitSwitch (SCREW_4_Motor,MotorsCfg[SCREW_4_Motor].directionthreadwize, ScrewSpeed, GPI_LS_RDANCER_UP, NULL,2000);
+    MotorMovetoLimitSwitch (SCREW_2_Motor,MotorsCfg[SCREW_2_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE2_2, NULL,RetreatTime*2);
+    MotorMovetoLimitSwitch (SCREW_3_Motor,MotorsCfg[SCREW_3_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE1_2, NULL,RetreatTime*2);
+    MotorMovetoLimitSwitch (SCREW_4_Motor,MotorsCfg[SCREW_4_Motor].directionthreadwize, ScrewSpeed, GPI_LS_RDANCER_UP, NULL,RetreatTime*2);
 #endif
 
     return OK;
@@ -685,10 +687,14 @@ uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
 uint32_t WinderDistanceToSpoolState(void )
 {
     double DTS_Time = (dryerbufferCentimeters/dyeingspeed)*1000;//distance to spool time in milliseconds
-    REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
+    double WinderBackTimeBySpeed = WinderBackToBaseTime;
+    WinderBackTimeBySpeed *= 50;
+    WinderBackTimeBySpeed /= dyeingspeed;
+    Report("WinderDistanceToSpoolState start", __FILE__,DTS_Time,RetreatTime, RpMessage, (int)WinderBackTimeBySpeed, 0);
+    //REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
 
-    ScrewDTSControlId = AddControlCallback("screw DTS",ScrewDTSCallback, DTS_Time-WinderBackToBaseTime,TemplateDataReadCBFunction,0,0,0);
-    Report("ScrewDTSCallback start", __FILE__,DTS_Time,msec_millisecondCounter, RpMessage, WinderBackToBaseTime, 0);
+    ScrewDTSControlId = AddControlCallback("screw DTS",ScrewDTSCallback, DTS_Time-RetreatTime,TemplateDataReadCBFunction,0,0,0);
+    Report("ScrewDTSCallback start", __FILE__,DTS_Time,msec_millisecondCounter, RpMessage, (int)WinderBackTimeBySpeed, 0);
 
     return OK;
 }