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

3 files changed, 24 insertions, 18 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index c34702e5c..01e683dae 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -577,30 +577,35 @@ void SendDiagnostics(void)
 
     if (diagnosticsresponseContainer.data.data)
     {
-        diagnosticscontainer_buffer = 0;
-        diagnosticscontainer_buffer = my_malloc(message_container__get_packed_size(&diagnosticsresponseContainer));
-        if (diagnosticscontainer_buffer)
+        if (diagnosticscontainer_buffer == 0) //send new diagnostics packet only if the previous one was sent and released
         {
-            size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer);
-            if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full
+            diagnosticscontainer_buffer = my_malloc(message_container__get_packed_size(&diagnosticsresponseContainer));
+            if (diagnosticscontainer_buffer)
             {
-                DiagnosticsStop();
-                CommunicationMailboxFlush();
+                size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer);
+                if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full
+                {
+                    DiagnosticsStop();
+                }
+	            else
+	            {
+	                Report("Diagnostic Messgage",__FILE__,__LINE__,container_size,RpWarning,msec_millisecondCounter,  msec_millisecondCounter);
+	            }
+                diag_size[diag_index] = container_size;
+                diag_time[diag_index] = msec_millisecondCounter;
+                if (diag_index++>=MAX_DIAG_LOG)
+                    diag_index = 0;
             }
             else
             {
-                //Report("Diagnostic Messgage",__FILE__,__LINE__,container_size,RpWarning,msec_millisecondCounter,  msec_millisecondCounter);
+                LOG_ERROR(Task_self(),"my_malloc failed");
+                DiagnosticsStop();
+                CommunicationMailboxFlush();
             }
-            diag_size[diag_index] = container_size;
-            diag_time[diag_index] = msec_millisecondCounter;
-            if (diag_index++>=MAX_DIAG_LOG)
-                diag_index = 0;
-
         }
         else
         {
-            LOG_ERROR(Task_self(),"my_malloc failed");
-            DiagnosticsStop();
+            LOG_ERROR(Task_self(),"previous packet not sent");
         }
         my_free(diagnosticsresponseContainer.data.data);
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
index 3fc0969f8..91d531972 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
@@ -11,6 +11,7 @@
 
 extern bool blowervolatgedisplay;
 extern double voltage;
+extern uint8_t* diagnosticscontainer_buffer;
 
 
 uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.new b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.new
index f33a134e1..537d27775 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.new
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.new
@@ -177,14 +177,14 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
     float screw_horizontal_speed = 0;
     float RotationsPerSecond;
 
-        if (Counter%InternalWinderCfg.spoolbackingrate == 0)
+        if (Counter%InternalWinderCfg.spoolbackingrate == 1)
         {
             NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate);
             REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps");
             ScrewNumberOfSteps--;
             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.
-            RotationsPerSecond =  CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
+            RotationsPerSecond =  OriginalMotorSpd_2PPS[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_horizontal_speed*RotationsPerSecond;
 
@@ -194,7 +194,7 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
             CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
 
         }
-        if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 0))
+        if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 1))
         {
             if (direction != MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize)
             {