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

6 files changed, 46 insertions, 19 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index f0ce7397c..b12064915 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -118,7 +118,7 @@ void LoadConfigurationParameters(ConfigurationParameters *Params)
             EmbeddedParameters.has_breaksensorlimit = true;
             EmbeddedParameters.breaksensorlimit = 10;
             EmbeddedParameters.has_diagnosticcollectionlimit = true;
-            EmbeddedParameters.diagnosticcollectionlimit = 1;
+            EmbeddedParameters.diagnosticcollectionlimit = 2;
             EmbeddedParameters.has_overheatcountlimit = true;
             EmbeddedParameters.overheatcountlimit = 3;
             EmbeddedParameters.has_underheatcountlimit = true;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 5e61010dd..3a9ce53d8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -953,6 +953,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
             //        #warning PID is now only proportional (above)
 //             Report(ACheatstr,__FILE__,__LINE__,index,RpWarning,readValue,  HeaterPIDConfig[index].m_calculatedError);
+            //Report("AC PID",__FILE__,__LINE__,HeaterPIDConfig[index].m_calculatedError/100,RpWarning,readValue, index);
             HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, (int)(HeaterPIDConfig[index].m_calculatedError/100));
         }
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 1e176a37a..668ab9dcd 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -758,7 +758,7 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
                                    (int) segmentfirst_speed);
                          //REPORT_MSG(segmentfirst_speed,IdsMessage);
                          Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
-                         SendJobProgress(0.0, 0, false, IdsMessage);
+                         //SendJobProgress(0.0, 0, false, IdsMessage);
                      }
                  }
              }
@@ -919,8 +919,7 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
             //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
             segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
                     / Dispensers[Dispenser_i]->nanoliterperpulse;
-            if (Dispensers[Dispenser_i]->dispenserstepdivision
-                    != DISPENSER_STEP_DIVISION__Auto)
+            if (Dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
             {
                 //MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
                 segmentfirst_speed /=
@@ -948,14 +947,14 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
                 MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
                 CurrentDispenserSpeed[DispenserId] = segmentfirst_speed;
                 usnprintf(IdsMessage, 80,
-                          "Dispenser %d nl/sec %d nl/pulse %d speed %d",
+                          "Dispenser %d nl/sec %d nl/pulse %d speed %d steps %d/%d",
                           DispenserId,
                           (int) Dispensers[Dispenser_i]->nanolitterpersecond,
                           (int) Dispensers[Dispenser_i]->nanoliterperpulse,
-                          (int) segmentfirst_speed);
+                          (int) segmentfirst_speed,Dispensers[Dispenser_i]->dispenserstepdivision,MotorsCfg[HW_Motor_Id].microstep);
                 //REPORT_MSG(segmentfirst_speed,IdsMessage);
                 Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
-                SendJobProgress(0.0, 0, false, IdsMessage);
+                //SendJobProgress(0.0, 0, false, IdsMessage);
             }
             else
             {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 34cb61e27..c6f2526db 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -11,6 +11,7 @@
 
 #include "drivers/Flash_Memory/FATFS/ff.h"
 #include "drivers/Flash_Memory/FATFS/Control_File_System.h"
+#include "drivers/adc_sampling/adc.h"
 
 //#include "graphics_adapter.h"
 
@@ -33,6 +34,13 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
             assert(iFResult);
         }
     }
+    else
+    if((request->amount == 0x0C) && (request->delay == 0x0C)) //Get Gas Sensor
+    {
+        response.progress = (double)Calculate_Gas_Power_Consumption();
+        response.has_progress = true;
+
+    }
     else     if((request->amount == 0xDF) && (request->delay == 0xDF)) //Power off
     {
         PowerOffInit();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 70f32ce6d..df88db3f9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -54,6 +54,9 @@ uint32_t ScrewControlId = 0xFF;
 
 InternalWinderConfigStruc InternalWinderCfg = {0};
 
+uint32_t ScrewLocationLimitSwitch = 0,ScrewLocationStart = 0;
+uint32_t ScrewLocationRun[3];
+
 uint32_t Winder_Init(void)
 {
     ScrewTimerInterruptInit();
@@ -109,6 +112,10 @@ uint32_t Winder_Prepare(void)
         AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,true);
         return ERROR;
     }*/
+
+    ScrewLocationRun[0] = 0;
+    ScrewLocationRun[1] = 0;
+
     if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT)
     {
         //REPORT_MSG(LIMIT, "Winder_Prepare at limit");
@@ -136,6 +143,11 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
+    //Read_Screw_Encoder();
+    //ScrewLocationLimitSwitch = Screw_RotEnc.Position;
+    //REPORT_MSG(ScrewLocationLimitSwitch, "Winder_PrepareStage2 Encoder Location");
+
+
     REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2");
     if (ReadValue != LIMIT)
     {
@@ -157,7 +169,13 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     //SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW);  //set this point as the spool home
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,temp_MaxFrequency);
 
+    //Read_Screw_Encoder();
+    //ScrewLocationStart = Screw_RotEnc.Position;
+
+    REPORT_MSG(ScrewLocationStart, "Winder_ScrewAtOffsetCallback Encoder Location");
+
     ScrewCurrentDirection = false;
+    ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position;
     ScrewSpeed = 0;
     ScrewControlId = 0xFF;
     ScrewNumberOfSteps = 0;
@@ -230,6 +248,10 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 
     ScrewCurrentDirection = 1-ScrewCurrentDirection;
     CalculationDirectionChangeCounter++;
+    //REPORT_MSG(ScrewLocationRun[1] - ScrewLocationRun[0], "Screw Run NumberOfSteps");
+    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]));
+    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 %d 1 %d diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],ScrewLocationRun[1] - ScrewLocationRun[0]);
+    //Report(ScrewStr,__FILE__,__LINE__,ScrewLocationLimitSwitch,RpWarning,ScrewLocationStart, 0);
 
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
@@ -242,7 +264,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0)
         {
             ScrewNumberOfSteps--;
-            //REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps");
+            REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps");
 
         }
     }
@@ -251,7 +273,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.SpoolBottomBackingRate == 0)
         {
             ScrewNumberOfSteps++;
-            //REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing ScrewNumberOfSteps");
+            REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing ScrewNumberOfSteps");
         }
     }
     if (WinderMotorSpeedRollOver)
@@ -288,7 +310,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
         //Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
-//        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
+        //Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
@@ -440,6 +462,9 @@ void ScrewTimerInterrupt(int ARG0)
     ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     ROM_IntMasterDisable();
 
+    //Read_Screw_Encoder();
+    //ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position;
+
     if (SCREW_TimerActivated == true)
     {
         ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
@@ -455,13 +480,7 @@ void ScrewTimerInterrupt(int ARG0)
     }
     ROM_IntMasterEnable();
     Rotations+=0.03;
-    /*random++;
-    if (random >= 2)
-        random = -1;*/
-    //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
-    //
-    // Enable all interrupts.
-    //
+
     return ;
 
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index a4208ad25..c292f7dcd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -842,8 +842,8 @@ char Endstr[150];
      Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
 
      ThreadUpdateProcessLength (0.0,(void *)NULL);
-     TotalProcessedLength = 0.0;
-    SetOriginMotorSpeed(0);
+     //TotalProcessedLength = 0.0;
+     SetOriginMotorSpeed(0);
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogClose();
 #endif