Addd define and logic for emc testing with motors internal clock (EMC_FORCE_MOT_CLOCK_INTERNAL)

5 files changed, 36 insertions, 8 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 045bb2349..af252d9b5 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -26,6 +26,8 @@
 
 #define USE_POWERSTEP01
 
+//#define EMC_FORCE_MOT_CLOCK_INTERNAL
+
 //#define VAC_TEST
 
 //#define SPECIAL_DISPENSERS
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 9255a3c4f..a10c9fa1e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -692,7 +692,15 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
                 if(MotorsCfg[_motorId].has_p01configword == true)
                 {
-                    temp |= MotorsCfg[_motorId].p01configword<<8;
+                    if( (_motorId == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING) || (_motorId == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING) ||
+                        (_motorId == HARDWARE_MOTOR_TYPE__MOTO_SCREW) || (_motorId == HARDWARE_MOTOR_TYPE__MOTO_SCREW)    )
+                    {
+                            #ifdef EMC_FORCE_MOT_CLOCK_INTERNAL
+                                temp |= (MotorsCfg[_motorId].p01configword & ~(0x000F))<<8;
+                            #else
+                                temp |= MotorsCfg[_motorId].p01configword<<8;
+                            #endif
+                    }
                     MillisecWriteToMotor(_motorId, temp, 4, FPGA_MotorConfig_callback);
                 }
                 else//backward compatibility
@@ -717,8 +725,16 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
                         }
                         else
                         {
-                            //temp |= 0x1C8F<<8;//need to change in current mode?
-                            temp |= (0x1C80 | (MotorsCfg[_motorId].configword & 0x000F)) <<8;//
+                            if( (_motorId == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING) || (_motorId == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING) ||
+                                (_motorId == HARDWARE_MOTOR_TYPE__MOTO_SCREW) || (_motorId == HARDWARE_MOTOR_TYPE__MOTO_SCREW)    )
+                            {
+                                    #ifdef EMC_FORCE_MOT_CLOCK_INTERNAL
+                                        temp |= 0x1C80<<8;
+                                    #else
+                                        temp |= (0x1C80 | (MotorsCfg[_motorId].configword & 0x000F)) <<8;
+                                    #endif
+
+                            }
                             MillisecWriteToMotor(_motorId, temp, 4, FPGA_MotorConfig_callback);
                         }
                     }
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 190d564e0..8fb0fc573 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -73,10 +73,18 @@ uint32_t MotorsInit(void)
         }
 
     //option to change itafter initialization  (to solve EMC issues) in the function Control_motors_clock_source
-    F3_Moto_Clk_Src_Sel.Motor.LDRIVING = EXTERNAL;
-    F3_Moto_Clk_Src_Sel.Motor.RDRIVING = EXTERNAL;
-    F3_Moto_Clk_Src_Sel.Motor.SCREW    = EXTERNAL;
-    F3_Moto_Clk_Src_Sel.Motor.WINDER   = EXTERNAL;
+    #ifdef EMC_FORCE_MOT_CLOCK_INTERNAL
+        F3_Moto_Clk_Src_Sel.Motor.LDRIVING = INTERNAL;
+        F3_Moto_Clk_Src_Sel.Motor.RDRIVING = INTERNAL;
+        F3_Moto_Clk_Src_Sel.Motor.SCREW    = INTERNAL;
+        F3_Moto_Clk_Src_Sel.Motor.WINDER   = INTERNAL;
+    #else
+        F3_Moto_Clk_Src_Sel.Motor.LDRIVING = EXTERNAL;
+        F3_Moto_Clk_Src_Sel.Motor.RDRIVING = EXTERNAL;
+        F3_Moto_Clk_Src_Sel.Motor.SCREW    = EXTERNAL;
+        F3_Moto_Clk_Src_Sel.Motor.WINDER   = EXTERNAL;
+    #endif
+
     F3_MOTO_CLK_SRC_SEL = F3_Moto_Clk_Src_Sel.ushort;
 
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 0e3bf95a4..80ca05cb7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -123,7 +123,7 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.diameter = request->diameter;
     usnprintf(ScrewStr, 150, "WindingConfig start,offset,head,tail {, %d, %d, %d, %d, %d}",InternalWinderCfg.startoffsetpulses,(int)InternalWinderCfg.segmentoffsetpulses,
               (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000));
-    Report(ScrewStr,__FILE__,__LINE__,(int)InternalWinderCfg.diameter,RpWarning,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000), 0);
+    Report(ScrewStr,__FILE__,__LINE__,(int)InternalWinderCfg.startoffsetpulses,RpWarning,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000), 0);
 
     return status;
 }
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index b5715ca0a..48ade0798 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -417,6 +417,7 @@ uint32_t ThreadJoggingFunc(int speed)
             Tspool->segmentoffsetpulses = 1000;
             Tspool->startoffsetpulses = 220;
             Tspool->rotationsperpassage = 3.1415926*2;
+            Tspool->has_limitswitchstartpointoffset = false;
             Ticket.spool = Tspool;
             CurrentJob = &Ticket;
             InternalWindingConfigMessage(Tspool);
@@ -599,6 +600,7 @@ uint32_t ThreadCleaningJob(int speed)
                 Tspool->segmentoffsetpulses = 1000;
                 Tspool->startoffsetpulses = 220;
                 Tspool->rotationsperpassage = 3.1415926*2;
+                Tspool->has_limitswitchstartpointoffset = false;
                 Ticket.spool = Tspool;
                 CurrentJob = &Ticket;
                 job_length = CurrentJob->length + dryerbufferMeters;