diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c | 39 |
1 files changed, 28 insertions, 11 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index d8a96a4d9..faee55608 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -40,8 +40,8 @@ void ScrewsStartControlTimer (void); bool Winder_ScrewHoming = false; bool ScrewCurrentDirection = false; //holds current screw direction uint32_t ScrewDirectionChangeCounter = 1; //holds the current number of runs of the screw - will be used to build the cone -uint32_t ScrewChangeCounter = 0; -uint32_t ScrewChangeLimit = 0; +//uint32_t ScrewChangeCounter = 0; +//uint32_t ScrewChangeLimit = 0; uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of runs of the screw - will be used to build the cone uint16_t WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION]; uint16_t WinderMotorSpeedCounter = 0; @@ -77,7 +77,7 @@ uint32_t InternalWindingConfigMessage(JobSpool* request) InternalWinderCfg.spoolbackingrate = request->backingrate; InternalWinderCfg.startoffsetpulses = request->startoffsetpulses; InternalWinderCfg.SpoolBottomBackingRate = request->bottombackingrate; - InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage; + InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage; InternalWinderCfg.diameter = request->diameter; return status; @@ -198,6 +198,8 @@ char ScrewStr[100]; //char TempScrewStr[100]; double WinderReferenceSpeed=0; int32_t TotalWinderSpeed=0; +bool Add100 = false; +double Rotations = 6.0; uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) { //uint32_t Steps; @@ -206,14 +208,18 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) double RotationsPerSecond; int32_t Averagewinderspeed = 0; - ScrewChangeCounter++; - if ((ScrewChangeCounter>3)&&(ScrewChangeCounter<(ScrewChangeLimit-2))) //do not take the winder speed near the limits + //ScrewChangeCounter++; + //if ((ScrewChangeCounter>3)&&(ScrewChangeCounter<(ScrewChangeLimit-2))) //do not take the winder speed near the limits { TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter]; WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR]; TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter]; if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION) { + if (WinderMotorSpeedRollOver == false) + { + Add100 = true; + } WinderMotorSpeedCounter=0; WinderMotorSpeedRollOver=true; } @@ -227,6 +233,12 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out { + if (Add100 == true) //once per job + { + ScrewNumberOfSteps += 100; + Add100 = false; + } + if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0) { ScrewNumberOfSteps--; @@ -254,7 +266,9 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) WinderReferenceSpeed = Averagewinderspeed; } - screw_horizontal_speed = ScrewNumberOfSteps / InternalWinderCfg.NumberOfRotationPerPassage; + screw_horizontal_speed = ScrewNumberOfSteps / Rotations;//InternalWinderCfg.NumberOfRotationPerPassage; + if (Rotations > 7.0) + Rotations = 6.0; RotationsPerSecond = WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond; //ROM_IntMasterDisable(); @@ -288,7 +302,7 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue) return PreSegmentReady(Module_Winder,ModuleDone); } -uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) +uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId) { //JobTicket* JobTicket = JobDetails; double screw_horizontal_speed = 0; @@ -330,6 +344,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) // * 4. start move of travel length // * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; + ScrewNumberOfSteps -= 100; temp = SYS_CLK_FREQ; temp *= InternalWinderCfg.segmentoffsetpulses; temp /= ScrewSpeed; @@ -349,6 +364,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) WinderMotorSpeedCounter=0; TotalWinderSpeed = 0; WinderMotorSpeedRollOver=false; + Add100 = false; } PreSegmentReady(Module_Winder,ModuleDone); @@ -429,8 +445,8 @@ void ScrewTimerInterrupt(int ARG0) ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime); MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed+random); - ScrewChangeCounter = 0; - ScrewChangeLimit = ScrewRunningTime/12000000; + // ScrewChangeCounter = 0; + // ScrewChangeLimit = ScrewRunningTime/12000000; ScrewDirectionChangeCounter++; } else @@ -438,9 +454,10 @@ void ScrewTimerInterrupt(int ARG0) TimerDisable(Screw_timerBase, TIMER_A); } ROM_IntMasterEnable(); - random++; + Rotations+=0.1; + /*random++; if (random >= 2) - random = -1; + random = -1;*/ //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0); // // Enable all interrupts. |