1 files changed, 80 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index a119b0b16..33086b636 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -1,7 +1,7 @@
 /*
  * Thread_Winder.c
  *
- *  Created on: 25 áîøõ 2018
+ *  Created on: 25 áîøõ 2018
  *      Author: shlomo
  */
 #include"include.h"
@@ -11,6 +11,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "Modules/Control/Control.h"
 
+#include "Common/report/report.h"
+
 #include "drivers/FPGA/FPGA.h"
 
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
@@ -27,10 +29,35 @@ uint32_t ScrewControlId = 0xFF;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
 uint32_t DirectionChangeCounter = 0; //holds the current number of runs of the screw  - will be used to build the cone
 
+InternalWinderConfigStruc InternalWinderCfg = {0};
+
 uint32_t Winder_Init(void)
 {
     return OK;
 }
+
+
+uint32_t InternalWinderConfigMessage(HardwareWinder* request)
+{
+    uint32_t status = PASSED;
+
+    InternalWinderCfg.milimetersperrotation = request->millimeterperrotation;
+
+    return status;
+}
+uint32_t InternalWindingConfigMessage(JobSpool* request)
+{
+    uint32_t status = PASSED;
+
+    InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
+    InternalWinderCfg.spoolbackingrate = request->backingrate;
+    InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
+    InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
+    InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+    InternalWinderCfg.diameter = request->diameter;
+
+    return status;
+}
 /*
  *uint32_t Winder_Prepare(void *JobDetails)
 
@@ -107,7 +134,56 @@ uint32_t ScrewControlId = 0xFF;
 uint32_t ScrewNumberOfSteps = 0;
 uint32_t DirectionChangeCounter = 0;
 */
+/*
+    InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
+    InternalWinderCfg.spoolbackingrate = request->backingrate;
+    InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
+    InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
+    InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+ *
+Calculate the number of steps.
+Initial home position = ...
+Initial out movement = ScrewNumberOfSteps
+if DirectionChangeCounter %= backingrate : reduce one from the  ScrewNumberOfSteps
+if DirectionChangeCounter %= bottombackingrate && direction was out: ADD one to the  ScrewNumberOfSteps,
+// WRONG? if the flag is raised - lower it and reduce one from the  ScrewNumberOfSteps
+30:100 - 70
+30:99 - 69
+30:98 - 68
+29:98 - 69
+29:97 -68
+InternalWinderCfg.segmentoffsetpulses
+  int32_t backingrate;
+  int32_t bottombackingrate;
+  
+numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+*/
+uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction)
+{
+    uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
+    if (Counter)
+    {
+        if (Counter%InternalWinderCfg.spoolbackingrate == 0)
+        {
+            NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate);
+            REPORT_MSG(ScrewNumberOfSteps, "Head Backing");
+            ScrewNumberOfSteps--;
+        }
+        if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 0))
+        {
+            if (direction != MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize)
+            {
+                NumberOfSteps += (Counter/InternalWinderCfg.SpoolBottomBackingRate);
+                ScrewNumberOfSteps++;
+                REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing");
+            }
+
+        }
+    }
+    return CalculateNumberOfSteps;
+
+}
 uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     if (BusyfirstCall)
@@ -118,6 +194,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     //ScrewCurrentDirection: false moves out, true moves home
     if (BusyFlag == NOTBUSY)
     {
+        CalculateNumberOfSteps (DirectionChangeCounter++, ScrewCurrentDirection);
         if (ScrewCurrentDirection == false)
         {
             ScrewCurrentDirection = true;
@@ -127,7 +204,6 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             ScrewCurrentDirection = false;
         }
         MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
-        DirectionChangeCounter++;
     }
 /*
  * calculate new ScrewSpeed and call     MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
@@ -197,6 +273,7 @@ uint32_t Winder_End(void)
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
 {
     uint32_t status;
+    //handle glitch - send information to the next time that the motor stops
     if  (Winder_ScrewHoming)
     {
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz); //stop ASAP
@@ -205,6 +282,7 @@ void Winder_ScrewHomeLimitSwitchInterrupt(void)
 }
 void Winder_ScrewOutLimitSwitchInterrupt(void)
 {
+    //handle glitch - send information to the next time that the motor stops
     uint32_t status;
     status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out
 }