From 5cb32e4d23885b476f34547f2bc36e4b057ead0e Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Mon, 17 Dec 2018 14:54:33 +0200
Subject: Winder bugs. improved trace, improved control (callback invoked after
 time requested elabsed)

---
 .../Embedded/Modules/Thread/Thread_Winder.c        | 50 +++++++++++++---------
 1 file changed, 29 insertions(+), 21 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index d92e6a330..2b6d3aaea 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -124,7 +124,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
-    REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2");
+    REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2");
 
     status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback);
      //set motor location 0 here
@@ -141,7 +141,7 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     ScrewSpeed = 0;
     ScrewControlId = 0xFF;
     ScrewNumberOfSteps = 0;
-    REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback");
+    REPORT_MSG(millisecondCounter, "Winder_ScrewAtOffsetCallback");
     MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Soft_Hiz); //per L6470 errata between mov and run commands
     PrepareReady(Module_Winder, ModuleDone);
     return OK;
@@ -175,15 +175,20 @@ InternalWinderCfg.segmentoffsetpulses
 numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 */
 char ScrewStr[100];
+//char TempScrewStr[100];
+double WinderReferenceSpeed=0;
+int32_t  TotalWinderSpeed=0;
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
-    uint32_t Steps,i,winderspeed=0;
+    uint32_t Steps,i;
     double temp;
-    uint32_t WinderReferenceSpeed = OriginalMotorSpd_2PPS[WINDER_MOTOR];
-    float screw_horizontal_speed = 0;
-    float RotationsPerSecond;
+    double screw_horizontal_speed = 0;
+    double RotationsPerSecond;
+    int32_t Averagewinderspeed = 0;
 
+    TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
     WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
+    TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
     if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
     {
         WinderMotorSpeedCounter=0;
@@ -215,18 +220,18 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     }
     if (WinderMotorSpeedRollOver)
     {
-        for (i=0;i<MAX_WINDER_SPEED_CALCULATION;i++)
+        /*for (i=0;i<MAX_WINDER_SPEED_CALCULATION;i++)
         {
-            winderspeed+=WinderMotorSpeed[i];
-        }
-        winderspeed/=MAX_WINDER_SPEED_CALCULATION;
+            TotalWinderSpeed+=WinderMotorSpeed[i];
+        }*/
+        Averagewinderspeed = TotalWinderSpeed/MAX_WINDER_SPEED_CALCULATION;
         //REPORT_MSG(winderspeed, "WinderSpeedUpdated");
-        Report("WinderSpeedUpdated",__FILE__,__LINE__,winderspeed,RpWarning,ScrewNumberOfSteps,0);
+        Report("WinderSpeedUpdated",__FILE__,__LINE__,TotalWinderSpeed,RpWarning,Averagewinderspeed,0);
 
-        WinderReferenceSpeed = winderspeed;
+        WinderReferenceSpeed = Averagewinderspeed;
     }
     screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
-    RotationsPerSecond =  WinderReferenceSpeed / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
+    RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
     ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
     temp = SYS_CLK_FREQ;
@@ -234,9 +239,11 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     temp /= ScrewSpeed;
     if (ScrewRunningTime != temp)
     {
-        usnprintf(ScrewStr, 254, "Winder: Steps,Speed, Time, WinderSpeed{ %d, %d ,%d, %d} ",ScrewNumberOfSteps,ScrewSpeed,temp,WinderReferenceSpeed);
+        //usnprintf(TempScrewStr, 100, "Winder: Horizon,Rotation, PPR, RPP{ %d, %d ,%d, %d} ",(int)screw_horizontal_speed,(int)RotationsPerSecond,(int)InternalWinderCfg.NumberOfRotationPerPassage,(int)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround);
+        usnprintf(ScrewStr, 100, "Winder: Steps,Speed, Time, WinderSpeed{ %d, %d ,%d, %d} ",(int)ScrewNumberOfSteps,(int)ScrewSpeed,(int)temp,(int)WinderReferenceSpeed);
         //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
         //        #warning PID is now only proportional (above)
+        //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__,__LINE__,temp,RpWarning,ScrewSpeed,0);
@@ -256,9 +263,8 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
 {
     //JobTicket* JobTicket = JobDetails;
-    float screw_horizontal_speed = 0;
-    float RotationsPerSecond;
-    char Message[80];
+    double screw_horizontal_speed = 0;
+    double RotationsPerSecond;
 	double temp = 0;
     if (dyeingspeed == 0)
     {
@@ -282,13 +288,14 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
 
         //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-        usnprintf(Message, 80, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed);
-        //REPORT_MSG(segmentfirst_speed,Message);
-        //Report(Message,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0);
-        SendJobProgress(0.0,0,false, Message);
+        usnprintf(ScrewStr, 100, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed);
+        //REPORT_MSG(segmentfirst_speed,ScrewStr);
+        Report(ScrewStr,__FILE__,__LINE__,RotationsPerSecond,RpWarning,ScrewSpeed,0);
+        SendJobProgress(0.0,0,false, ScrewStr);
 
         CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
         OriginalMotorSpd_2PPS[SCREW_MOTOR] = ScrewSpeed;
+        WinderReferenceSpeed = OriginalMotorSpd_2PPS[WINDER_MOTOR];
         //screw_horizontal_speed = InternalWinderCfg.milimetersperrotation
     //     * 2. determine optimal micro-step setting
     //     * 3. calculate cart travel length from winding parameters
@@ -311,6 +318,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         CalculationDirectionChangeCounter = 1;
         memset (WinderMotorSpeed,0,sizeof(WinderMotorSpeed) );
         WinderMotorSpeedCounter=0;
+        TotalWinderSpeed = 0;
         WinderMotorSpeedRollOver=false;
    }
     PreSegmentReady(Module_Winder,ModuleDone);
-- 
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