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

2 files changed, 27 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 195cc65f3..00ce306cf 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -58,6 +58,7 @@
 
 #include <Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.h>
 #include <Drivers/I2C_Communication/I2C_Task.h>
+#include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
 
@@ -568,6 +569,7 @@ void setRapidPressureRead(bool value)
 }
 
 uint16_t PumpCounter = 0;
+uint16_t realtimetest[101];
 uint32_t MillisecLowLoop(uint32_t tick)
 {
     uint8_t Motor_i,Disp_i,temp;
@@ -578,7 +580,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
     //test dancers and speed encoders
     //check all callback units (state machine waiting for completion of a change)
     bool Ten_msTick, Fifty_msTick, Hundred_msTick , m20msecTick,m70msecTick,m90msecTick, Onesecond_Tick,OneMinute_Tick,OneHourTick,Gradient_Tick;
-    bool O100Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick;
+    bool O700Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick;
     //bool O100Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick,O800Millisecond_Tick,O900Millisecond_Tick;
     Ten_msTick      =   (tick%eTenMillisecond == 0)      ?true:false;
     Fifty_msTick      =   (tick%eHundredMillisecond == 40)      ?true:false; //eFiftyMillisecond
@@ -586,7 +588,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
     m20msecTick  =   (tick%eHundredMillisecond == 20)  ?true:false;
     m70msecTick  =   (tick%eHundredMillisecond == 70)  ?true:false;
     m90msecTick  =   (tick%eHundredMillisecond == 90)  ?true:false;
-    O100Millisecond_Tick  =   (tick%eOneSecond == 100)           ?true:false;
+    O700Millisecond_Tick  =   (tick%eOneSecond == 700)           ?true:false;
     O200Millisecond_Tick  =   (tick%eOneSecond == 200)           ?true:false;
     O400Millisecond_Tick  =   (tick%eOneSecond == 400)           ?true:false;
     O500Millisecond_Tick  =   (tick%eOneSecond == 500)           ?true:false;
@@ -597,6 +599,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
     OneMinute_Tick  =   (tick%eOneMinute == 0)           ?true:false;
     OneHourTick  =   (tick%eOneHour == 0)           ?true:false;
+    realtimetest[(tick%1000)/10]++;
     //gather Motor data from FPGA
     //ROM_IntMasterDisable();
     int StartPT100 = 0;
@@ -605,7 +608,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         StartPT100 = TEMP_SENSE_ANALOG_DRYER_TEMP1;
     if (Ten_msTick)
     {
-        //Speed_Data = Calculate_Speed_Sensor_Velocity();
+        Speed_Data = Read_Speed_Sensor_TypeII();
         //MillisecReadFromTempSensor(Sensor_Read, NULL);
         //if (Sensor_Read++ >= MAX_MAIN_CARD_TEMPERATURE_SENSOR_ID) Sensor_Read = 0;
         if(Machine_Idle_Mode == true)
@@ -662,12 +665,13 @@ uint32_t MillisecLowLoop(uint32_t tick)
     }
     if (Gradient_Tick)
         DispensersCollectionCall();
-    if (O100Millisecond_Tick)
+    if (O700Millisecond_Tick)
     {
         Trigger_Heater_Current_Read();
     }
     if (O200Millisecond_Tick)
     {
+        Trigger_WHS_MAX11614_Read_allADC();
         FPGA_GetAllDispensersValveBusyOCD();
         temp = Read_Fans_Tacho();
         DrawerFansStatus = temp & 0x1F;
@@ -689,6 +693,8 @@ uint32_t MillisecLowLoop(uint32_t tick)
     }
     if (O600Millisecond_Tick)
     {
+        Trigger_WHSReadAllFanTacho ();
+        DrierHeaterVoltageSetup();
         if (RapidPressureRead == false)
         {
             for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
@@ -704,8 +710,8 @@ uint32_t MillisecLowLoop(uint32_t tick)
         MachineUpdateResponseFunc();
         //KeepAliveOneSecondCall();
 
-        TemperatureListString(Lenstr);
-        ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)Counter++,RpWarning,(int) msec_millisecondCounter,0);
+        //TemperatureListString(Lenstr);
+        //ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)Counter++,RpWarning,(int) msec_millisecondCounter,0);
         for (Sensor_i = StartPT100;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
         {
             TemperatureCalc[Sensor_i] =  MillisecCalculateTemperatures ( Sensor_i);
@@ -717,17 +723,21 @@ uint32_t MillisecLowLoop(uint32_t tick)
                 PressureCalc[Disp_i] = MillisecCalculatePressures(Disp_i);
             }
         }
-    Trigger_WHS_PT100_Read_All();
-    Trigger_WHS_MAX11614_Read_allADC();
-    Trigger_WHSReadAllFanTacho ();
+        if (WHS_Type == WHS_TYPE_NEW)
+        {
+            Trigger_WHS_PT100_Read_All();
+            WHS_Blower_Avarege_ORF1(); //drier
+            WHS_Blower_Avarege_ORF3(); //head
+            WHS_Start_Blower_Control_Closed_Loop ();
+        }
     }
     if (OneMinute_Tick)
     {
-        Trigger_MidTank_Pressure_Read();
-        /*for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
+        //Trigger_MidTank_Pressure_Read();
+        for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
         {
             Read_MidTank_Pressure_Sensor(Disp_i);
-        }*/
+        }
 //        MachineUpdateResponseFunc();
         /*        for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
@@ -919,7 +929,7 @@ void HundredMicroTimerInterrupt(int ARG0)
     StoreBuffer[StoreBufferId][StoreBufferCounter++] = dancer2;
     StoreBuffer[StoreBufferId][StoreBufferCounter++] = dancer3;
     /*-----------------------*/
-    //len = usprintf(&StoreBuffer[StoreBufferId][StoreBufferCounter], "\r\n%d %d %d", dancer1[dancer_count],dancer2[dancer_count],dancer3[dancer_count]);
+    //len = usprintf(&StoreBuffer[StoreBufferId][StoreBufferCounter], "%d %d %d", dancer1[dancer_count],dancer2[dancer_count],dancer3[dancer_count]);
     //StoreBufferCounter+=(len+1);
     /*-----------------------*/
     dancer1sum+=dancer1;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 5adf6f83d..bea68e314 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -65,7 +65,7 @@
 #include "MillisecTask.h"
 
 
-//#define CONTROL_DEBUG
+
 #define DURATION_LIMIT 6
 /******************** Definitions  ********************************************/
 #define MAX_TANGO_CONTROL_DEVICES 100
@@ -576,8 +576,8 @@ uint32_t ControlLowLoop(uint32_t tick)
     if (tick-prevtick>1)
     {
         skipped_ticks = tick-prevtick-1;
-        if (tick-prevtick>10)
-            Report("ControlLowLoop skipped",__FILE__,tick,(int)prevtick,RpWarning,(int)skipped_ticks,0);
+        //if (tick-prevtick>10)
+         //   Report("ControlLowLoop skipped",__FILE__,tick,(int)prevtick,RpWarning,(int)skipped_ticks,0);
     }
     prevtick = tick;
 
@@ -585,7 +585,7 @@ uint32_t ControlLowLoop(uint32_t tick)
     {
         if (ControlArray[ControlLowDevice_i].ControlActive)
         {
-            if (tick == ControlArray[ControlLowDevice_i].StartTick)
+            if (tick - ControlArray[ControlLowDevice_i].StartTick<=skipped_ticks)
                 continue;
             if (ControlArray[ControlLowDevice_i].ControlTiming == eOneMillisecond)
                 continue;