version 1.4.6.44 p1 IDS pre-run and remove integral on thread loading feeder control

3 files changed, 65 insertions, 52 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index ee308ce62..1c17c4f6b 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -13,6 +13,10 @@ extern double   DispenserPreparePressure ;
 extern uint32_t DispenserPrepareTimeout ;
 extern uint32_t DispenserPrepareTimeLag ;
 extern uint32_t InitialDispenserSpeed;
+extern double   InitialDispenserPressure;
+extern uint32_t InitialDispenserTimeout;
+
+
 
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 extern float DispenserPressure[MAX_SYSTEM_DISPENSERS];
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 663a6713f..79418a8d8 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -72,8 +72,8 @@ bool PrimingActive[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false
 uint32_t DispenserHomingControlId[MAX_SYSTEM_DISPENSERS] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
 uint32_t DispenserBacklashControlId[MAX_SYSTEM_DISPENSERS] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
 uint32_t DispenserHomingTime[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
-#define INITIAL_DISPENSER_PRESSURE 2.10
-#define INITIAL_DISPENSER_TIMEOUT_LIMIT 60000
+#define INITIAL_DISPENSER_PRESSURE 3.85
+#define INITIAL_DISPENSER_TIMEOUT_LIMIT 120000
 #define INITIAL_DISPENSER_TIMEOUT 100
 #define INITIAL_DISPENSER_SPEED 1000
 
@@ -105,8 +105,10 @@ void IDS_Dispenser_SetAutoHoming_Config(AutoHoming_Config_enum Config)
 
 void IDS_Dispenser_SetBackLashValues(double   initialdispenserpressure,   uint32_t initialdispensertimeout,   uint32_t initialdispensertimelag,   uint32_t initialdispenserspeed)
 {
-    InitialDispenserPressure = initialdispenserpressure;
-    InitialDispenserTimeout = initialdispensertimeout;
+    if (initialdispenserpressure>2)
+        InitialDispenserPressure = initialdispenserpressure;
+    if (initialdispensertimeout>70000)
+        InitialDispenserTimeout = initialdispensertimeout;
     InitialDispenserTimeLag = initialdispensertimelag;
     InitialDispenserSpeed = initialdispenserspeed;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index b15f70267..327d80eb1 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -514,6 +514,37 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
   char IdMessage[100];
   int SegmentPrepareWFCFCounter = 0;
   bool pressureReady = false,endOfPrepareWCF = false;
+
+bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,double pressure)
+{
+    TimerMotors_t HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+    float updatedSpeed,tempSpeed;
+
+    if (pressure > RefMaxPressure*1.03)
+    {
+            tempSpeed = CurrentDispenserSpeed[DispenserId];
+            //updatedSpeed = (tempSpeed * 0.992 > 100) ? tempSpeed * 0.992 : 100;
+            updatedSpeed = tempSpeed*0.98;
+            MotorSetSpeed(HW_Motor_Id, updatedSpeed);
+            CurrentDispenserSpeed[DispenserId] = updatedSpeed;
+            ReportWithPackageFilter(IDSFilter,"IDS decrease speed",__FILE__,DispenserId,(int)updatedSpeed,RpWarning,(int)(pressure*100),0);
+            //return true; //ready
+    }
+    else if (pressure < RefMaxPressure*0.97)
+    {
+        tempSpeed = CurrentDispenserSpeed[DispenserId];
+        if (tempSpeed<50) tempSpeed = 50;
+        updatedSpeed = (tempSpeed * 1.02 < InitialDispenserSpeed) ? tempSpeed * 1.02 : InitialDispenserSpeed;
+        MotorSetSpeed(HW_Motor_Id, updatedSpeed);
+        CurrentDispenserSpeed[DispenserId] = updatedSpeed;
+        ReportWithPackageFilter(IDSFilter,"IDS increase speed",__FILE__,DispenserId,(int)updatedSpeed,RpWarning,(int)(pressure*100),0);
+        //return false; //not ready
+    }
+    if ((pressure>RefMaxPressure)&&(pressure<(RefMaxPressure+0.1)))
+       return true;
+    return false;
+}
+
  //********************************************************************************************************************
  uint32_t IDS_Prepare_Callback(uint32_t DispenserId, uint32_t ReadValue)
  {
@@ -525,6 +556,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
  //set the speed only before the first segment, speed is constant accros job
      int Dispenser_i,n_dispensers;
      double segmentfirst_speed;
+     double pressure;
 
      //REPORT_MSG((int)DispenserPrepareControlId, "Prepare Callback");
 
@@ -532,75 +564,50 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
 
      if (pressureReady == false)
      {
-         if (Special_Dispensers == false)
+         if (DispenserBuildTimeCounter<(2*eOneSecond))
          {
-             if (DispenserBuildTimeCounter<(2*eOneSecond))
+             for (i = 0; i < MAX_DYE_DISPENSERS; i++)
              {
-                 for (i = 0; i < MAX_DYE_DISPENSERS; i++)
-                 {
-                     DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond);
-                     DispenserLastMovementDown[i] = false;
-                 }
-                 //REPORT_MSG(DispenserBuildTimeCounter,"waiting 2 seconds for pressure changes");
-                 return OK;
+                 DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond);
+                 DispenserLastMovementDown[i] = false;
              }
+             //REPORT_MSG(DispenserBuildTimeCounter,"waiting 2 seconds for pressure changes");
+             return OK;
          }
          for (i = 0; i < MAX_DYE_DISPENSERS; i++)
          {
+             pressure = GetDispenserPressure(i);
              //IDS_StopHomeDispenser(i);
              if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
              {
                  DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond);
-
                  HW_Motor_Id = DispenserIdToMotorId[i];
-                 if (GetDispenserPressure(i) > DispenserPreparePressure*1.05)
+//#ifdef DISPENSER_UP_MOVEMENT
+                 if (DispenserTotalPrepareSteps[i]<InitialDispenserTimeout)
                  {
-#ifdef DISPENSER_UP_MOVEMENT
-                     if (DispenserTotalPrepareSteps[i]>120000)
-#endif
-                     {
-                         NumofReadyDispensers++;
-                         ReportWithPackageFilter(IDSFilter,"Dispenser total prepare steps ready",__FILE__,DispenserTotalPrepareSteps[i],(int)(DispenserPreparePressure*100),RpWarning,IDS_Dispenser_Data[i].consumedinnanolitter,0);
-                     }
-                     if (Special_Dispensers == true)
-                     {
-                         MotorStop(HW_Motor_Id, Hard_Hiz);
-                         CurrentDispenserSpeed[i] = 0;
-                     //ReportWithPackageFilter(IDSFilter,"IDS stopped ready",__FILE__,i,(int)(DispenserPreparePressure*100),RpWarning,(int)NumofReadyDispensers,0);
-                     }
-                     else
-                     {
-                         tempSpeed = CurrentDispenserSpeed[i];
-                         updatedSpeed = (tempSpeed*0.992>100)?tempSpeed*0.992:100;
-                         MotorSetSpeed(HW_Motor_Id, updatedSpeed);
-                         CurrentDispenserSpeed[i] = updatedSpeed;
-                         //ReportWithPackageFilter(IDSFilter,"IDS reduce speed",__FILE__,i,(int)tempSpeed,RpWarning,(int)updatedSpeed,0);
-                     }
+                     AdjustDispenserSpeedToPressure(i,InitialDispenserPressure,pressure);
+                 }
+                 else if (pressure > DispenserPreparePressure*1.2)
+                 {
+                     MotorStop(HW_Motor_Id, Hard_Hiz);
+                     CurrentDispenserSpeed[i] = 1;
                  }
                  else
                  {
-                     if (Special_Dispensers == true)
-                     {
-                         tempSpeed = (DispenserPreparePressure-GetDispenserPressure(i))*InitialDispenserSpeed;
-                         if (tempSpeed<300)
-                             tempSpeed = 300;
-                     }
-                     else
-                     {
-                         tempSpeed = CurrentDispenserSpeed[i];
-                     }
-                     updatedSpeed = (tempSpeed*1.03<InitialDispenserSpeed)?tempSpeed*1.03:InitialDispenserSpeed;
-                     MotorSetSpeed(HW_Motor_Id, updatedSpeed);
-                     CurrentDispenserSpeed[i] = updatedSpeed;
+                     if (AdjustDispenserSpeedToPressure(i,DispenserPreparePressure,pressure) == true)
+                         NumofReadyDispensers++;
                  }
+//#endif
+                 ReportWithPackageFilter(IDSFilter,"IDS prepare",__FILE__,i,(int)DispenserTotalPrepareSteps[i],RpWarning,(int)(CurrentDispenserSpeed[i]*100),0);
              }
          }
-         if (GetDispenserPressure(CLEANER_DISPENSER) > 0.02)
+         pressure = GetDispenserPressure(CLEANER_DISPENSER);
+         if (pressure > 0.02)
          {
              HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
              MotorStop(HW_Motor_Id, Hard_Hiz);
              if (CurrentDispenserSpeed[CLEANER_DISPENSER])
-                 ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+                 ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(pressure*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
              CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
          }
 
@@ -724,7 +731,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
              HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
              MotorStop(HW_Motor_Id, Hard_Hiz);
              CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
-             ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+             ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(pressure*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
          }
          SafeRemoveControlCallback(DispenserPrepareControlId, IDS_Prepare_Callback );
          DispenserPrepareControlId = 0xFF;