merge confilct heater.c

7 files changed, 47 insertions, 27 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index e73f16a10..eaf5de995 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -327,6 +327,8 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
         return ERROR;
     }
     HardwareConfiguration *request =    UploadRequest->hardwareconfiguration;
+
+    PrintingHWConfiguration(request);
     if (request->n_winders == 1)
         status += InternalWinderConfigMessage(request->winders);
     status += MotorsInit();
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index d8cac97a5..bb38161c7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -48,7 +48,7 @@ typedef enum {
 /******************** GLOBAL PARAMETERS  ********************************************/
 HeaterPIDControlConfig HeaterControl[MAX_HEATERS_NUM] = {0};
 HeaterControlConfig_t  HeaterPIDConfig[MAX_HEATERS_NUM] = {0};
-uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {ANALOG_DRYER_TEMP1,ANALOG_DRYER_TEMP2,ANALOG_DRYER_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,ANALOG_MIXCHIP_TEMP};
+uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {ANALOG_DRYER_TEMP1,ANALOG_DRYER_TEMP2,ANALOG_DRYER_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,ANALOG_MIXCHIP_TEMP};
 bool AcHeaterConfigured[MAX_AC_HEATERS] = {0};
 
 bool FastHeating = 1;
@@ -158,7 +158,6 @@ void HeatingTestSendResonse(uint32_t status, bool last,bool heater1Active,bool h
     MessageContainer responseContainer;
     uint8_t* container_buffer;
 //    uint8_t container_buffer[50];
-
     if (stubToken[0] == 0)
         return;
     StubHeatingTestPollResponse response = STUB_HEATING_TEST_POLL_RESPONSE__INIT;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index b7a13e91b..d3224e9b3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -51,6 +51,7 @@ uint32_t  Heater_timerBase = TIMER2_BASE;        //Timer handle
 uint32_t OutputProportionalCycleTime = 0; //A/C Heaters Cycle time in milliseconds - one for all heaters
 char     TimeSliceAllocation[MAX_TIMESLICES] = {0xFF};
 int     DCTimeSliceAllocation[MAX_HEATERS_NUM] = {0};
+bool    HeatersReadey[MAX_HEATERS_NUM] = {true};
 
 bool InitialHeatingState = true;
 bool TimerActivated = false;
@@ -86,7 +87,7 @@ void HeatersControlStop(void)
     TimerActivated = false;
     HeatersRestart = false;
 }
-
+#warning there is a need to separate the AC and DC heaters preparation!
 void HeatersControlStart(void)
 {
     Report("HeatersControlStart ", __FILE__,__LINE__,0, RpMessage, 0, 0);
@@ -107,7 +108,7 @@ void HeatersStartControlTimer (void)
     Report("HeatersStartControlTimer ", __FILE__,__LINE__,0, RpMessage, 0, 0);
     return;
 }
-
+bool HeaterReducedPowerStarted = false;
 /**************************************************************************************
  * HeaterCommandRequestMessage
  * called by: Communication from host
@@ -117,6 +118,12 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
 {
     //uint32_t status = NOT_SUPPORTED;
     //MessageContainer responseContainer;
+    if (HeaterReducedPowerStarted == false)
+    {
+        HeaterReducedPowerStarted = true;
+        AddControlCallback( HeaterBalanceLoadControlCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
+    }
+
     if (HeaterId< MAX_HEATERS_NUM)
     {
         if (HeaterControl[HeaterId].id != HeaterId) // heater configuration missing
@@ -187,7 +194,7 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
     HeaterPIDConfig[HeaterId].m_isReady = true;
     HeaterPIDConfig[HeaterId].m_mesuredParam = 0;
     HeaterPIDConfig[HeaterId].m_preError = 0;
-    HeaterPIDConfig[HeaterId].m_SetParam = SetTemperatue;//need to update SetParams on presegment stage
+    HeaterPIDConfig[HeaterId].m_SetParam = SetTemperatue*100;//need to update SetParams on presegment stage
     if (HeaterId > HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2) //DC Heaters
         ControlIdtoHeaterId [HeaterId] = AddControlCallback( DCHeaterControlCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
     else if (HeaterId < HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2) //AC Heaters
@@ -228,10 +235,10 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     static uint32_t Temperature[2] = {0};
     if (index<2)
         Temperature[index] =  readValue;
-    HeatingTestSendResonse(0, false,GetHeaterState(HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w),GetHeaterState(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1),
+    /*HeatingTestSendResonse(0, false,GetHeaterState(HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w),GetHeaterState(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1),
                            Temperature[0],Temperature[1],
                            HeaterPIDConfig[HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w].m_calculatedError, HeaterPIDConfig[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1].m_calculatedError,"Standard");
-
+*/
     // check if the read value is within the proportional band
     if (InitialHeating)
     {
@@ -324,9 +331,9 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                            Temperature[0],Temperature[1],
                            HeaterPIDConfig[HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w].m_calculatedError, HeaterPIDConfig[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1].m_calculatedError,"Standard");
 */
-    HeatingTestSendResonse(0, false,GetHeaterState(index),0,
+    /*HeatingTestSendResonse(0, false,GetHeaterState(index),0,
                            readValue,0,
-                       HeaterPIDConfig[index].m_calculatedError, 0,"Standard");
+                       HeaterPIDConfig[index].m_calculatedError, 0,"Standard");*/
     // check if the read value is within the proportional band
     if (InitialHeating[index])
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index e690b72b4..2c3910140 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -3,7 +3,7 @@
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
 #include "drivers/motors/motor.h"
-#define MAX_SYSTEM_DISPENSERS 8
+#include "ids_ex.h"
 
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 uint32_t DispenserConfigMessage(HardwareDispenser * request);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index 12a0372d0..feb38000f 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -9,6 +9,7 @@
 #define MODULES_IDS_IDS_EX_H_
 
 #include "PMR/Hardware/HardwarePIDControl.pb-c.h"
+#define MAX_SYSTEM_DISPENSERS 8
 
 uint32_t IDSPrepareState(void *JobDetails);
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
index 52aef460f..e24c4b0c2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
@@ -21,6 +21,10 @@
 
 #include "Stub_Status.h"
 #include "Drivers/Heater/Heater.h"
+#include "../control/control.h"
+#include "Drivers/Heater/TemperatureSensor.h"
+
+bool StubHeaterReducedPowerStarted = false;
 
 void Stub_HeaterRequest(MessageContainer* requestContainer)
 {
@@ -39,6 +43,11 @@ void Stub_HeaterRequest(MessageContainer* requestContainer)
     writeFloat(request->heatergroupid);
     writeString(", ");
     writeFloat(request->heatergroupon);
+    if (StubHeaterReducedPowerStarted == false)
+    {
+        StubHeaterReducedPowerStarted = true;
+        AddControlCallback( HeaterBalanceLoadControlCBFunction, eHundredMillisecond,TemperatureSensorRead,0,0,0);
+    }
 
     if (request->heatergroupon )
         status = ActivateHeater(request->heatergroupid);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index c036f4913..1e2203abb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -21,6 +21,9 @@
 #include "drivers/Danser_SSI/ssi_comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
+#include "drivers/Motors/Motor.h"
+#include "modules/heaters/heaters.h"
+
 ////////////////////////////////State machine operation////////////////////////////////////
 //the state machine operation is used to operate in runtime correct profile flow execution
 //by recieved esign flow of the user from the UI
@@ -186,6 +189,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     //read value is the dancer angle
     int i,index=MAX_THREAD_MOTORS_NUM;
     int DancerId;
+    static int pooler_counter = 0;
     int32_t TranslatedReadValue, avreageSampleValue = 0;
     double NormalizedError;
     if (IfIndex>>8 != IfTypeThread)
@@ -238,6 +242,15 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed,  MotorsCfg[ThreadMotorIdToMotorId[index]].microstep);
         }
     }
+    if (index == POOLER_MOTOR)
+    {
+        pooler_counter++;
+        if (pooler_counter>=1000)
+        {
+            HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
+                pooler_counter = 0;
+        }
+    }
 
  return OK;
 }
@@ -245,13 +258,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 //********************************************************************************************************************
 
 //********************************************************************************************************************
-/*#ifdef DEBUG_TEST_FUNCTIONS
-uint32_t Debug_Get_Dancer_Read(uint32_t DancerId, uint32_t Parameter1, uint32_t Parameter2)
-{
-
-    return (rand() % (103 + 1 + 103) - 103);
-}
-#endif*/
 uint32_t ThreadInitialTestStub(HardwareMotor * request)
 {
 
@@ -276,7 +282,7 @@ bool InitialProcess = false;
             MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime;
             MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain;
             MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime;
-            MotorControlConfig[Motor_i].m_params.epsilon = 0.01;
+            MotorControlConfig[Motor_i].m_params.epsilon = 0.1;
             MotorControlConfig[Motor_i].m_params.dt = 50;
             MotorControlConfig[Motor_i].m_calculatedError = 0;
             MotorControlConfig[Motor_i].m_integral = 0;
@@ -287,13 +293,14 @@ bool InitialProcess = false;
             MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
 
             MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
-    #ifdef DEBUG_TEST_FUNCTIONS
 
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
-            if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
+            if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+            if (Motor_i == WINDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             /*if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0);
@@ -301,15 +308,12 @@ bool InitialProcess = false;
                 AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
             else if ((HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
                 AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);*/
-    #else
             if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 continue;
                 //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
-            else if ((Motor_i == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
-                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
-    #endif
+//            else if ((Motor_i == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
+//                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
     }
-    Winder_Prepare();
     PrepareReady(Module_Thread,ModuleDone);
     //set 3 dancers to the profile positions
     InitialProcess = true;
@@ -325,8 +329,6 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 
     int process_speed = JobTicket->processparameters->dyeingspeed;
 
-    process_speed = 50; //debug
-
     for (Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
     {
         HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];