merge

5 files changed, 98 insertions, 82 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 9eb9d9822..5785bafe4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -486,6 +486,10 @@ uint32_t MillisecLoop(uint32_t tick)
         {
             MillisecReadFromTempSensor(Sensor_i, NULL);
         }
+        if (watchdogCriticalAlarm == false)
+        {
+                Control_WD(ENABLE,5);  //activate heaters/dispenser watchdog, 0.5 seconds
+        }
     }
 
     if (O900Millisecond_Tick)
@@ -499,10 +503,6 @@ uint32_t MillisecLoop(uint32_t tick)
             CalculateDispenserPressure(Disp_i);
         }
         FPGA_GetAllDispensersValveBusyOCD();
-        if (watchdogCriticalAlarm == false)
-        {
-                Control_WD(ENABLE,50);  //activate heaters/dispenser watchdog, 5 seconds
-        }
         DrawerFansStatus = Read_Fans_Tacho();
         KeepAliveOneSecondCall();
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index a5f3f48cf..ed1f23cb1 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -26,14 +26,10 @@
 
 HardwareBlower BlowerCfg;
 
-uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
+uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
 {
     uint32_t status  = 0;
     int Motor_i, Dancer_i, Dispenser_i,PID_i;
-    MessageContainer responseContainer;
-    UploadHardwareConfigurationResponse response = UPLOAD_HARDWARE_CONFIGURATION_RESPONSE__INIT;
-
-    UploadHardwareConfigurationRequest* UploadRequest = upload_hardware_configuration_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
     if (UploadRequest == NULL)
     {
@@ -42,6 +38,10 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     }
     HardwareConfiguration *request =    UploadRequest->hardwareconfiguration;
 
+    if (JobIsActive())
+    {
+        return ERROR;
+    }
     PrintingHWConfiguration(request);
     if (request->n_winders == 1)
         status += InternalWinderConfigMessage(request->winders);
@@ -122,8 +122,28 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     AlarmHandlingStart();
     //ThreadInitialTestStub(request);
 
+    return OK;
+
+
+
+}
+uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
+{
+    uint32_t status  = 0;
+    int Motor_i, Dancer_i, Dispenser_i,PID_i;
+    MessageContainer responseContainer;
+    UploadHardwareConfigurationResponse response = UPLOAD_HARDWARE_CONFIGURATION_RESPONSE__INIT;
+
+    UploadHardwareConfigurationRequest* UploadRequest = upload_hardware_configuration_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    status = HWConfiguration(UploadRequest);
 
     responseContainer = createContainer(MESSAGE_TYPE__UploadHardwareConfigurationResponse, requestContainer->token, true, &response, &upload_hardware_configuration_response__pack, &upload_hardware_configuration_response__get_packed_size);
+    if (status!= OK)
+    {
+        responseContainer.error = ERROR_CODE__INVALID_PARAMETER;
+        responseContainer.errormessage = "JOb Active or incorrect parameters";
+    }
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     free(responseContainer.data.data);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
index 6a682969f..975635342 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
@@ -22,25 +22,23 @@ typedef struct  HeaterPIDControlConfigstruc
 {
   bool configured;
   int id;  //HardwarePidControlType
-  char name[20];
   int32_t outputproportionalpowerlimit;
   float outputproportionalband;
-  int32_t integraltime;
-  int32_t derivativetime;
-  int32_t sensorcorrectionadjustment;
-  int32_t sensortypeandsetpointlimits;
-  int32_t setpointramprateorsoftstartramp;
-  int32_t setpointcontroloutputrate;
-  float controloutputtype;
-  int32_t ssrcontroloutputtype;
-  int32_t outputonoffhysteresisvalues;
-  int32_t processvariablesamplingrate;
-  int32_t pvinputfilterfactormode;
+  //int32_t sensorcorrectionadjustment;
+  //int32_t sensortypeandsetpointlimits;
+  //int32_t setpointramprateorsoftstartramp;
+  //int32_t setpointcontroloutputrate;
+  //int32_t outputonoffhysteresisvalues;
+  //int32_t processvariablesamplingrate;
+  //int32_t pvinputfilterfactormode;
   int32_t sensormaxvalue;
   int32_t sensorminvalue;
   double kp;
   double ki;
   double kd;
+  double epsilon;
+  double dt;
+  bool   pidactive;
 }HeaterPIDControlConfig;
 
 typedef struct  HeaterCommandstruc
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index bf1f1128d..6f6cf702d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -140,58 +140,44 @@ uint32_t HeaterConfigRequestMessage(HardwarePidControl* request)
     {
         HeaterControl[HeaterId].configured = true;
         HeaterControl[HeaterId].id = HeaterId;
-        //strncpy (HeaterControl[HeaterId].name, request->name, 20);
         HeaterControl[HeaterId].outputproportionalpowerlimit = request->outputproportionalpowerlimit;
         HeaterControl[HeaterId].outputproportionalband = request->outputproportionalband;
-        HeaterControl[HeaterId].integraltime = request->integraltime;
-        HeaterControl[HeaterId].derivativetime = request->derivativetime;
-        HeaterControl[HeaterId].sensorcorrectionadjustment = request->sensorcorrectionadjustment;
-        //sensorminvalue,sensormaxvalue are used for the dryer heater as internal heater control
         if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature)
-        //if ((HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain)||(HeaterId != HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary))
         {
             HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].sensormaxvalue = request->sensormaxvalue;
             HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].sensorminvalue = request->sensorminvalue;
             HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].sensormaxvalue = request->sensormaxvalue;
             HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].sensorminvalue = request->sensorminvalue;
         }
-        //HeaterControl[HeaterId].sensortypeandsetpointlimits = request->sensortypeandsetpointlimits;
-        HeaterControl[HeaterId].setpointramprateorsoftstartramp = request->setpointramprateorsoftstartramp;
-        HeaterControl[HeaterId].setpointcontroloutputrate = request->setpointcontroloutputrate;
-        HeaterControl[HeaterId].controloutputtype = request->controloutputtype;
-        HeaterControl[HeaterId].ssrcontroloutputtype = request->ssrcontroloutputtype;
-        HeaterControl[HeaterId].outputonoffhysteresisvalues = request->outputonoffhysteresisvalue;
-        HeaterControl[HeaterId].processvariablesamplingrate = request->processvariablesamplingrate;
-        HeaterControl[HeaterId].pvinputfilterfactormode = request->pvinputfilterfactormode;
-        //HeaterControl[HeaterId].kp = 0.5;
-        //HeaterControl[HeaterId].ki = 0.1;
-        //HeaterControl[HeaterId].kd = 0.0;
         HeaterControl[HeaterId].kp = request->proportionalgain;
         HeaterControl[HeaterId].ki = request->integraltime;
         HeaterControl[HeaterId].kd = request->derivativetime;
+        HeaterControl[HeaterId].dt = request->controloutputtype;
+        HeaterControl[HeaterId].epsilon = request->epsilon;
+        HeaterControl[HeaterId].pidactive = request->pidactive;
+        //HeaterControl[HeaterId].sensorcorrectionadjustment = request->sensorcorrectionadjustment;
+        //sensorminvalue,sensormaxvalue are used for the dryer heater as internal heater control
+        //HeaterControl[HeaterId].sensortypeandsetpointlimits = request->sensortypeandsetpointlimits;
+        //HeaterControl[HeaterId].setpointramprateorsoftstartramp = request->setpointramprateorsoftstartramp;
+        //HeaterControl[HeaterId].setpointcontroloutputrate = request->setpointcontroloutputrate;
+        //HeaterControl[HeaterId].ssrcontroloutputtype = request->ssrcontroloutputtype;
+        //HeaterControl[HeaterId].outputonoffhysteresisvalues = request->outputonoffhysteresisvalue;
+        //HeaterControl[HeaterId].processvariablesamplingrate = request->processvariablesamplingrate;
+        //HeaterControl[HeaterId].pvinputfilterfactormode = request->pvinputfilterfactormode;
 
         if (HeaterId < MAX_AC_HEATERS)
             AcHeaterConfigured[HeaterId] = true;
 
         //check if all A/C heaters are defined. if they are - validate the configuration
-        if (((HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain)||(HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary))
+        /*if (((HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain)||(HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary))
                 &&HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].configured
-                &&HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].configured
-                /*&&HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2].id*/)
+                &&HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].configured)
         {
             if (HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].outputproportionalpowerlimit
-                    + HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].outputproportionalpowerlimit
-                    /*+ HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2].outputproportionalpowerlimit*/> 100)
-                ValidationError += 2;
-            if (ValidationError)
-                {
+                    + HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].outputproportionalpowerlimit > 100)
                     LOG_ERROR (ValidationError, "Validation Error in Heaters Control");
                     return ERROR;
-                }
-            else
-            {
-            }
-        }
+        }*/
         return OK;
     }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 1a4086a34..8ae7a117b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -329,8 +329,8 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
     HeaterPIDConfig[HeaterId].m_params.Kd = HeaterControl[HeaterId].kd;
     HeaterPIDConfig[HeaterId].m_params.Kp = HeaterControl[HeaterId].kp;
     HeaterPIDConfig[HeaterId].m_params.Ki = HeaterControl[HeaterId].ki;
-    HeaterPIDConfig[HeaterId].m_params.dt = 0.01;
-    HeaterPIDConfig[HeaterId].m_params.epsilon = 10;
+    HeaterPIDConfig[HeaterId].m_params.dt = HeaterControl[HeaterId].dt;
+    HeaterPIDConfig[HeaterId].m_params.epsilon = HeaterControl[HeaterId].epsilon; //0.1 degree
     HeaterPIDConfig[HeaterId].m_calculatedError = 0;
     HeaterPIDConfig[HeaterId].m_integral = 0;
     HeaterPIDConfig[HeaterId].m_isEnabled = true;
@@ -532,20 +532,26 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
     {
         HeaterPIDConfig[index].m_mesuredParam = readValue;
-        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) //below proportional band
+        if (HeaterControl[index].pidactive == false)
         {
-            HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, 100);
-            //REPORT_MSG (readValue,"AC HEATER Over temperature");
+            if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) //below proportional band
+            {
+                HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, 100);
+                //REPORT_MSG (readValue,"AC HEATER Over temperature");
+            }
+            else if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
+            {
+                HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, 0);
+                //REPORT_MSG (readValue,"AC HEATER Under temperature");
+            }
         }
-        else if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
+        else  //PID active
         {
-            HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, 0);
-            //REPORT_MSG (readValue,"AC HEATER Under temperature");
+            //check only for the proportional band limits
+            HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                                                                              &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+            HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, (int)(HeaterPIDConfig[index].m_calculatedError/100));
         }
-//check only for the proportional band limits
-        HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                                           &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
-        //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, (int)(HeaterPIDConfig[index].m_calculatedError/100));
     }
 
 
@@ -618,30 +624,36 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     }
     if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
     {
-        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) //below proportional band
+        if (HeaterControl[index].pidactive == false)
         {
-            HeaterRecalculateHeaterParams(index, 100);
+            if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) //below proportional band
+            {
+                HeaterRecalculateHeaterParams(index, 100);
+            }
+            else if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
+            {
+                HeaterRecalculateHeaterParams(index, 0);
+            }
+
         }
-        else if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
+        else ///pid active
         {
-            HeaterRecalculateHeaterParams(index, 0);
-        }
+            //check only for the proportional band limits
+            HeaterPIDConfig[index].m_mesuredParam = readValue;
+            HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                                                      &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+            //        error[index][Counter[index]]    = HeaterPIDConfig[index].m_preError;
+            //        integral[index][Counter[index]] = HeaterPIDConfig[index].m_integral;
+            //        output[index][Counter[index]]   = HeaterPIDConfig[index].m_calculatedError;
+            //        if (Counter[index]++ >=100)
+            //            Counter[index] = 0;
+            //        len = usnprintf(logmsg[index], 254, "PID%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
+            //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
+            //        #warning PID is now only proportional (above)
+            HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError/100));
 
-//check only for the proportional band limits
-        HeaterPIDConfig[index].m_mesuredParam = readValue;
-        HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                                              &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
-
-//        error[index][Counter[index]]    = HeaterPIDConfig[index].m_preError;
-//        integral[index][Counter[index]] = HeaterPIDConfig[index].m_integral;
-//        output[index][Counter[index]]   = HeaterPIDConfig[index].m_calculatedError;
-//        if (Counter[index]++ >=100)
-//            Counter[index] = 0;
-//        len = usnprintf(logmsg[index], 254, "PID%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
-//        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
+        }
 
-        #warning PID is now only proportional (above)
-        //HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError/100));
     }