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

7 files changed, 47 insertions, 59 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 67e0cf34b..1ab4f311a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -520,8 +520,6 @@ void SendDiagnostics(void)
         }
     }
 */
-    response.n_digitalinterfacestates = 0;
-
     DiagnosticsLoadDigitalValues();
     response.n_digitalinterfacestates = MAX_HEATERS_NUM;
     response.digitalinterfacestates = digitalinterfacestates;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 8fc9434cb..b56162bea 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -33,6 +33,18 @@ ProcessParameters* ProcessParametersKeep;
 uint32_t HandleProcessParameters(ProcessParameters* ProcessParams)
 {
     uint32_t status = 0;
+    if (ProcessParams->dryerzone1temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->dryerzone2temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->dryerzone3temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->mixertemp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->headzone1temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->headzone2temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->headzone3temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->headzone4temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->headzone5temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (ProcessParams->headzone6temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
+    if (status != 0)
+        return status;
     if (ProcessParams)
     {
         ProcessParametersKeep = ProcessParams;
@@ -127,7 +139,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams)
     headairflow = ProcessParams->headairflow;
     dryerairflow = ProcessParams->dryerairflow;
 
-   return OK;//status;
+   return status;//status;
 }
 
 void ProcessRequestFunc(MessageContainer* requestContainer)
@@ -148,17 +160,6 @@ void ProcessRequestFunc(MessageContainer* requestContainer)
 
     REPORT_MSG (ProcessParams->dryerzone1temp,"Process Params Dryer");
 
-    if (ProcessParams->dryerzone1temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->dryerzone2temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->dryerzone3temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->mixertemp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->headzone1temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->headzone2temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->headzone3temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->headzone4temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->headzone5temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-    if (ProcessParams->headzone6temp > MAX_ALLOWED_TEMPERATURE) status = ERROR_CODE__INVALID_PARAMETER;
-
     if (status == 0)
         status = HandleProcessParameters(ProcessParams);
     if (status)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
index 3b357ce11..f7a2f3079 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
@@ -50,20 +50,8 @@ typedef struct  HeaterCommandstruc
   uint32_t targettemperatue;
 }HeaterCommand;
 
-typedef struct
-{
-    bool                m_isEnabled;
-    float            m_SetParam;
-    float            m_mesuredParam;
-    float               m_preError;
-    float               m_integral;
-    float               m_calculatedError;
-    bool                m_isReady;
-    PID_Config_Params   m_params;
-}HeaterControlConfig_t;
 
 extern HeaterPIDControlConfig HeaterControl[MAX_HEATERS_NUM];
-extern HeaterControlConfig_t  HeaterPIDConfig[MAX_HEATERS_NUM];
 extern HeaterCommand          HeaterCmd[MAX_HEATERS_NUM];
 extern uint32_t  Heater_timerBase;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index ebdb126ac..e862107ff 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -46,7 +46,6 @@ typedef enum {
 
 /******************** GLOBAL PARAMETERS  ********************************************/
 HeaterPIDControlConfig HeaterControl[MAX_HEATERS_NUM] = {0,0,0,0,0,0,0,0,0,0,0,0};
-HeaterControlConfig_t  HeaterPIDConfig[MAX_HEATERS_NUM] = {0,0,0,0,0,0,0,0,0,0,0,0};
 bool AcHeaterConfigured[MAX_AC_HEATERS] = {0,0,0};
 
 int      NumberOFSlicesInUse = 0;
@@ -348,7 +347,7 @@ uint32_t HeaterRecalculateSharedHeatersParams(uint32_t deviceId, uint32_t new_ou
    }
 
    // all numbers are rounded down. better to have carefully calculated numbers
-   HeaterControl[deviceId].outputproportionalpowerlimit = new_outputproportionalpowerlimit/100;
+   HeaterControl[deviceId].outputproportionalpowerlimit = new_outputproportionalpowerlimit;///100;
    Heater1000Slices = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].outputproportionalpowerlimit * NumberOFSlicesInUse / 100;
    Heater200aSlices = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].outputproportionalpowerlimit * NumberOFSlicesInUse / 100;
 
@@ -391,7 +390,7 @@ uint32_t HeaterRecalculateHeaterParams(uint32_t deviceId, uint32_t new_outputpro
    HeaterControl[deviceId].outputproportionalpowerlimit = new_outputproportionalpowerlimit;
 
    //mark the time slices  for heaters operation as empty / Heater1000 / Heater 200
-   DCTimeSliceAllocation[deviceId] = (HeaterControl[deviceId].outputproportionalpowerlimit/100 * NumberOFSlicesInUse) / 100;
+   DCTimeSliceAllocation[deviceId] = (HeaterControl[deviceId].outputproportionalpowerlimit/*/100*/ * NumberOFSlicesInUse) / 100;
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 59bd8a1b2..3caf91de4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -41,6 +41,18 @@ typedef struct HeatersControlMessage{
     uint32_t tick;
     uint8_t messageData[20];
 }HeatersControlMessageStruc;
+typedef struct
+{
+    bool                m_isEnabled;
+    float            m_SetParam;
+    float            m_mesuredParam;
+    float               m_preError;
+    float               m_integral;
+    float               m_calculatedError;
+    bool                m_isReady;
+    PID_Config_Params   m_params;
+}HeaterControlConfig_t;
+HeaterControlConfig_t  HeaterPIDConfig[MAX_HEATERS_NUM] = {0,0,0,0,0,0,0,0,0,0,0,0};
 
 /******************** GLOBAL PARAMETERS  ********************************************/
 HeaterCommand          HeaterCmd[MAX_HEATERS_NUM];
@@ -461,7 +473,6 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
 uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 {
     int index=MAX_HEATERS_NUM;
-    double temperror = 0.0, correction = 0.0;
     /*char str[100];
     uint8_t len = 0;*/
     if (IfIndex>>8 != IfTypeHeaters)
@@ -510,11 +521,20 @@ 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
+        {
+            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");
+        }
 //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);
-        //correction = HeaterPIDConfig[index].m_calculatedError;
-        HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, (int)(HeaterPIDConfig[index].m_calculatedError));
+        //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, (int)(HeaterPIDConfig[index].m_calculatedError/100));
     }
 
 
@@ -587,14 +607,14 @@ 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 (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);
-        }*/
+        }
 
 //check only for the proportional band limits
         HeaterPIDConfig[index].m_mesuredParam = readValue;
@@ -610,7 +630,7 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
 
         //#warning PID is now only proportional (above)
-        HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError));
+        //HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError/100));
     }
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index ccc9623a3..c7dd4f7ae 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -107,7 +107,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
     uint32_t status=OK;
     uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
-    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency);
+    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
     REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2");
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index b9a1f4e27..bbe537263 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -14,7 +14,6 @@
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
-#include "PMR/common/ErrorCode.pb-c.h"
 #include  <PMR/Diagnostics/EventType.pb-c.h>
 
 #include <utils/ustdlib.h>
@@ -311,14 +310,14 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     return OK;
 }
-double calculatedError[1000];
 //double eNormalizedError[100];
+//int    TranslatedreadValue[100];
+/*double calculatedError[1000];
 int    MotorId[1000];
 int    readValue[1000];
-//int    TranslatedreadValue[100];
 int    AveragereadValue[1000];
 int    calculatedspeed[1000];
-int    timestamp[1000];
+int    timestamp[1000];*/
 int controlIndex = 0;
 bool keepdata = true;
 /*int32_t KeepReadValue = 0;
@@ -462,36 +461,19 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             //KeepNormalizedError = NormalizedError;
         }
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-        /*if (index == FEEDER_MOTOR)
-        {
-            if (KeepReadValue != TranslatedReadValue)
-            {
-                eNormalizedError[controlIndex] = NormalizedError;
-                calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
-                readValue[controlIndex] = ReadValue;
-                TranslatedreadValue[controlIndex] = TranslatedReadValue;
-                AveragereadValue[controlIndex] = avreageSampleValue;
-                calculatedspeed[controlIndex] = calculated_speed;
-                controlIndex++;
-                if (controlIndex >= 99) controlIndex = 0;
-                KeepReadValue = TranslatedReadValue;
-            }
-        }*/
         if (abs(calculated_speed-CurrentControlledSpeed[index])>2)
         {
-            if (keepdata == true)
+            /*if (keepdata == true)
             {
                  calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
-                //double eNormalizedError[100];
                     MotorId[controlIndex] = index;
                     readValue[controlIndex] = ReadValue;
-                //int    TranslatedreadValue[100];
                     AveragereadValue[controlIndex] = avreageSampleValue;
                     calculatedspeed[controlIndex] = calculated_speed;
                     timestamp[controlIndex] = HibernateRTCSSGet();
                  if (controlIndex++>=999)
                      controlIndex = 0;
-            }
+            }*/
             CurrentControlledSpeed[index] = calculated_speed;
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
         }