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

4 files changed, 49 insertions, 51 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 8d5955636..1ead15683 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -830,7 +830,7 @@ uint32_t StopEventsNotificationRequestFunc(MessageContainer* requestContainer)
 
     StopEventsNotificationResponse response = STOP_EVENTS_NOTIFICATION_RESPONSE__INIT;
 
-    AlarmHandlingStop();
+    //AlarmHandlingStop();
 
     EventsNotificationRequestAccepted = false;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 64b6ac4e0..1ab3a21e9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -541,6 +541,13 @@ uint32_t MillisecLowLoop(uint32_t tick)
         FPGA_GetAllDispensersValveBusyOCD();
         DrawerFansStatus = Read_Fans_Tacho();
         KeepAliveOneSecondCall();
+        for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
+        {
+            if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_SCREW)
+                continue;  //
+            if (isMotorConfigured(Motor_i))
+                MotorGetStatusFromFPGA(Motor_i);
+        }
     }
     if (OneMinute_Tick)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index a985c7570..472d53b81 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -82,8 +82,8 @@ int     DCTimeSliceAllocation[MAX_HEATERS_NUM] = {0};
 bool TimerActivated = false;
 
 Mailbox_Handle          HeatersControlMsgQ = NULL;
-bool InitialHeating = true;
-bool DCInitialHeating[MAX_HEATERS_NUM] = {true};
+//bool InitialHeating = true;
+//bool DCInitialHeating[MAX_HEATERS_NUM] = {true};
 bool    HeaterReady[MAX_HEATERS_NUM] = {true};
 uint32_t HeaterPreviousRead[MAX_HEATERS_NUM] = {0,0,0,0,0,0,0,0,0,0}; //A/C Heaters Cycle time in milliseconds - one for all heaters
 
@@ -113,7 +113,7 @@ void HeatersControlInit(void)
 
     for (i = 0; i < MAX_HEATERS_NUM; i++)
     {
-        DCInitialHeating[i] = true;
+        //DCInitialHeating[i] = true;
         HeaterReady[i] = true;
         HeaterCmd[i].targettemperatue = 0;
         HeaterCmd[i].command = HEATER_OFF;
@@ -155,8 +155,8 @@ uint32_t LoadHeaterSetPoint(HeaterType HeaterType)
 void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
 {
     int HeaterId = HeaterType;
-    //double temp = TemperatureSensorRead(HeaterId2PT100Id[HeaterId]);
-    double temp = HeaterPreviousRead[HeaterId];//TemperatureSensorRead(HeaterId2PT100Id[HeaterId]);
+    double temp = TemperatureSensorRead(HeaterId2PT100Id[HeaterId]);
+    //double temp = HeaterPreviousRead[HeaterId];//TemperatureSensorRead(HeaterId2PT100Id[HeaterId]);
 
 
 
@@ -171,13 +171,13 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
     HeaterState->has_isactive = true;
     HeaterState->isactive = GetHeaterState(HeaterId);
     HeaterState->has_isrampingup = true;
-    HeaterState->isrampingup = DCInitialHeating[HeaterId];
+    HeaterState->isrampingup = 1-HeaterReady[HeaterId];
     HeaterState->has_isinsetpoint = true;
     HeaterState->isinsetpoint = HeaterReady[HeaterId];
     if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature)
     {
         HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].outputproportionalpowerlimit;
-        HeaterState->isrampingup = InitialHeating;
+        //HeaterState->isrampingup = InitialHeating;
     }
     return;
 }
@@ -336,7 +336,7 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
  */
 uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
 {
-    CTRL_TIMING_ENUM Frequency = eHundredMillisecond;
+    CTRL_TIMING_ENUM Frequency = eOneSecond;
     if(HeaterId >= MAX_HEATERS_NUM)
     {
         LOG_ERROR (HeaterId,"HeaterId too high");
@@ -376,7 +376,7 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
         if (ControlIdtoHeaterId [HeaterId] == 0xFF)
         ControlIdtoHeaterId [HeaterId] = AddControlCallback( DCHeaterControlCBFunction, Frequency/*eOneSecond/*eHundredMillisecond*/,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
         HeaterPIDConfig[HeaterId].m_params.dt *=10;
-        DCInitialHeating[HeaterId] = true;
+        //DCInitialHeating[HeaterId] = true;
         HeaterReady[HeaterId] = false;
         HeaterPreviousRead[HeaterId] = TemperatureSensorRead(HeaterId2PT100Id[HeaterId]);
     }
@@ -394,7 +394,7 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
             MainDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain],0);
         if (SecondDryerHeaterMaxTempControl == 0xFF)
             SecondDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary],0);
-        InitialHeating = true;
+        //InitialHeating = true;
         HeaterReady[HeaterId] = false;
         if (BlowerCfg.enabled == true)
         {
@@ -504,7 +504,7 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
             if (HeaterMaxTempFlag[index] == true)
             {
                 ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
-                if (InitialHeating)
+                if (HeaterReady[HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature]==false)
                 {
                     ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
                 }
@@ -547,7 +547,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     HeaterPreviousRead[index] = readValue;
 
     // check if the read value is within the proportional band
-    if (InitialHeating)
+    if (HeaterReady[index]==false)
     {
         if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
                 {
@@ -563,19 +563,14 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                     return OK;
                 }
 
+        if ((readValue > (HeaterCmd[index].targettemperatue * 995/1000))&&(readValue < (HeaterCmd[index].targettemperatue * 1005/1000)))//read value within 0.5 percent from target
         {
-            InitialHeating = false;
+//////////////////
+            //InitialHeating = false;
             DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
             HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary, 0);
             HeatersControlStart();
-            //HeaterReady[index] = true;
-            //HeaterPrepareReady();
-        }
-    }
-    if (HeaterReady[index]==false)
-    {
-        if ((readValue > (HeaterCmd[index].targettemperatue * 995/1000))&&(readValue < (HeaterCmd[index].targettemperatue * 1005/1000)))//read value within 0.5 percent from target
-        {
+////////////////////////
             HeaterReady[index] = true;
             HeaterPrepareReady();
             if (BlowerCfg.enabled == true)
@@ -586,6 +581,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 
             }
         }
+        return OK;
     }
     if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
     {
@@ -637,6 +633,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 //int Counter[HARDWARE_PID_CONTROL_TYPE__MixerHeater] = {0,0,0,0,0,0,0};
 //char logmsg[HARDWARE_PID_CONTROL_TYPE__MixerHeater][254];
 char heatstr[100];
+//float temp_calculatedError=0,temp_preError = 0, temp_integral = 0;
 
 uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 {
@@ -667,7 +664,7 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     }
     HeaterPreviousRead[index] = readValue;
     // check if the read value is within the proportional band
-    if (DCInitialHeating[index]==true)
+    if (HeaterReady[index]==false)
     {
         //int temp = ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100);
         if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
@@ -685,20 +682,14 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                     return OK;
                 }
 
-        {
-            DCInitialHeating[index] = false;
-            HeatersControlStart();
-            //HeaterReady[index] = true;
-            //HeaterPrepareReady();
-        }
-    }
-    if (HeaterReady[index]==false)
-    {
         if ((readValue > (HeaterCmd[index].targettemperatue * 998/1000))&&(readValue < (HeaterCmd[index].targettemperatue * 1002/1000)))//read value within 0.5 percent from target
         {
+            //DCInitialHeating[index] = false;
+            HeatersControlStart();
             HeaterReady[index] = true;
             HeaterPrepareReady();
         }
+        return OK;
     }
 
     if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
@@ -726,8 +717,14 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             }
             else
             {
-                HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                //temp_preError = HeaterPIDConfig[index].m_preError; temp_integral = HeaterPIDConfig[index].m_integral;
+                //temp_calculatedError =  AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                //                                      &HeaterPIDConfig[index].m_params,   &temp_preError, &temp_integral);
+                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);
+                //len = usnprintf(heatstr, 100, "ACD Id, Temp , Integral, Output,AdvIntegral, AdvOutput{ %d, %d ,%d, %d,%d, %d} ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,
+                //                (int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError,(int)temp_integral,(int)temp_calculatedError);
+                //Report(heatstr,__FILE__,__LINE__,index,RpWarning,index,  readValue);
             }
             //        error[index][Counter[index]]    = HeaterPIDConfig[index].m_preError;
             //        integral[index][Counter[index]] = HeaterPIDConfig[index].m_integral;
@@ -736,11 +733,6 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             //            Counter[index] = 0;
             //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
             //        #warning PID is now only proportional (above)
-            if (index == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2)
-            {
-  //              len = usnprintf(heatstr, 254, "PID id, Temp, Integral, Output { %d, %d ,%d, %d}",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError);
-  //              Report(heatstr,__FILE__,__LINE__,index,RpWarning,HeaterPIDConfig[index].m_calculatedError,0);
-            }
             HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError/100));
 
         }
@@ -801,7 +793,7 @@ uint32_t HeatersControlLoop(uint32_t tick)
     {
         first = false;
     }
-    if (InitialHeating == false)
+    if (HeaterReady[HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature] == true)
     {
         if (TimeSliceAllocation[SliceCounter] == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain)
         {
@@ -835,7 +827,7 @@ uint32_t HeatersControlLoop(uint32_t tick)
     }
     for ( DcHeaterId = HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1; DcHeaterId<= HARDWARE_PID_CONTROL_TYPE__MixerHeater;DcHeaterId++)
     {
-        if (DCInitialHeating[DcHeaterId] == true)
+        if (HeaterReady[DcHeaterId] == false)
             continue;
         if (DCTimeSliceAllocation[DcHeaterId] > 0) //heater active
         {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index fed1311bd..3b9311b77 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -26,29 +26,28 @@
 #include <inc/hw_memmap.h>
 
 
-bool Winder_ScrewHoming = false;
-
 #define MAX_WINDER_SPEED_CALCULATION 200
+
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag);
 uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue);
+void ScrewTimerInterruptInit(void);
+void ScrewsStopControlTimer (void);
+void ScrewsStartControlTimer (void);
 
-bool ScrewCurrentDirection = false;  //holds current screw direction
+bool     Winder_ScrewHoming = false;
+bool     ScrewCurrentDirection = false;  //holds current screw direction
 uint32_t ScrewDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
 uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
 uint16_t WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
-bool WinderMotorSpeedRollOver = false;
-double ScrewSpeed = 0;
-double ScrewRunningTime = 0;
+bool     WinderMotorSpeedRollOver = false;
+double   ScrewSpeed = 0;
+double   ScrewRunningTime = 0;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
-bool SCREW_TimerActivated = false;
-//ScrewSpeed
+bool     SCREW_TimerActivated = false;
 uint32_t ScrewControlId = 0xFF;
 
 InternalWinderConfigStruc InternalWinderCfg = {0};
-void ScrewTimerInterruptInit(void);
-void ScrewsStopControlTimer (void);
-void ScrewsStartControlTimer (void);
 
 uint32_t Winder_Init(void)
 {