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

5 files changed, 83 insertions, 61 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 93048681d..75ed06b05 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -218,7 +218,7 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
     HeaterState->heatertype = HeaterType;
     HeaterState->has_setpoint = true;
     HeaterState->setpoint = HeaterCmd[HeaterId].targettemperatue/100;
-    //    HeaterState->setpoint = DCTimeSliceAllocation[HeaterId]*100/NumberOFSlicesInUse;
+    //HeaterState->setpoint = DCTimeSliceAllocation[HeaterId]*100/NumberOFSlicesInUse;
     HeaterState->has_currentvalue = true;
     HeaterState->currentvalue = temp/100;//MillisecGetTemperatures(HeaterId2PT100Id[HeaterId])/100;
     HeaterState->has_isactive = true;
@@ -227,11 +227,16 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
     HeaterState->isrampingup = 1-HeaterReady[HeaterId];
     HeaterState->has_isinsetpoint = true;
     HeaterState->isinsetpoint = HeaterReady[HeaterId];
-    /*if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature)
+    if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain)
     {
         HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].outputproportionalpowerlimit;
         //HeaterState->isrampingup = InitialHeating;
-    }*/
+    }
+    if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary)
+    {
+        HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].outputproportionalpowerlimit;
+        //HeaterState->isrampingup = InitialHeating;
+    }
     return;
 }
 uint32_t HeatersSingleHeaterEnd(HardwarePidControlType HeaterId)
@@ -667,10 +672,10 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
             LOG_ERROR (MaxreadValue/100, "Heater Over the max temperature, turned off");
         }
         DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
-        HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain] = true;
+        HeaterMaxTempFlag[index] = true;
         //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0);
         DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
-        HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary] = true;
+        //HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary] = true;
         //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0);
         return OK;
     }
@@ -842,17 +847,18 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                     return OK;
                 }
 //        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100))
-        if (readValue < (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000))
+        if (readValue < (/*HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000*/HeaterCmd[index].targettemperatue-1000))
                 {
                     ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
                     ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
                     return OK;
                 }
 
-        if ((readValue > (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000))&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target
+        if ((readValue > (HeaterCmd[index].targettemperatue-1000)/*(HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000)*/)&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target
         {
 //////////////////
             //InitialHeating = false;
+            Report("AC PID Activating",__FILE__,__LINE__,readValue,RpWarning,(HeaterCmd[index].targettemperatue-1000), 0);
             DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
             HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary, 0);
             HeatersControlStart();
@@ -891,15 +897,30 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
         }
         else  //PID active
         {
-            if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+            if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100)))
             {
-                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);
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 0;
+                HeaterPIDConfig[index].m_integral = 0;
+            }
+            else if ((readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)))
+            {
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 10000;
+                HeaterPIDConfig[index].m_integral = 0;
             }
             else
             {
-                HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                      &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+                {
+                    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);
+                }
+                else
+                {
+                    HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+                                                          &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                }
             }
 //            len = usnprintf(ACheatstr, 254, "ACD 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(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
@@ -1015,15 +1036,31 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
         {
             //check only for the proportional band limits
             HeaterPIDConfig[index].m_mesuredParam = readValue;
-            if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+            if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100)))
             {
-                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);
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 0;
+                HeaterPIDConfig[index].m_integral = 0;
+            }
+            else if ((readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)))
+            {
+                //disable PID outside band
+                HeaterPIDConfig[index].m_calculatedError = 10000;
+                HeaterPIDConfig[index].m_integral = 0;
             }
             else
             {
-                HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                      &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+                if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0)
+                {
+                    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);
+                }
+                else
+                {
+                    HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(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;
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
index e2f2013c9..4867587d9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
@@ -22,41 +22,7 @@
 #include "driverlib/rom.h"
 
 
-char Read_HW_Version(unsigned char *Brd_ID, unsigned char *Assy_ID)
-{
-    //TODO Move in GPIO Initialisation
-
-    // -----------  Set HW Version GPIO as Input -----------
-    //MAP_GPIOPinTypeGPIOInput(GPIO_PORTS_BASE, GPIO_PIN_3 | GPIO_PIN_2 | GPIO_PIN_1);
-    //MAP_GPIOPinTypeGPIOInput(GPIO_PORTJ_BASE, GPIO_PIN_5 | GPIO_PIN_4 | GPIO_PIN_7);
-    //MAP_GPIOPinTypeGPIOInput(GPIO_PORTP_BASE, GPIO_PIN_3 | GPIO_PIN_5);
-
-    //Set HW Version GPIO to Pull down
-    GPIOPadConfigSet(GPIO_PORTS_BASE, GPIO_PIN_3 | GPIO_PIN_2 | GPIO_PIN_1, GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );
-    GPIOPadConfigSet(GPIO_PORTJ_BASE, GPIO_PIN_5 | GPIO_PIN_4 | GPIO_PIN_7, GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );
-    GPIOPadConfigSet(GPIO_PORTP_BASE, GPIO_PIN_3 | GPIO_PIN_5,              GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );
-    // ------------------------------------------------------
 
-    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_3) == GPIO_PIN_3)
-        *Brd_ID |= 0x08;
-    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_2) == GPIO_PIN_2)
-        *Brd_ID |= 0x04;
-    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_5) == GPIO_PIN_5)
-        *Brd_ID |= 0x02;
-    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_4) == GPIO_PIN_4)
-        *Brd_ID |= 0x01;
-
-    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_3) == GPIO_PIN_3)
-        *Assy_ID |= 0x08;
-    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_5) == GPIO_PIN_5)
-        *Assy_ID |= 0x04;
-    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_1) == GPIO_PIN_1)
-        *Assy_ID |= 0x02;
-    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_7) == GPIO_PIN_7)
-        *Assy_ID |= 0x01;
-
-    return PASSED;
-}
 
 void Stub_HWVersionRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
index 636889127..7995b1a42 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
@@ -21,7 +21,7 @@
 #include "drivers/SPI/SPI_Comm.h"
 
 #include "driverlib/ssi.h"
-
+/*
     unsigned long Run_Value = 136902 ;
     unsigned long Pos_Value;
     unsigned long Mov_Value ;
@@ -43,6 +43,28 @@
     unsigned long TestUint32_4;
     unsigned long TestUint32_5;
     unsigned long TestUint32_6;
+    */
+    extern unsigned long Run_Value ;
+    extern unsigned long Mov_Value ;
+    extern unsigned long Pos_Value;
+    extern bool Direction ;
+    extern unsigned long Time_2_Change_Direction ;
+    extern bool Display_Tx_ON_LCD;
+    extern bool Display_Rx_on_LCD;
+    extern unsigned long Init_MicroStep ;
+    extern unsigned long Init_Acc;
+    extern unsigned long Init_Dec;
+    extern bool TestBool_1;
+    extern bool TestBool_2;
+    extern bool TestBool_3;
+    extern bool TestBool_4;
+    extern bool TestBool_5;
+    extern unsigned long TestUint32_1;
+    extern unsigned long TestUint32_2;
+    extern unsigned long TestUint32_3;
+    extern unsigned long TestUint32_4;
+    extern unsigned long TestUint32_5;
+    extern unsigned long TestUint32_6;
 
 void Stub_L6470DriverRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.h
deleted file mode 100644
index 0b4702861..000000000
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.h
+++ /dev/null
@@ -1,3 +0,0 @@
-void Stub_L6470DriverRequest(MessageContainer* requestContainer);
-
-void temp_init_spi2();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 0b19d835a..70f32ce6d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -111,12 +111,12 @@ uint32_t Winder_Prepare(void)
     }*/
     if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT)
     {
-        REPORT_MSG(LIMIT, "Winder_Prepare at limit");
+        //REPORT_MSG(LIMIT, "Winder_Prepare at limit");
         Winder_PrepareStage2(0,0);
     }
     else
     {
-        REPORT_MSG(ScrewSpeed, "Winder_Prepare");
+        //REPORT_MSG(ScrewSpeed, "Winder_Prepare");
         Winder_ScrewHoming = true;
         //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit");
         status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2,2000);
@@ -322,7 +322,9 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         //     * calculate
         //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
         //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
-        screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        ScrewNumberOfSteps -= 100;
+        screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
         // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
         //RotationsPerSecond = dyeingspeed / (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulleyradius * PI);
         RotationsPerSecond =  OriginalMotorSpd_2PPS[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
@@ -343,10 +345,8 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
     //     * 3. calculate cart travel length from winding parameters
     //     * 4. start move of travel length
     //     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
-        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
-        ScrewNumberOfSteps -= 100;
         temp = SYS_CLK_FREQ;
-        temp *= InternalWinderCfg.segmentoffsetpulses;
+        temp *= ScrewNumberOfSteps;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
         REPORT_MSG(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");