fix alarm handling (resolves bugs #4085, #4097). dancer setup - per dancer

7 files changed, 67 insertions, 45 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index e754b0df2..5c24b2338 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -631,8 +631,16 @@ JobEndReasonEnum getEndReason(uint32_t AlarmId)
     switch (AlarmItem[AlarmId].AlarmSource)
     {
         case ALARM_SOURCE_TYPE__TemperatureAlarm:
-            usnprintf(AlarmReasonStr, 100, "Temperature problem in heater %d",AlarmItem[AlarmId].DeviceId);
-            return JOB_TEMPERATURE_ALARM;
+            if (AlarmItem[AlarmId].Severity == DEBUG_LOG_CATEGORY__Critical)
+            {
+                usnprintf(AlarmReasonStr, 100, "Safety Critical Alarm %d",AlarmItem[AlarmId].EventType);
+                return JOB_SAFETY_CRITICAL_ALARM;
+            }
+            else
+            {
+                usnprintf(AlarmReasonStr, 100, "Temperature problem in heater %d",AlarmItem[AlarmId].DeviceId);
+                return JOB_TEMPERATURE_ALARM;
+            }
         case ALARM_SOURCE_TYPE__LimitSwitchAlarm:
             usnprintf(AlarmReasonStr, 100, "Dispenser %d empty",AlarmItem[AlarmId].DeviceId);
             return JOB_OUT_OF_DYE;
@@ -987,13 +995,20 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
     }
     if ((IFS_Availability[1] == IFS_RECOGNIZED_INIT_PASSED)&&(IFS_Availability[2] == IFS_RECOGNIZED_INIT_PASSED)) //ifs installed -check cartridges
     {
-
-        tempFoundReason = Waste_CheckState(&AlarmId);
-        if (tempFoundReason!=JOB_OK)
-        {
-            FoundReason = tempFoundReason;
-            ReportWithPackageFilter(AlarmFilter,"waste handling alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
-        }
+            tempFoundReason = Waste_CheckState(&AlarmId);
+            if (tempFoundReason!=JOB_OK)
+            {
+                for (Alarm_i = 0;Alarm_i<NumOfSystemAlarms;Alarm_i++)
+                {
+                    if (AlarmId == (AlarmItem[Alarm_i].EventType))
+                    {
+                        FoundReason = tempFoundReason;
+                        AlarmId = Alarm_i;
+                        ReportWithPackageFilter(AlarmFilter,"waste handling alarm preventing job", __FILE__,AlarmId,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
+                        break;
+                    }
+                }
+            }
     }
     if ((AlarmState[Alarm_i].Status == true)&&(FoundReason == JOB_OK))
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 193a35e12..cc2c508c0 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -885,7 +885,9 @@ void FlashInitAndLoad(void)
     }
     Report("Hardware Initialized", __FILE__,__LINE__,Bytes, RpMessage, GENHWCFG_MAP_IN_FLASH, 0);
 
-    StoreDancerConfigMessage();
+    StoreDancerConfigMessage(0);
+    StoreDancerConfigMessage(1);
+    StoreDancerConfigMessage(2);
     Report("Dancer Initialized", __FILE__,DancersCfg[0].zeropoint,DancersCfg[1].zeropoint, RpMessage, DancersCfg[2].zeropoint, 0);
     /*Bytes = AlarmHandlingLoadFile();
     if (Bytes>0)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
index 021dd243f..5be5f1232 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
@@ -53,7 +53,7 @@
 #define PRESSURE_SENSOR_CP      0.269
 #define PRESSURE_SENSOR_B       0.45
 #define V0_DEFAULT_VALUE        1050
-#define FAN_MIN_RPM_THRESHOLD   4000
+#define FAN_MIN_RPM_THRESHOLD   3200
 extern uint16_t Head_Fan_Tach[2];
 extern uint8_t Head_Fan_PWM_Command[2];
 
@@ -92,8 +92,8 @@ void HeadBlowersInit()
     HeadBlowerControl[0].m_params.MAX = 200;
     HeadBlowerControl[0].m_params.MIN = -200;
     HeadBlowerControl[0].m_params.Kd = 0;
-    HeadBlowerControl[0].m_params.Kp = 350;
-    HeadBlowerControl[0].m_params.Ki = 25;
+    HeadBlowerControl[0].m_params.Kp = 800;
+    HeadBlowerControl[0].m_params.Ki = 80;
     HeadBlowerControl[0].m_params.IntegralErrorMultiplier = 10;
     HeadBlowerControl[0].m_params.ProportionalErrorMultiplier = 10;
     HeadBlowerControl[0].m_params.epsilon = 0;
@@ -110,8 +110,8 @@ void HeadBlowersInit()
     HeadBlowerControl[1].m_params.MAX = 200;
     HeadBlowerControl[1].m_params.MIN = -200;
     HeadBlowerControl[1].m_params.Kd = 0;
-    HeadBlowerControl[1].m_params.Kp = 350;
-    HeadBlowerControl[1].m_params.Ki = 25;
+    HeadBlowerControl[1].m_params.Kp = 800;
+    HeadBlowerControl[1].m_params.Ki = 80;
     HeadBlowerControl[1].m_params.IntegralErrorMultiplier = 10;
     HeadBlowerControl[1].m_params.ProportionalErrorMultiplier = 10;
     HeadBlowerControl[1].m_params.epsilon = 0;
@@ -354,12 +354,13 @@ void HeadBlowersCfg()
 
 uint32_t PressureSensorInit(int blowerId)
 {
-    uint32_t rpm, V0 = 0;
+    uint32_t V0;
 
-    rpm = HeadBlowersGetRPM(blowerId);
-    if (rpm < FAN_MIN_RPM_THRESHOLD) {
+    if (HeadBlowersGetRPM(blowerId) < FAN_MIN_RPM_THRESHOLD) {
         V0 = MillisecGetTemperatures(BlowerIdToSensorId[blowerId]);
         V0 /= 10;
+    } else {
+        V0 = V0_DEFAULT_VALUE;
     }
     return V0;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
index 3d2db071e..27a7dfb31 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
@@ -70,6 +70,7 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer)
         response.has_general_status = true;
         response.detailed_status = DANCER_ENC[request->dancer_id].Det_status;
         response.has_general_status = true;
+        StoreDancerConfigMessage(Dancer_Id);
     }
     else if(Dancer_Id < NUM_OF_ROTENC*2)
     {
@@ -86,8 +87,6 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer)
         response.detailed_status = ERROR; // use the Reserved bits to send our errors
         response.has_general_status = true;
     }
-    if (Dancer_Id == 2)
-        StoreDancerConfigMessage();
     responseContainer = createContainer(MESSAGE_TYPE__StubDancerPositionResponse, requestContainer->token, true, &response, &stub_dancer_position_response__pack, &stub_dancer_position_response__get_packed_size);
 
     //free(request);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 07ecf5d0b..11a92ab63 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -46,7 +46,7 @@ uint32_t ThreadEndState();
 
 bool Set_Thread_Rockers_Bypass (int value);
 
-uint32_t StoreDancerConfigMessage(void);
+uint32_t StoreDancerConfigMessage(int DancerId);
 uint32_t LoadDancerConfigMessage(void);
 
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 1920db03a..626bcde7c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -188,34 +188,35 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
 }
 char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg";
 
-uint32_t StoreDancerConfigMessage()
+uint32_t StoreDancerConfigMessage(int DancerId)
 {
     uint32_t status = OK;
   //  FRESULT Fresult = FR_OK;
     //HardwareConfiguration DancerConfig;
     HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
-  //  uint8_t* response_buffer;
+#ifdef FOUR_WINDERS
+    uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2,EEPROM_STORAGE_DANCER_3,EEPROM_STORAGE_DANCER_4};
+#else
+    uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2};
+#endif
   //  size_t response_size = 0;
-    int Dancer_i;
+    int Dancer_i = DancerId;
 
     //hardware_configuration__init(&DancerConfig);
     //DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS);
-    for (Dancer_i = 0; Dancer_i < MAX_SYSTEM_DANCERS; Dancer_i++)
-    {
-        hardware_dancer__init(&Dancers[Dancer_i]);
-        //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i];
-        Dancers[Dancer_i].has_zeropoint = true;
-        Dancers[Dancer_i].hardwaredancertype = Dancer_i;
-        Dancers[Dancer_i].has_hardwaredancertype = true;
-        Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0);
-        //DancerConfig.n_dancers++;
-        DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint;
-        DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0);
-    }
+    hardware_dancer__init(&Dancers[Dancer_i]);
+    //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i];
+    Dancers[Dancer_i].has_zeropoint = true;
+    Dancers[Dancer_i].hardwaredancertype = Dancer_i;
+    Dancers[Dancer_i].has_hardwaredancertype = true;
+    Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0);
+    //DancerConfig.n_dancers++;
+    DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint;
+    DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0);
+
+
 
-    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_0,DancersCfg[0].zeropoint);
-    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_1,DancersCfg[1].zeropoint);
-    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_2,DancersCfg[2].zeropoint);
+    status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint);
     Report("~~~~~~Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0);
 #ifdef FOUR_WINDERS
     status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_3,DancersCfg[HARDWARE_DANCER_3].zeropoint);
diff --git a/Software/Stubs Collection/stubs/ChangePidDuringRun.cs b/Software/Stubs Collection/stubs/ChangePidDuringRun.cs
index 4d07cac71..9422e2cdc 100644
--- a/Software/Stubs Collection/stubs/ChangePidDuringRun.cs
+++ b/Software/Stubs Collection/stubs/ChangePidDuringRun.cs
@@ -8,19 +8,19 @@ using System.Threading;
 using System.Threading.Tasks;
 using System.Collections.Generic;
 using Tango.PMR.Stubs;
+using Tango.PMR.Hardware;
 using Tango.Stubs;
 
 public void OnExecute(StubManager stubManager)
 {
+StubHeatingTestRequest stubHeatingTestRequest = new StubHeatingTestRequest();
 
 stubHeatingTestRequest.DryerZone1Temp = 0;
 stubHeatingTestRequest.DryerZone2Temp = 0;
 
 HardwarePidControl hardwarePidControl = new HardwarePidControl();
-hardwarePidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.FeederMotor;
 hardwarePidControl.OutputProportionalPowerLimit = 0.5;   //Maximal additional power
 hardwarePidControl.OutputProportionalBand = 5;  
-hardwarePidControl.IntegralTime = 7000;   //Ki
 hardwarePidControl.DerivativeTime = 0;   //Kd
 hardwarePidControl.SensorCorrectionAdjustment = 0;
 hardwarePidControl.SensorMinValue = 0;
@@ -30,15 +30,19 @@ hardwarePidControl.SetPointControlOutputRate = 0;
 hardwarePidControl.ControlOutputType = 0.001;  ////Dt
 hardwarePidControl.SsrControlOutputType = 0;
 hardwarePidControl.OutputOnOffHysteresisValue = 100;  //Kp divider
-hardwarePidControl.ProcessVariableSamplingRate = 0;
-hardwarePidControl.PvInputFilterFactorMode = 6;   //averaging the readouts / number of samples
+hardwarePidControl.ProcessVariableSamplingRate = 10;
+hardwarePidControl.PvInputFilterFactorMode = 4;   //averaging the readouts / number of samples
 hardwarePidControl.OutputProportionalCycleTime = 0;
 hardwarePidControl.AcHeatersHalfCycleTime = 0;
-hardwarePidControl.ProportionalGain = 5000;   //Kp
 hardwarePidControl.PidActive = false;
 hardwarePidControl.Epsilon = 0;  
+hardwarePidControl.OutputOnOffHysteresisValue = 100;
 
-stubHeatingTestRequest.HardwarePidControl1 = hardwarePidControl1;
+hardwarePidControl.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorWinder;
+hardwarePidControl.IntegralTime = 8000;   //Ki
+hardwarePidControl.ProportionalGain = 7000;   //Kp
+
+stubHeatingTestRequest.HardwarePidControl1 = hardwarePidControl;
 
 StubHeatingTestPollRequest stubHeatingTestPollRequest = new StubHeatingTestPollRequest();