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-rw-r--r--Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c53
1 files changed, 34 insertions, 19 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index c7ec8a58c..c478b82de 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -164,7 +164,7 @@
{
if (Is_PP_Machine())
- kval_upperValue = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+ kval_upperValue = 28;
else
kval_upperValue = 70;
@@ -208,7 +208,7 @@
{
if(Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD)
{
- WHS_Set_SetPoint_Q_value(headairflow*2/3);
+ WHS_Set_SetPoint_Q_value(headairflow);
}
else
{
@@ -349,7 +349,10 @@
if (Head_Type != HEAD_TYPE_ARC)
{
CallbackCounter++;
- MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000);
+ if (MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 300, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,20000)==ERROR)
+ {
+ Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_DH_LID,NO_LIMIT);
+ }
}
CallbackCounter++;
//MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
@@ -366,8 +369,8 @@
if (Head_Type == HEAD_TYPE_FLAT)
{
Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0);
- Trigger_Head_Actuators_Control(ACT_IN_AND_OUT, LOW,true);
- //Trigger_Head_Actuators_Control(ACTIN, LOW,true);
+ Trigger_Head_Actuators_Stub(ACTOT, ENABLE, UP);
+ Trigger_Head_Actuators_Stub(ACTIN, ENABLE, UP);
}
return OK;
}
@@ -395,8 +398,8 @@
{
keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
- if (keepkvalrun>=25)
- keepkvalrun = 25;
+ /*if (keepkvalrun>=25)
+ keepkvalrun = 25;*/
Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,0,RpWarning,Read_Dryer_ENC_Position(),0);
@@ -428,6 +431,7 @@
if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT)
{
REPORT_MSG(LIMIT, "No cone in winder");
+ Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_WINDER,NO_LIMIT);
//return ERROR;
}
CallbackCounter++;
@@ -440,8 +444,8 @@
{
keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
- if (keepkvalrun>=25)
- keepkvalrun = 25;
+ /*if (keepkvalrun>=25)
+ keepkvalrun = 25;*/
Report("Thread_Load_Close_Rockers",__FILE__,__LINE__,keepkvalrun,RpMessage,keepmicrostep,0);
MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 8);
@@ -460,7 +464,7 @@
uint32_t Thread_Load_Close_Dancers(void)
//Send Dancer Motors To Preset Location, Check That The Dancers Are On The Thread
{
- uint32_t current = 0;
+ uint32_t current = 1;
REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Close_Dancers");
CallbackCounter++;
MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
@@ -500,14 +504,14 @@
if (Head_Type == HEAD_TYPE_FLAT)
{
Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
- Trigger_Head_Actuators_Control(ACTOT, LOW,false);
- //Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+ Trigger_Head_Actuators_Stub(ACTOT, ENABLE, DOWN);
+ //Trigger_Head_Actuators_Stub(ACTIN, ENABLE, DOWN);
HeadCard_Actuators_Relocate();
}
if (Head_Type != HEAD_TYPE_ARC)
{
CallbackCounter++;
- MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000);
+ MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 300, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,20000);
}
CallbackCounter++;
// MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
@@ -1227,11 +1231,11 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
index = IfIndex&0xFF;
DancerId = ThreadMotorIdToDancerId[index];
- if (ReadValue < 10)
+ /*if (ReadValue < 10)
{
Report("Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
return OK;
- }
+ }*/
if (ReadValue == 0x3FFF)
{
return OK;
@@ -1242,6 +1246,11 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
//pooler dancer is right sided: data is opposite
TranslatedReadValue = (-1*TranslatedReadValue);
}
+ if (abs(TranslatedReadValue) > 0x2000)
+ {
+ TranslatedReadValue = 0x3FFF- TranslatedReadValue; //overcome zero environment
+ }
+
//TranslatedReadValue = 0;//test
MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
MotorSamplePointer[index]++;
@@ -1344,10 +1353,16 @@ void ThreadLoadRequest(MessageContainer* requestContainer)
responseContainer = createContainer(MESSAGE_TYPE__StubHeatingTestResponse, requestContainer->token, false, &response, &stub_heating_test_response__pack, &stub_heating_test_response__get_packed_size);
container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
-
int LoadStage = (int)request->dryerzone1temp;
- LoadStages = LoadStage;
- ThreadLoadStateMachine(LoadStage);
+ if (request->hardwarepidcontrol1!=NULL)
+ {
+ UpdatePidDuringRun(request->hardwarepidcontrol1);
+ }
+ else
+ {
+ LoadStages = LoadStage;
+ ThreadLoadStateMachine(LoadStage);
+ }
/*if (status)
{
@@ -1463,7 +1478,7 @@ uint32_t ThreadLoadingReport(void)
uint32_t TryThreadLoadingFunc(MessageContainer* requestContainer)
{
- TryThreadLoadingRequest *request = continue_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+ TryThreadLoadingRequest *request = try_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
TryThreadLoadingResponse Cresponse = TRY_THREAD_LOADING_RESPONSE__INIT;
MessageContainer responseContainer;
MessageState = 2;
generated by cgit v1.3.1 (git 2.54.0) at 2026-06-19 22:42:48 +0000