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-rw-r--r--Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c119
1 files changed, 42 insertions, 77 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 588b1b391..416b53494 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -23,7 +23,6 @@
#include "drivers/Flash_ram/FlashProgram.h"
#include "drivers/Flash_ram/MCU_E2Prom.h"
-#include "modules/ids/ids_ex.h"
#include "thread.h"
MotorDriverConfigStruc MotorsCfg[NUM_OF_MOTORS]={0};
@@ -104,14 +103,10 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
MotorsCfg[Motor_i].tfast = request->tfast ;
MotorsCfg[Motor_i].tonmin = request->tonmin ;
MotorsCfg[Motor_i].toffmin = request->toffmin ;
- MotorsCfg[Motor_i].has_p01configword = (bool)(request->has_p01configword) ;//needed for backward compatibility
- MotorsCfg[Motor_i].p01configword = request->p01configword ;
status = MotorConfig( Motor_i, &MotorsCfg[Motor_i]);
- if ((Motor_i >= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1)&&(Motor_i <= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8))
- {
- IDS_Dispenser_Init(Motor_i-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1);
- }
+// if (Motor_i == MOTOR_RDRIVING)
+// ThreadInitialTestStub(request);
}
return status;
@@ -145,79 +140,56 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp;
// uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
- temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
- if (Motor_i == WINDER_MOTOR)
- {
- temp = temp*3/2;
- }
+ temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm*3/2);
DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
-#ifdef FOUR_WINDERS
- if (Motor_i == WINDER_MOTOR)
- {
- int j,winderMotorId;
- for (j=0;j<3;j++)
- {
- winderMotorId = j+WINDER_2_MOTOR;
- memcpy (&MotorsControl[winderMotorId],request,sizeof(HardwarePidControl));
- if (MotorsControl[winderMotorId].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
- MotorsControl[winderMotorId].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
- #ifdef TEST_LONGER_PID_THREAD
- MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
- #endif
- for (i = 0;i < (int)MotorsControl[winderMotorId].pvinputfilterfactormode; i++)
- {
- MotorSamples[winderMotorId][i] = 0; //reset the samples value for control beginning
- MotorSpeedSamples[winderMotorId][i] = 0;
- }
- NormalizedErrorCoEfficient[winderMotorId] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
- temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
- temp=(NORMAL_COEF_DIVIDER*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
- NormalizedErrorCoEfficient[winderMotorId] = NormalizedErrorCoEfficient[winderMotorId] / temp;
- // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
- temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
- temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
- if (Motor_i == WINDER_MOTOR)
- {
- temp = temp*3/2;
- }
- DancerStopActivityLimit[winderMotorId] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
- }
- }
-#endif
return OK;
}
char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg";
-uint32_t StoreDancerConfigMessage(int DancerId)
+uint32_t StoreDancerConfigMessage()
{
uint32_t status = OK;
- // FRESULT Fresult = FR_OK;
- //HardwareConfiguration DancerConfig;
- HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
-#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
+ /* FRESULT Fresult = FR_OK;
+ // HardwareConfiguration DancerConfig;
+ // HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
+ // uint8_t* response_buffer;
// size_t response_size = 0;
- int Dancer_i = DancerId;
-
- //hardware_configuration__init(&DancerConfig);
- //DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS);
- 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);
+ // int Dancer_i;
+ 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;
+ DancerConfig.dancers[Dancer_i]->zeropoint=Control_Read_Dancer_Position(Dancer_i,0,0);
+ DancerConfig.n_dancers++;
+ DancersCfg[Dancer_i].zeropoint = DancerConfig.dancers[Dancer_i]->zeropoint;
+ }
+ */
+ 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);
+ Report("Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0);
+/*
+ response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig));
+ if (response_buffer)
+ {
+ response_size = hardware_configuration__pack(&DancerConfig, response_buffer);
+ }
+ Fresult = FileWrite(response_buffer,response_size,DancerConfigPath,BIOS_WAIT_FOREVER);
+ EraseFlashSection(DANCERS_MAP_IN_FLASH,1024);
+ for (Dancer_i = 0; Dancer_i < MAX_SYSTEM_DANCERS; Dancer_i++)
+ {
+ ReadAppAndProgram(DANCERS_MAP_IN_FLASH, sizeof(Dancers), Dancers);
+ }
- status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint);
- Report("~~~~~~Store eeprom dancer",__FILE__,__LINE__,Dancer_i,RpWarning,(int)DancersCfg[Dancer_i].zeropoint,0);
+ my_free(response_buffer);
+*/
return status;
}
uint32_t LoadDancerConfigMessage()
@@ -227,18 +199,11 @@ uint32_t LoadDancerConfigMessage()
MCU_E2PromRead(EEPROM_STORAGE_DANCER_0,&DancersCfg[0].zeropoint);
MCU_E2PromRead(EEPROM_STORAGE_DANCER_1,&DancersCfg[1].zeropoint);
MCU_E2PromRead(EEPROM_STORAGE_DANCER_2,&DancersCfg[2].zeropoint);
-#ifdef FOUR_WINDERS
- MCU_E2PromRead(EEPROM_STORAGE_DANCER_3,&DancersCfg[3].zeropoint);
- MCU_E2PromRead(EEPROM_STORAGE_DANCER_4,&DancersCfg[4].zeropoint);
-#endif
+
status |= Report("Dancer 0 Store data eeprom ",__FILE__,__LINE__,0,RpWarning,(int)DancersCfg[0].zeropoint,0);
status |= Report("Dancer 1 Store data eeprom ",__FILE__,__LINE__,1,RpWarning,(int)DancersCfg[1].zeropoint,0);
status |= Report("Dancer 2 Store data eeprom ",__FILE__,__LINE__,2,RpWarning,(int)DancersCfg[2].zeropoint,0);
-#ifdef FOUR_WINDERS
- status |= Report("Dancer 3 Store data eeprom ",__FILE__,__LINE__,3,RpWarning,(int)DancersCfg[3].zeropoint,0);
- status |= Report("Dancer 4 Store data eeprom ",__FILE__,__LINE__,4,RpWarning,(int)DancersCfg[4].zeropoint,0);
-#endif
return status;
generated by cgit v1.3.1 (git 2.54.0) at 2026-07-07 11:07:13 +0000