diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 58 |
1 files changed, 46 insertions, 12 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index a6ca46246..4131fbca5 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -68,6 +68,12 @@ double TempPoolerTotalProcessedLength = 0.0; double TempTotalProcessedLength = 0.0; bool PrepareState = false; +// job parameters +bool EnableLubrication = false; +bool EnableIntersegment = false; +double IntersegmentLength = 0; + + int CurrentSegmentId = 0; typedef void (* ProcessedLengthFunc)(void); ProcessedLengthFunc ProcessedLengthFuncPtr = NULL; @@ -354,7 +360,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) //read value is the dancer angle int i,index=MAX_THREAD_MOTORS_NUM; int DancerId; - int32_t TranslatedReadValue, avreageSampleValue = 0; + int32_t TranslatedReadValue, avreageSampleValue = 0,avreageMotorSampleValue = 0; //double tempcalcspeed = 0; uint32_t calculated_speed; double NormalizedError; @@ -373,6 +379,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) if(MotorControlConfig[index].m_isEnabled ) { + //if (MotorDriverResponse[ThreadMotorIdToMotorId[index]].Busy == true) + // return OK; DancerId = ThreadMotorIdToDancerId[index]; if (ReadValue < 10) { @@ -487,7 +495,23 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { //KeepNormalizedError = NormalizedError; } + if ((JobCounter % 1000) == 0) + { + if (JobCounter >= 20000) + { + MotorSpeedSamples[index][MotorSpeedSamplePointer[index]] = CurrentControlledSpeed[index];//(-1 * TranslatedReadValue); + MotorSpeedSamplePointer[index]++; + if (MotorSpeedSamplePointer[index] >= MAX_CONTROL_SAMPLES) + MotorSpeedSamplePointer[index] = 0; + for (i=0;i<MAX_CONTROL_SAMPLES;i++) + avreageMotorSampleValue += MotorSpeedSamples[index][i]; + avreageMotorSampleValue = avreageMotorSampleValue / MAX_CONTROL_SAMPLES; + //Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,avreageMotorSampleValue,0); + OriginalMotorSpd_2PPS[index] = avreageMotorSampleValue; + } + } calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; + //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index]; if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue) { /*if (keepdata == true) @@ -552,6 +576,7 @@ bool InitialProcess = false; uint32_t ThreadPrepareState(void *JobDetails) { int Motor_i, HW_Motor_Id, Pid_Id; + JobTicket* JobTicket = JobDetails; CurrentSegmentId = 0; JobCounter = 0; @@ -564,6 +589,11 @@ bool InitialProcess = false; AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,false); AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,false); + EnableLubrication = JobTicket->enablelubrication; + EnableIntersegment = JobTicket->enableintersegment; + IntersegmentLength = JobTicket->intersegmentlength; + + //start thread control for all motors for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) { @@ -660,7 +690,7 @@ bool InitialProcess = false; void SetOriginMotorSpeed(float process_speed) { - int Motor_i, HW_Motor_Id; + int i,Motor_i, HW_Motor_Id; for (Motor_i = 0; Motor_i <= WINDER_MOTOR; Motor_i++) { HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i]; @@ -672,14 +702,16 @@ void SetOriginMotorSpeed(float process_speed) //MotorControlConfig[Motor_i].m_SetParam = motor_speed; OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed; CurrentControlledSpeed[Motor_i] = (int) motor_speed; + for (i = 0; i <= MAX_CONTROL_SAMPLES; i++) + MotorSpeedSamples[Motor_i][i] = motor_speed; } } //******************************************************************************************************************** -uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId) +uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId) { //set the speed only before the first segment, speed is constant across all job segments and intersegments - JobTicket* JobTicket = JobDetails; + JobSegment* Segment = SegmentDetails; float process_speed = dyeingspeed; if (dyeingspeed == 0) @@ -709,7 +741,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId) MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize); MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1); } - if (JobTicket->enablelubrication == true) + if (EnableLubrication == true) { IDS_StartLubrication(); } @@ -718,9 +750,10 @@ uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId) //set speed for both rocker motors //wait for all motors to get to the required speed (set the target speed for the control to check) //call the job state machine when the thread system is ready - if ((InitialProcess==false) && JobTicket->enableintersegment == true) + if ((InitialProcess==false) && (EnableIntersegment == true) && (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0 { - ThreadUpdateProcessLength (JobTicket->intersegmentlength,(void *)ThreadInterSegmentEnded); + ThreadUpdateProcessLength (IntersegmentLength,(void *)ThreadInterSegmentEnded); + REPORT_MSG (IntersegmentLength," ThreadPreSegmentState IntersegmentLength"); } else { @@ -736,11 +769,12 @@ int REPSegmentId = 0; void ThreadInterSegmentEnded(void) { REPORT_MSG (REPSegmentId,"ThreadInterSegmentEnded"); + //ThreadUpdateProcessLength (0,(void *)NULL); PreSegmentReady(Module_Thread,ModuleDone); } void ThreadSegmentEnded(void) { - REPORT_MSG (REPSegmentId," ThreadSegmentState"); + REPORT_MSG (REPSegmentId," ThreadSegmentEnded"); SegmentReady(Module_Thread,ModuleDone); } void ThreadDistanceToSpoolEnded(void) @@ -750,11 +784,11 @@ void ThreadDistanceToSpoolEnded(void) } double seglength = 0.0; //******************************************************************************************************************** -uint32_t ThreadSegmentState(void *JobDetails, int SegmentId) +uint32_t ThreadSegmentState(void *SegmentDetails, int SegmentId) { - JobTicket* JobTicket = JobDetails; + JobSegment* Segment = SegmentDetails; REPSegmentId = SegmentId; - seglength = JobTicket->segments[SegmentId]->length; + seglength = Segment->length; CurrentSegmentId = SegmentId; REPORT_MSG (seglength," ThreadSegmentState"); ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded); @@ -772,7 +806,7 @@ uint32_t ThreadDistanceToSpoolState(void ) char Endstr[150]; //******************************************************************************************************************** - uint32_t ThreadEndState(void *JobDetails) + uint32_t ThreadEndState(void ) { int Motor_i; ThreadControlActive = false; |