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-rw-r--r--Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c71
1 files changed, 57 insertions, 14 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 1dd101f82..be6644067 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -15,6 +15,7 @@
#include "PMR/Hardware/HardwareDancerType.pb-c.h"
#include "PMR/Printing/JobSegment.pb-c.h"
#include "PMR/Printing/JobTicket.pb-c.h"
+#include "PMR/Printing/ThreadParameters.pb-c.h"
#include <PMR/Diagnostics/EventType.pb-c.h>
#include <utils/ustdlib.h>
@@ -71,10 +72,12 @@ double TempTotalProcessedLength = 0.0;
bool InitialProcess = false;
bool PrepareState = false;
+
// job parameters
bool EnableLubrication = false;
bool EnableIntersegment = false;
double IntersegmentLength = 0;
+bool Thread_Rockers_Bypass = false;
int CurrentSegmentId = 0;
@@ -442,7 +445,6 @@ void testDancersControl()
ThreadControlActive = false;
}
#endif
-bool dancerinvalid = false;
int MotorFailedSample[MAX_THREAD_MOTORS_NUM] = {0,0,0,0,0};
char TMessage[150];
//char time[150];
@@ -456,7 +458,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
//extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM];
//read value is the dancer angle
- int i,index=MAX_THREAD_MOTORS_NUM,len;
+ int i,index=MAX_THREAD_MOTORS_NUM;
+ int len;
int DancerId;
int32_t TranslatedReadValue, avreageSampleValue = 0;//,avreageMotorSampleValue = 0;
//double tempcalcspeed = 0;
@@ -481,21 +484,20 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
//if (MotorDriverResponse[ThreadMotorIdToMotorId[index]].Busy == true)
// return OK;
DancerId = ThreadMotorIdToDancerId[index];
- if (ReadValue < 10)
+/* if (ReadValue < 10)
{
MotorFailedSample[index]++;
ReportWithPackageFilter(ThreadFilter,"Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0);
return OK;
- }
+ }*/
if (ReadValue == 0x3FFF)
{
- MotorFailedSample[index]++;
- if (dancerinvalid == false)
+ if (Read_Dryer_Status(DancerId) != OK)
{
- dancerinvalid = true;
- ReportWithPackageFilter(ThreadFilter,"Dancer value invalid.",__FILE__,__LINE__,(int)IfIndex,RpError,(int)ReadValue,0);
+ ReportWithPackageFilter(ThreadFilter,"Dancer value invalid.",__FILE__,ReadValue,(int)DancerId,RpError,(int)Read_Dryer_Status(DancerId),0);
+ MotorFailedSample[index]++;
+ return OK;
}
- return OK;
}
KeepReadValue = ReadValue;
TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
@@ -746,7 +748,47 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
ThreadPreSegmentState(request,0);
return OK;
}
+uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
+{
+ /*
+ FEEDER_MOTOR,
+ DRYER_MOTOR,
+ POOLER_MOTOR,
+ WINDER_MOTOR,
+ MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime;
+ MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain;
+ MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime;
+ */
+ if (ThreadParams == NULL)
+ {
+ return OK;
+ }
+ if(ThreadParams->feederp)
+ MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederp;
+ if(ThreadParams->feederi)
+ MotorControlConfig[FEEDER_MOTOR].m_params.Ki = ThreadParams->feederi;
+ if(ThreadParams->feederd)
+ MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederd;
+
+ if(ThreadParams->pullerp)
+ MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerp;
+ if(ThreadParams->pulleri)
+ MotorControlConfig[POOLER_MOTOR].m_params.Ki = ThreadParams->pulleri;
+ if(ThreadParams->pullerd)
+ MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerd;
+
+ if(ThreadParams->winderp)
+ MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderp;
+ if(ThreadParams->winderi)
+ MotorControlConfig[WINDER_MOTOR].m_params.Ki = ThreadParams->winderi;
+ if(ThreadParams->winderd)
+ MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderd;
+ if(ThreadParams->bypassrockers)
+ Thread_Rockers_Bypass = true;
+
+ return OK;
+}
//********************************************************************************************************************
uint32_t ThreadPrepareState(void *JobDetails)
{
@@ -826,10 +868,10 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
//////////////////////////////////////////////////
for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++)
{
- if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
+ //if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
MotorSamples[Motor_i][i] = Control_Read_Dancer_Position(ThreadMotorIdToDancerId[Motor_i],0); //reset the samples value for control beginning
- else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR))
- MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint;
+ // else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR))
+ // MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint;
//MotorSpeedSamples[Motor_i][i] = 0;
}
MotorSamplePointer[Motor_i] = 0;
@@ -907,6 +949,8 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
if (Motor_i == ThreadMotorIdToMotorId[DRYER_MOTOR]) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
continue;
}
+ HandleJobThreadControlParameters(JobTicket->threadparameters); //OVERRIDES CONFIGURATION PARAMETERS!!!
+
#ifdef TEST_PID_THREAD
testDancersControl();
#endif
@@ -965,7 +1009,6 @@ uint32_t ThreadDryerRampUp(uint32_t IfIndex, uint32_t BusyFlag)
return OK;
}
-bool Thread_Rockers_Bypass = false;
bool Set_Thread_Rockers_Bypass (int value)
{
if (value == 0)
@@ -1146,7 +1189,7 @@ char Endstr[150];
if (PoolerSpeedControlId != 0xFF)
{
if(RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK)
- ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)PoolerSpeedControlId,0);
+ ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)PoolerThreadLengthCBFunction,RpError,(int)PoolerSpeedControlId,0);
PoolerSpeedControlId = 0xFF;
}
generated by cgit v1.3.1 (git 2.54.0) at 2026-07-07 10:36:06 +0000