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 | 26 |
1 files changed, 19 insertions, 7 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 45acfabea..28ba11fcd 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -732,6 +732,18 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request) MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, Hard_Stop); + if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT) + { + ReportWithPackageFilter(ThreadFilter,"Dyeing head is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpFatalError,LIMIT,0); + PrepareReady(Module_Thread,ModuleFail); + return ERROR; + } + if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID]) != LIMIT) + { + ReportWithPackageFilter(ThreadFilter,"Dryer lid is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,RpFatalError,LIMIT,0); + PrepareReady(Module_Thread,ModuleFail); + return ERROR; + } //start thread control for all motors for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) @@ -768,7 +780,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request) } //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); - SpeedControlId = AddControlCallback(ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); } if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled { @@ -781,7 +793,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request) } //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); - PoolerSpeedControlId = AddControlCallback(PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); } if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled { @@ -793,8 +805,8 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request) CurrentControlledSpeed[Motor_i] = 0; } #ifndef TEST_PID_THREAD - ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); - //AddControlCallback(ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); + //AddControlCallback(NULL,ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); #endif } if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled @@ -807,7 +819,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request) ControlIdtoMotorId[Motor_i] = 0xFF; } #ifndef TEST_PID_THREAD - ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); + ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); #endif } if (Motor_i == WINDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled @@ -821,7 +833,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request) ControlIdtoMotorId[Motor_i] = 0xFF; } #ifndef TEST_PID_THREAD - ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); + ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); #endif } // if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled @@ -912,7 +924,7 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId) #else InitialDryerSpeed = OriginalMotorSpd_2PPS[DRYER_MOTOR]/10; MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed ); - ControlIdtoMotorId[DRYER_MOTOR] = AddControlCallback(ThreadDryerRampUp, 200,TemplateDataReadCBFunction,0,0,0); + ControlIdtoMotorId[DRYER_MOTOR] = AddControlCallback("DryerRampUp",ThreadDryerRampUp, 200,TemplateDataReadCBFunction,0,0,0); #endif #endif #ifdef HUNDRED_MICROSECONDS_DANCER_READ |