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 | 104 |
1 files changed, 85 insertions, 19 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 394e2ae13..a4208ad25 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -30,6 +30,7 @@ #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h" #include "modules/heaters/heaters.h" #include "modules/General/process.h" +#include "modules/ids/ids_ex.h" #include "Modules/AlarmHandling/AlarmHandling.h" #include "Control/MillisecTask.h" @@ -67,6 +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; @@ -76,6 +83,11 @@ void ThreadInterSegmentEnded(void); void ThreadDistanceToSpoolEnded(void); uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue); +bool SegmentState = false; +bool PreSegmentState = false; +bool DTSState = false; +void SendSegmentFail(void); + double KeepNormalizedError = 0; bool ThreadControlActive = false; ////////////////////////Slow Motor State//////////////////////////////////// @@ -121,6 +133,7 @@ uint32_t Poolerinitialpos = 0xFFFF; void ThreadUpdateProcessLength (double length, void *Funcptr) { + REPORT_MSG(length,"ThreadUpdateProcessLength"); CurrentRequestedLength = length*100;//Centimetres CurrentProcessedLength = 0; ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr; @@ -353,7 +366,7 @@ 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; @@ -372,6 +385,8 @@ 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) { @@ -427,9 +442,9 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) JobEndReason = JOB_THREAD_BREAK; ThreadControlActive = false; SendJobProgress(0.0,0,false, TMessage); - //SegmentReady(Module_Thread,ModuleFail); - AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true); - EndState(CurrentJob,"ReadBreakSensor Error" ); + SendSegmentFail(); + //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true); + //EndState(CurrentJob,"ReadBreakSensor Error" ); LOG_ERROR(index, "ReadBreakSensor Error"); return OK; } //passed limit @@ -457,8 +472,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId; SendJobProgress(0.0,0,false, TMessage); //EndState(CurrentJob,TMessage ); - SegmentReady(Module_Thread,ModuleFail); - switch (index) + SendSegmentFail(); + /*switch (index) { case POOLER_MOTOR: AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,true); @@ -469,7 +484,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) case WINDER_MOTOR: AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,true); break; - } + }*/ LOG_ERROR (DancerId, "Dancer Failure"); return OK; } @@ -486,7 +501,23 @@ 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) @@ -551,6 +582,7 @@ bool InitialProcess = false; uint32_t ThreadPrepareState(void *JobDetails) { int Motor_i, HW_Motor_Id, Pid_Id; + JobTicket* JobTicket = JobDetails; CurrentSegmentId = 0; JobCounter = 0; @@ -563,6 +595,11 @@ 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++) { @@ -659,7 +696,7 @@ 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]; @@ -671,14 +708,16 @@ 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) @@ -708,14 +747,22 @@ 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 (EnableLubrication == true) + { + IDS_StartLubrication(); + } } // activate control fr all motors //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) - { - ThreadUpdateProcessLength (JobTicket->intersegmentlength,(void *)ThreadInterSegmentEnded); + if ((InitialProcess==false) && (EnableIntersegment == true)) //&& (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0 + {//add initial presegment and cleaning before first segment + ThreadUpdateProcessLength (IntersegmentLength,(void *)ThreadInterSegmentEnded); + REPORT_MSG (IntersegmentLength," ThreadPreSegmentState IntersegmentLength"); + SegmentState = false; + PreSegmentState = true; + DTSState = false; } else { @@ -728,14 +775,26 @@ uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId) return OK; } int REPSegmentId = 0; +void SendSegmentFail(void) +{ + if (SegmentState == true) + SegmentReady(Module_Thread,ModuleFail); + else if (PreSegmentState == true) + PreSegmentReady(Module_Thread,ModuleFail); + else if (DTSState == true) + DistanceToSpoolReady(Module_Thread,ModuleFail); + +} + 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) @@ -745,14 +804,17 @@ 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); + SegmentState = true; + PreSegmentState = false; + DTSState = false; return OK; } @@ -762,12 +824,15 @@ uint32_t ThreadDistanceToSpoolState(void ) seglength = dryerbufferlength; REPORT_MSG (seglength,"ThreadDistanceToSpoolState"); ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded); + SegmentState = false; + PreSegmentState = false; + DTSState = true; return OK; } char Endstr[150]; //******************************************************************************************************************** - uint32_t ThreadEndState(void *JobDetails) + uint32_t ThreadEndState(void ) { int Motor_i; ThreadControlActive = false; @@ -777,6 +842,7 @@ char Endstr[150]; Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0); ThreadUpdateProcessLength (0.0,(void *)NULL); + TotalProcessedLength = 0.0; SetOriginMotorSpeed(0); #ifdef HUNDRED_MICROSECONDS_DANCER_READ MillisecLogClose(); @@ -807,7 +873,7 @@ char Endstr[150]; } MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz); MotorStop(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz); - + IDS_StopLubrication(); return OK; } |