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-rw-r--r--Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h2
-rw-r--r--Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c141
2 files changed, 100 insertions, 43 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index e957b0efc..ea75bffa3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -20,6 +20,8 @@ uint32_t ThreadInitialTestStub();
uint32_t Winder_Init(void);
uint32_t Winder_Prepare(void);
uint32_t Winder_Presegment(void *JobDetails);
+uint32_t Winder_End(void);
+
#endif
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 1e2203abb..9a7e8cf88 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -34,6 +34,8 @@ uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0};
TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
uint32_t ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF};
+uint32_t SpeedControlId=0xFF;
+
int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
typedef struct
@@ -81,7 +83,8 @@ void ThreadDistanceToSpoolEnded(void);
uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read)
{
uint32_t Time_Pass;
- #define MAX_COUNTER 0x3FFF //14 bits
+// #define MAX_COUNTER 0x3FFF //14 bits
+ #define MAX_COUNTER 0x3FFFFF //22 bits
if (Current_Read < Previous_Read)
@@ -100,6 +103,64 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
*
* **************************************************************************************/
+void ThreadUpdateProcessLength (double length, void *Funcptr)
+{
+ CurrentRequestedLength = length*100;//Centimetres
+ CurrentProcessedLength = 0;
+ PreviousPosition = 0;
+ CurrentPosition = 0;
+ ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
+}
+uint32_t MotorSentData[1000] = {0};
+uint32_t PosDif[1000] = {0};
+uint32_t tick[1000] = {0};
+uint32_t initialpos = 0xFFFF;
+
+
+int MotorDataIndex = 0;
+
+uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
+{
+ uint32_t positionDiff = 0;
+ double length = 0.0;
+ int index = MAX_THREAD_MOTORS_NUM;
+ if (IfIndex>>8 != IfTypeThread)
+ {
+ LOG_ERROR (IfIndex, "Wrong Interface type");
+ return 0xFFFFFFFF;
+ }
+ index = IfIndex&0xFF;
+ if (index != FEEDER_MOTOR)
+ {
+ LOG_ERROR (IfIndex, "Wrong Motor");
+ return 0xFFFFFFFF;
+ }
+ CurrentPosition = MotorGetPositionFromFPGA_Res(ThreadMotorIdToMotorId[index]);
+ if (initialpos == 0xFFFF)
+ initialpos = CurrentPosition;
+ positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition);
+ positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
+ PreviousPosition = CurrentPosition;
+
+ // total length = (position diff / full cycle) * pulley perimeter
+ //(positionDiff/pulseperround)*((2*PI*motor_Radius)
+
+ length = (positionDiff/MotorsCfg[ThreadMotorIdToMotorId[index]].pulseperround)*(2*PI*MotorsCfg[ThreadMotorIdToMotorId[index]].pulleyradius);
+ totalLength+=length;
+ CurrentProcessedLength+=length;
+ PosDif[MotorDataIndex] = positionDiff;
+ MotorSentData[MotorDataIndex] = length;
+ tick[MotorDataIndex] = UsersysTickGet();
+ MotorDataIndex+=1;
+ if (MotorDataIndex == 999) MotorDataIndex = 0;
+ if (CurrentProcessedLength>=CurrentRequestedLength )
+ {
+ // segment/intersegment/distance to spool finished
+ if (ProcessedLengthFuncPtr)
+ ProcessedLengthFuncPtr();
+ }
+return OK;
+}
uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
//read value is the dancer angle
@@ -140,46 +201,6 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
}
return OK;
}
-void ThreadUpdateProcessLength (double length, void *Funcptr)
-{
- CurrentRequestedLength = length;
- CurrentProcessedLength = 0;
- ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
-}
-uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
-{
- uint32_t positionDiff = 0;
- double length = 0.0;
- int index = MAX_THREAD_MOTORS_NUM;
- if (IfIndex>>8 != IfTypeThread)
- {
- LOG_ERROR (IfIndex, "Wrong Interface type");
- return 0xFFFFFFFF;
- }
- index = IfIndex&0xFF;
- if (index != FEEDER_MOTOR)
- {
- LOG_ERROR (IfIndex, "Wrong Motor");
- return 0xFFFFFFFF;
- }
- CurrentPosition = MotorGetPositionFromFPGA_Res(ThreadMotorIdToMotorId[index]);
- positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition);
- PreviousPosition = CurrentPosition;
-
- // total length = (position diff / full cycle) * pulley perimeter
- //(positionDiff/pulseperround)*((2*PI*motor_Radius)
-
- length = (positionDiff/MotorsCfg[ThreadMotorIdToMotorId[index]].pulseperround)*(2*PI*MotorsCfg[ThreadMotorIdToMotorId[index]].pulleyradius);
- totalLength+=length;
- CurrentProcessedLength+=length;
- if (CurrentProcessedLength>=CurrentRequestedLength )
- {
- // segment/intersegment/distance to spool finished
- if (ProcessedLengthFuncPtr)
- ProcessedLengthFuncPtr();
- }
-return OK;
-}
uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
//#define MAX_CONTROL_SAMPLES 6
@@ -217,6 +238,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
if (index == POOLER_MOTOR)
TranslatedReadValue = (-1*TranslatedReadValue);
+ //TranslatedReadValue = 0;//test
MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
MotorSamplePointer[index]++;
if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0;
@@ -295,13 +317,38 @@ bool InitialProcess = false;
MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
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
- ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+ {
+ if (SpeedControlId != 0xFF)
+ {
+ RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
+ }
+ SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
+ SpeedControlId = AddControlCallback(ThreadLengthCBFunction, 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
+ {
+ if (ControlIdtoMotorId[Motor_i] != 0xFF)
+ {
+ RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+ }
ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[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 n//ot be controlled
+ {
+ if (ControlIdtoMotorId[Motor_i] != 0xFF)
+ {
+ RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+ }
ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+ }
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
+ {
+ if (ControlIdtoMotorId[Motor_i] != 0xFF)
+ {
+ RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+ }
ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+ }
/*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
//AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0);
// continue;
@@ -327,7 +374,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
JobTicket* JobTicket = JobDetails;
int Motor_i, HW_Motor_Id;
- int process_speed = JobTicket->processparameters->dyeingspeed;
+ float process_speed = JobTicket->processparameters->dyeingspeed;
for (Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
{
@@ -389,8 +436,16 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
uint32_t ThreadEndState(void *JobDetails)
{
int Motor_i;
+ if (SpeedControlId != 0xFF)
+ {
+ RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
+ }
for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
{
+ if (ControlIdtoMotorId[Motor_i] != 0xFF)
+ {
+ RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
+ }
StopMotor(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
}
StopMotor(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
generated by cgit v1.3.1 (git 2.54.0) at 2026-06-20 03:01:34 +0000