diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
3 files changed, 16 insertions, 14 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 01c70d42f..376b5f4a0 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -142,11 +142,8 @@ //EEPROM_STORAGE_DRYER_CYCLES MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds); - Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,0,RpWarning,Read_Dryer_ENC_Position(),0); - - Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,LoadArmRounds,RpWarning,0,0); + Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,LoadArmRounds,RpWarning,Read_Dryer_ENC_Position(),0); - Report("Thread_Load_Init",__FILE__,__LINE__,LoadArmRounds,RpMessage,LoadArmRounds,0); StopInitSequence(); memcpy (&ProcessParametersRecover,&ProcessParametersKeep,sizeof(ProcessParameters)); //NumberOfDrierLoaderCycles = loadLoadArmParameters(); @@ -209,7 +206,7 @@ } else { - if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD) + if(Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD) { WHS_Set_SetPoint_Q_value(headairflow*2/3); } @@ -349,7 +346,7 @@ //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2, //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4, //DeActivateHeadMagnet(); - if (Head_Type != HEAD_TYPE_STAPLE_SPUN) + if (Head_Type != HEAD_TYPE_ARC) { CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000); @@ -366,7 +363,7 @@ direction = DRIER_LID_OPEN; } MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); - if (Head_Type == HEAD_TYPE_SYLKO) + if (Head_Type == HEAD_TYPE_FLAT) { Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0); Trigger_Head_Actuators_Control(ACTOT, LOW,true); @@ -500,7 +497,7 @@ //Close Dyeing Head Cover And Dryer Lid //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2, //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4, - if (Head_Type != HEAD_TYPE_STAPLE_SPUN) + if (Head_Type != HEAD_TYPE_ARC) { CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000); @@ -517,7 +514,7 @@ direction = DRIER_LID_CLOSE; } MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); - if (Head_Type == HEAD_TYPE_SYLKO) + if (Head_Type == HEAD_TYPE_FLAT) { Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0); Trigger_Head_Actuators_Control(ACTOT, LOW,false); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 39ff91558..bbb3e4040 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -146,6 +146,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2); + if (Motor_i == WINDER_MOTOR) + { + temp = temp*3/2; + } DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); return OK; } diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index c67619e20..ef80d3603 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -723,7 +723,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (calculated_speed>(CurrentControlledSpeed[index]+100)) { - ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,CurrentControlledSpeed[index]+100,0); + ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,index,0); calculated_speed=CurrentControlledSpeed[index]+100; } CurrentControlledSpeed[index] = calculated_speed; @@ -898,17 +898,18 @@ uint32_t Adjust_Right_TFU_Tension(double tension) return status; } -uint32_t ThreadPrepare_TensionCallback (int DancerId, double tension) +uint32_t ThreadPrepare_TensionCallback (int MotorId, double tension) { + MotorStop(MotorId,Hard_Hiz); if (PrepareWaitCount) { - ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0); + ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0); PrepareWaitCount--; } if ((PrepareWaitCount == 0)&&(PrepareState == true)) { PrepareState = false; - ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback Prepare Ready",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0); + ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback Prepare Ready",__FILE__,__LINE__,MotorId,RpWarning,PrepareWaitCount,0); PrepareReady(Module_Thread,ModuleDone); } return OK; @@ -1037,7 +1038,7 @@ uint32_t ThreadPrepareState(void *JobDetails) // if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT)&&(JoggingJobActive == false)) if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT)&&(JoggingJobActive == false)) { - if(Head_Type != HEAD_TYPE_STAPLE_SPUN) + if(Head_Type != HEAD_TYPE_ARC) { ReportWithPackageFilter(ThreadFilter,"Dyeing head is wide open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpError,LIMIT,0); if (SkipOpenLids == false) |