diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
6 files changed, 84 insertions, 16 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c index 5b6ad643d..fcd1c05a2 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -591,7 +591,10 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl { DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond); HW_Motor_Id = DispenserIdToMotorId[i]; - + if ((DispenserTotalPrepareSteps[i]>TargetNumberOfStepsPreRun)&&(DispenserTotalPrepareSteps[i]<(TargetNumberOfStepsPreRun+InitialDispenserSpeed))) + { + ReportWithPackageFilter(IDSFilter,"IDS dispenser pre-run ended",__FILE__,i,(int)DispenserTotalPrepareSteps[i],RpWarning,(int)(pressure*100),0); + } if (DispenserTotalPrepareSteps[i]<TargetNumberOfStepsPreRun) { AdjustDispenserSpeedToPressure(i,MaximalPressurePreRun,pressure); @@ -635,8 +638,11 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl } if (pressureReady == true) { + usnprintf(IdMessage, 80,"pressureReady = true %d K %d,C %d,M %d,Y %d,TI %d",(int)(DispenserPreparePressure*100),(int)(GetDispenserPressure(0)*100),(int)(GetDispenserPressure(1)*100) + ,(int)(GetDispenserPressure(2)*100),(int)(GetDispenserPressure(3)*100),(int)(GetDispenserPressure(4)*100)); + ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, DispenserBuildTimeCounter, RpWarning, NumofReadyDispensers, 0); DispenserBuildTimeCounter = 0; - ReportWithPackageFilter(IDSFilter,"pressureReady = true",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)(DispenserPreparePressure*100),0); + //ReportWithPackageFilter(IDSFilter,"pressureReady = true",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)(DispenserPreparePressure*100),0); } if (DispenserBuildTimeCounter >= DispenserPrepareTimeout) { @@ -730,7 +736,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl } } }//for - usnprintf(IdMessage, 80,"WFCF %d D1 %d,D2 %d,D3 %d,D4 %d,D5 %d",WFCF,CurrentDispenserSpeed[0], + usnprintf(IdMessage, 80,"WFCF %d K %d,C %d,M %d,Y %d,TI %d",WFCF,CurrentDispenserSpeed[0], CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]); ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, DispenserBuildTimeCounter, RpWarning, WFCF, 0); @@ -788,7 +794,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl JobEndSequence = false; if ((pressurebuildup>0.1)&&(pressurebuildup<4.5)) { - ReportWithPackageFilter(IDSFilter,"Setting pressure from RML feeder tension",__FILE__,__LINE__,(int)(pressurebuildup*100),RpWarning,(int)(DispenserPreparePressure*100),0); + ReportWithPackageFilter(IDSFilter,"Setting pressure from RML pressure buildup",__FILE__,__LINE__,(int)(pressurebuildup*100),RpWarning,(int)(DispenserPreparePressure*100),0); DispenserPreparePressure = pressurebuildup; } if (JobTicket->headcleaningparameters) @@ -1081,7 +1087,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl } } }//for - usnprintf(IdMessage, 80,"Presegment Prepare D1 %d,D2 %d,D3 %d,D4 %d,D5 %d",CurrentDispenserSpeed[0], + usnprintf(IdMessage, 80,"Presegment Prepare K %d,C %d,M %d,Y %d,TI %d",CurrentDispenserSpeed[0], CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]); ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, Dispenser_i, RpWarning, segmentfirst_speed, 0); @@ -1283,7 +1289,7 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback); //SendJobProgress(0.0, 0, false, IdsMessage);*/ } }//for - usnprintf(IdMessage, 80,"Presegment WFCF %d D1 %d,D2 %d,D3 %d,D4 %d,D5 %d",WFCF,CurrentDispenserSpeed[0], + usnprintf(IdMessage, 80,"Presegment WFCF %d K %d,C %d,M %d,Y %d,TI %d",WFCF,CurrentDispenserSpeed[0], CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]); ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, FileBrushStop->index, RpWarning, lInterSegmentLength, 0); } @@ -1610,7 +1616,7 @@ void IDS_StartBrushStop(int n_dispensers, JobDispenser** Dispensers) } } //for } - usnprintf(IdMessage, 80,"IDS_StartBrushStop %d/%d D1 %d,D2 %d,D3 %d,D4 %d,D5 %d",FileBrushStop->index,SegmentNumOfBrushStops,CurrentDispenserSpeed[0], + usnprintf(IdMessage, 80,"IDS_StartBrushStop %d/%d K %d,C %d,M %d,Y %d,TI %d",FileBrushStop->index,SegmentNumOfBrushStops,CurrentDispenserSpeed[0], CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]); ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, SegmentNumOfBrushStops, FileBrushStop->index, RpWarning,(int)FileBrushStop->offsetmeters, 0); diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c index b2498ee7f..329357ed4 100644 --- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c +++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c @@ -335,7 +335,7 @@ void midTankStateMachine(void) if (midTankCartColor == MIDTANK_8) { - CartridgeInkTimeout = CARTRIDGE_INK_TIMEOUT*4; + CartridgeInkTimeout = CARTRIDGE_INK_TIMEOUT*10; CartridgeCheckTime = FIVE_SECONDS*3; } // set valve selection diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c index 5b216d25c..e694810d7 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c @@ -1246,6 +1246,14 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) response.has_progress = true; } else + if(request->amount == 0xB24) //Set loading arm cycles + { + REPORT_MSG(request->delay,"AttemptThreadJoggingFunc"); + AttemptThreadJoggingFunc(1); + response.progress = 0xb24; + response.has_progress = true; + } + else if(request->amount == 0xC3) //suspend I2C task { if (request->delay == 0) diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 63072e4d8..1d310cf01 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -49,6 +49,7 @@ #include "PMR/ThreadLoading/TryThreadLoadingResponse.pb-c.h" #include "PMR/ThreadLoading/StopThreadLoadingRequest.pb-c.h" #include "PMR/ThreadLoading/StopThreadLoadingResponse.pb-c.h" +#include "PMR/ThreadLoading/AttemptThreadJoggingResponse.pb-c.h" //#include <stdint.h> //#include <stdbool.h> @@ -1597,3 +1598,48 @@ uint32_t StopThreadLoadingFunc(MessageContainer* requestContainer) return OK; } +uint8_t attemptJogCounter = 0; +#define ATTEMPT_JOG_TIMEOUT 18 +char AttemptJoggingToken[36+1] = {0}; + +uint32_t AttemptThreadJoggingCallback(uint32_t index, uint32_t ReadValue) +{ + AttemptThreadJoggingResponse response = ATTEMPT_THREAD_JOGGING_RESPONSE__INIT; + MessageContainer responseContainer; + + attemptJogCounter++; + Report("AttemptThreadJoggingCallback",__FILE__,attemptJogCounter,JobEndReason,RpWarning,(int)JobIsActive(),0); + if (attemptJogCounter<ATTEMPT_JOG_TIMEOUT) + { + if (JobIsActive() == true)//jog still preparing/running + return OK; + } + if (JobEndReason == JOB_OK) + ThreadAbortJoggingFunc(); + else + { + responseContainer.has_error = true; + responseContainer.error = getJobError_to_ErrorCode(JobEndReason); + } + SafeRemoveControlCallback(LoadingControlId, Thread_Load_Jog_ThreadStop ); + LoadingControlId = 0xFF; + + responseContainer = createContainer(MESSAGE_TYPE__AttemptThreadJoggingResponse, AttemptJoggingToken, true, &response, &attempt_thread_jogging_response__pack, &attempt_thread_jogging_response__get_packed_size); + responseContainer.continuous = false; + uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + my_free(responseContainer.data.data); + SendChars((char*)container_buffer, container_size); + return OK; + +} +uint32_t AttemptThreadJoggingFunc(MessageContainer* requestContainer) +{ + attemptJogCounter = 0; + ustrncpy (AttemptJoggingToken, requestContainer->token,36); + Report("AttemptThreadJoggingFunc",__FILE__,__LINE__,0xFF,RpWarning,(int)ATTEMPT_JOG_TIMEOUT,0); + LoadingControlId = AddControlCallback("Load jog",AttemptThreadJoggingCallback, eOneSecond,TemplateDataReadCBFunction,0,0,0); + ThreadJoggingFunc(30); + return OK; +} + diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h index 0861b677b..43938c871 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h @@ -88,6 +88,8 @@ uint32_t StartThreadLoadingFunc(MessageContainer* requestContainer); uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer); uint32_t StopThreadLoadingFunc(MessageContainer* requestContainer); uint32_t TryThreadLoadingFunc(MessageContainer* requestContainer); +uint32_t AttemptThreadJoggingFunc(MessageContainer* requestContainer); + void ThreadCheckArcHeadCovers(void); uint32_t Thread_Load_End(void); uint32_t ThreadLoadingRestartReport(void); //sending after a failure in the finalizing stage diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index bc4e6cb8f..8d41f3b9a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -337,7 +337,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) }**/ //} -#ifdef BTSR_NO_TFU +#ifdef BTSR_NO_PULLER_TFU if (CurrentControlledSpeed[WINDER_MOTOR]>100) length = dyeingspeed/10; #endif @@ -917,7 +917,7 @@ uint32_t Release_Right_TFU_TensionCallback(uint32_t deviceID, uint32_t BusyFlag) uint32_t Release_Right_TFU_Tension() { uint32_t status = OK; -#ifndef BTSR_NO_TFU +#ifndef BTSR_NO_FEEDER_TFU if (RTFU_Up == true) { Report("Release_Right_TFU_Tension",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].pulseperround/4,0); @@ -931,7 +931,7 @@ int SecondFeederCorrection = 4; int PrepareWaitCount = 0; uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadValue) { -#ifndef BTSR_NO_TFU +#ifndef BTSR_NO_FEEDER_TFU MotorStop (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,Soft_Stop); //per L6470 errata between mov and run commands Report("Adjust_Right_TFU_Tension_2ndCallback x more steps",__FILE__,__LINE__,MotorId,RpMessage,SecondFeederCorrection,0); if (JobIsActive()==false) @@ -955,7 +955,7 @@ uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadVa } uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue) { -#ifndef BTSR_NO_TFU +#ifndef BTSR_NO_FEEDER_TFU Report("Adjust_Right_TFU_Tension_Callback",__FILE__,__LINE__,MotorId,RpMessage,0,0); MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,SecondFeederCorrection* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Adjust_Right_TFU_Tension_2nd_Callback,1000); RTFU_Up = true; @@ -966,7 +966,7 @@ uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue) uint32_t Adjust_Right_TFU_Tension(double tension) { uint32_t status = OK; -#ifndef BTSR_NO_TFU +#ifndef BTSR_NO_FEEDER_TFU if (tension > 0.5) //0 = lower position, 1 = high position { if (FPGA_Read_limit_Switches(GPI_LS_RDANCER_UP) == NO_LIMIT) @@ -1093,11 +1093,13 @@ uint32_t ThreadPrepareState(void *JobDetails) IntersegmentLength = JobTicket->intersegmentlength; PrepareWaitCount = 0; -#ifndef BTSR_NO_TFU status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension); ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpWarning,(int)windertension,0); +#ifndef BTSR_NO_PULLER_TFU status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension); ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Puller",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,PrepareWaitCount,RpWarning,(int)pullertension,0); +#endif +#ifndef BTSR_NO_FEEDER_TFU status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__RightDancer, feedertension); ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Feeder",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,PrepareWaitCount,RpWarning,(int)feedertension,0); #endif @@ -1219,7 +1221,7 @@ uint32_t ThreadPrepareState(void *JobDetails) ///////////////////////////////////////////////////// MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); -#ifndef BTSR_NO_TFU +#ifndef BTSR_NO_FEEDER_TFU 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 { ReportWithPackageFilter(ThreadFilter,"Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); @@ -1233,6 +1235,7 @@ uint32_t ThreadPrepareState(void *JobDetails) SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); } #endif +#ifndef BTSR_NO_PULLER_TFU 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 { ReportWithPackageFilter(ThreadFilter,"Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); @@ -1246,7 +1249,8 @@ uint32_t ThreadPrepareState(void *JobDetails) PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); } -#ifndef BTSR_NO_TFU +#endif +#ifndef BTSR_NO_FEEDER_TFU 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) @@ -1261,6 +1265,8 @@ uint32_t ThreadPrepareState(void *JobDetails) //AddControlCallback(NULL,ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); #endif } +#endif +#ifndef BTSR_NO_PULLER_TFU 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) |