diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
24 files changed, 440 insertions, 196 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c index e754b0df2..eceb92d63 100644 --- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c +++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c @@ -631,8 +631,16 @@ JobEndReasonEnum getEndReason(uint32_t AlarmId) switch (AlarmItem[AlarmId].AlarmSource) { case ALARM_SOURCE_TYPE__TemperatureAlarm: - usnprintf(AlarmReasonStr, 100, "Temperature problem in heater %d",AlarmItem[AlarmId].DeviceId); - return JOB_TEMPERATURE_ALARM; + if (AlarmItem[AlarmId].Severity == DEBUG_LOG_CATEGORY__Critical) + { + usnprintf(AlarmReasonStr, 100, "Safety Critical Alarm %d",AlarmItem[AlarmId].EventType); + return JOB_SAFETY_CRITICAL_ALARM; + } + else + { + usnprintf(AlarmReasonStr, 100, "Temperature problem in heater %d",AlarmItem[AlarmId].DeviceId); + return JOB_TEMPERATURE_ALARM; + } case ALARM_SOURCE_TYPE__LimitSwitchAlarm: usnprintf(AlarmReasonStr, 100, "Dispenser %d empty",AlarmItem[AlarmId].DeviceId); return JOB_OUT_OF_DYE; @@ -987,13 +995,20 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob) } if ((IFS_Availability[1] == IFS_RECOGNIZED_INIT_PASSED)&&(IFS_Availability[2] == IFS_RECOGNIZED_INIT_PASSED)) //ifs installed -check cartridges { - - tempFoundReason = Waste_CheckState(&AlarmId); - if (tempFoundReason!=JOB_OK) - { - FoundReason = tempFoundReason; - ReportWithPackageFilter(AlarmFilter,"waste handling alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0); - } + tempFoundReason = Waste_CheckState(&AlarmId); + if (tempFoundReason!=JOB_OK) + { + for (Alarm_i = 0;Alarm_i<NumOfSystemAlarms;Alarm_i++) + { + if (AlarmId == (AlarmItem[Alarm_i].EventType)) + { + FoundReason = tempFoundReason; + AlarmId = Alarm_i; + ReportWithPackageFilter(AlarmFilter,"waste handling alarm preventing job", __FILE__,AlarmId,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0); + break; + } + } + } } if ((AlarmState[Alarm_i].Status == true)&&(FoundReason == JOB_OK)) { @@ -1025,6 +1040,18 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob) if (FoundReason == JOB_OK) { FoundReason = Winder_Check_Cone(); + if (FoundReason!=JOB_OK) + { + for (Alarm_i = 0;Alarm_i<NumOfSystemAlarms;Alarm_i++) + { + if (AlarmItem[Alarm_i].EventType == EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST) + { + AlarmId = Alarm_i; + ReportWithPackageFilter(AlarmFilter,"cone not in place - preventing job", __FILE__,AlarmId,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0); + break; + } + } + } } if (FoundReason != JOB_OK) { diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 1057ddbc3..3de362af9 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -524,11 +524,13 @@ int TemperatureSum[MAX_HEAD_CARD_TEMP_SENS_ID]; int TemperatureMin[MAX_HEAD_CARD_TEMP_SENS_ID]; int TemperatureMax[MAX_HEAD_CARD_TEMP_SENS_ID]; int TemperatureCount[MAX_HEAD_CARD_TEMP_SENS_ID]; -int TemperatureCalc[MAX_HEAD_CARD_TEMP_SENS_ID]; +int TemperatureCalc[MAX_HEAD_CARD_TEMP_SENS_ID] = {2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1,2.1}; void MillisecUpdateTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId,int temperature) { //if(TemperatureCount[SensorId]++>=10) // TemperatureCount[SensorId] = 0; + if ((temperature>28000)||(temperature<900)) + return; TemperatureCount[SensorId]++; if (TemperatureMax[SensorId]<temperature) TemperatureMax[SensorId]=temperature; if (TemperatureMin[SensorId]>temperature) TemperatureMin[SensorId]=temperature; @@ -540,7 +542,11 @@ int MillisecCalculateTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId) TemperatureSum[SensorId]-=TemperatureMax[SensorId]; TemperatureSum[SensorId]-=TemperatureMin[SensorId]; calc = TemperatureSum[SensorId] / (TemperatureCount[SensorId]-2); - + if (TemperatureSum[SensorId]>10) + { + if(abs(TemperatureMax[SensorId]-TemperatureMin[SensorId])>2000) + Report("Millisec Temp spike",__FILE__,SensorId,(int)TemperatureMax[SensorId],RpWarning,(int) TemperatureMin[SensorId],0); + } TemperatureSum[SensorId] = 0; TemperatureCount[SensorId] = 0; TemperatureMin[SensorId] = 30000; @@ -703,14 +709,14 @@ uint32_t MillisecLowLoop(uint32_t tick) Trigger_InputsReading(); - #ifdef USE_RFID + #ifdef USE_RFID_LOGIC //every 100 m sec for(readerID = READER_1; readerID < Max_Readers ; readerID++) { if(DiscoverRFIDTagEvery100mSec[readerID] == true) { RFIDCallEvery100mSec(readerID); - break; + //break; } } #endif @@ -821,12 +827,13 @@ uint32_t MillisecLowLoop(uint32_t tick) //call IFS state machine midTankStateMachine(); - #ifdef USE_RFID - RFIDCycleEvery1Sec(); - #endif + } if (Tensecond_Tick) { + #ifdef USE_RFID_LOGIC + RFIDCycleEvery1Sec(); + #endif } if (OneMinute_Tick) { diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index cfd4db0e6..11a48b587 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -545,23 +545,15 @@ void CopyTemperaturesToMonitor(void) headblowervoltage2 = HeadBlowersGetRPM(HEAD_FAN_LEFT); DiagnosticsMonitor.headblowervoltage1 = &headblowervoltage1; DiagnosticsMonitor.headblowervoltage2 = &headblowervoltage2; -#warning machine to machine test +//#warning machine to machine test DiagnosticsMonitor.headzone4temperature = HeaterTemperature[HEATER_TYPE__HeaterZone4]; - DiagnosticsMonitor.headzone6temperature = - HeaterTemperature[HEATER_TYPE__HeaterZone6]; - DiagnosticsMonitor.headzone8temperature = - HeaterTemperature[HEATER_TYPE__HeaterZone8]; DiagnosticsMonitor.headzone9temperature = HeaterTemperature[HEATER_TYPE__HeaterZone9]; DiagnosticsMonitor.headzone10temperature = HeaterTemperature[HEATER_TYPE__HeaterZone10]; DiagnosticsMonitor.n_headzone4temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone4]; - DiagnosticsMonitor.n_headzone6temperature = - HeaterCounterIndex[HEATER_TYPE__HeaterZone6]; - DiagnosticsMonitor.n_headzone8temperature = - HeaterCounterIndex[HEATER_TYPE__HeaterZone8]; DiagnosticsMonitor.n_headzone9temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone9]; DiagnosticsMonitor.n_headzone10temperature = @@ -1013,8 +1005,6 @@ void DiagnosticOneSecCollection(void) DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone12, MillisecGetTemperatures(HEAD_PT100_ZONE_12_0X8A_1)); #warning MACHINE TO MACHINE TEST DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone4, MillisecGetTemperatures(HEAD_PT100_ZONE_4_0X82_1)); - DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone6, MillisecGetTemperatures(HEAD_PT100_ZONE_6_0X84_1)); - DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone8, MillisecGetTemperatures(HEAD_PT100_ZONE_8_0X86_1)); DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone9, MillisecGetTemperatures(HEAD_PT100_ZONE_9_0X88_0)); DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone10, MillisecGetTemperatures(HEAD_PT100_ZONE_10_0X88_1)); diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h index 7ec1962f3..e0afad820 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h @@ -54,6 +54,7 @@ uint32_t SetBlowerStateRequestFunc(MessageContainer* requestContainer); void DiaglosticChangeBlowerData(); +void HomingStopReporting(void); diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index c7f8740d1..086525bc1 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -46,6 +46,16 @@ uint32_t Diagnostics_Dryer_UnLoading(void); uint32_t Diagnostics_Dryer_Loading(void); int kval_upper_value; +void HomingStopReporting(void) +{ + int i; + for (i = 0; i< NUM_OF_MOTORS;i++) + { + HomingToken[i][0] == 0; + } + LOG_ERROR(0,"HomingStopReporting"); +} + /******************************************************************************** * Motor Homing ********************************************************************************/ @@ -475,7 +485,7 @@ uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_ angle = Calculate_Arm_Distance(D_DrierPrevLocation,temp); - if ((angle<14000 )||(BusyFlag == BUSY)) // OK - take another round + if ((abs (angle)<14000 )||(BusyFlag == BUSY)) // OK - take another round { responseContainer.has_error = true; responseContainer.error = ERROR_CODE__GENERAL_ERROR; @@ -611,7 +621,7 @@ uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,(int)angle,(int)ReadValue,RpMessage,temp,0); MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles); - if ((angle>14000 )&&(ReadValue == NOTBUSY)) // OK - take another round + if ((abs(angle)>14000 )&&(ReadValue == NOTBUSY)) // OK - take another round { D_DrierPrevLocation = temp; //ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c index 193a35e12..6c4293f6f 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c +++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c @@ -446,12 +446,19 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest) LOG_ERROR (0, "Wrong Data Allocation"); return ERROR; } - if (InitFailures > 3) + if (InitFailures > REPEATED_INIT_FAILURE_LIMIT) { Report("HWConfigurationInit repeated failure",__FILE__,__LINE__,(int)InitFailures,RpWarning,(int)EEPROM_INIT_FAILURE_COUNTER,0); AlarmHandlingSetAlarm (EVENT_TYPE__POWER_UP_BIT_FAILURE,ON); return ERROR; } + else + { + if (InitFailures > 2) + { + Report("HWConfigurationInit repeated failure going up",__FILE__,__LINE__,(int)InitFailures,RpWarning,(int)EEPROM_INIT_FAILURE_COUNTER,0); + } + } HardwareConfiguration *request = UploadRequest->hardwareconfiguration; @@ -628,7 +635,6 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest) return OK; } char Serial[21]; -MidTankData MidTankInfo[MAX_SYSTEM_DISPENSERS]; uint32_t MachineCalibrationDataRequestFunc(MessageContainer* requestContainer) { @@ -636,6 +642,7 @@ uint32_t MachineCalibrationDataRequestFunc(MessageContainer* requestContainer) MachineCalibrationDataRequest *request = machine_calibration_data_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); uint32_t *DancersData = my_malloc(MAX_SYSTEM_DANCERS*sizeof(uint32_t)); MidTankData ** MidTankDataCollect = my_malloc(sizeof(MidTankData *)*MAX_SYSTEM_DISPENSERS); + MidTankData MidTankInfo[MAX_SYSTEM_DISPENSERS]; int i; for (i = 0;i<MAX_SYSTEM_DANCERS;i++) @@ -655,7 +662,8 @@ uint32_t MachineCalibrationDataRequestFunc(MessageContainer* requestContainer) //MCU_E2PromSerialNumRead(&Serial); MachineCalibrationDataResponse response = MACHINE_CALIBRATION_DATA_RESPONSE__INIT; - machine_calibration_data__init(&response.machinecalibrationdata); + response.machinecalibrationdata = my_malloc(sizeof(MachineCalibrationData)); + machine_calibration_data__init(response.machinecalibrationdata); response.machinecalibrationdata->n_dancermiddlepoint = MAX_SYSTEM_DANCERS; response.machinecalibrationdata->dancermiddlepoint = DancersData; response.machinecalibrationdata->machineserialnumber = Serial; @@ -885,7 +893,9 @@ void FlashInitAndLoad(void) } Report("Hardware Initialized", __FILE__,__LINE__,Bytes, RpMessage, GENHWCFG_MAP_IN_FLASH, 0); - StoreDancerConfigMessage(); + StoreDancerConfigMessage(0); + StoreDancerConfigMessage(1); + StoreDancerConfigMessage(2); Report("Dancer Initialized", __FILE__,DancersCfg[0].zeropoint,DancersCfg[1].zeropoint, RpMessage, DancersCfg[2].zeropoint, 0); /*Bytes = AlarmHandlingLoadFile(); if (Bytes>0) diff --git a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c index 4c248e94b..bf68b64f0 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c +++ b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c @@ -245,7 +245,7 @@ return OK; * */ char WasteEmptyingToken[36+1] = {0}; -uint32_t CartridgeStateUpdate(CartridgeSlot Slot,CartridgeState State, double percentage) +uint32_t CartridgeStateUpdate(CartridgeSlot Slot, int32_t index, CartridgeState State, double percentage) { if (WasteEmptyingToken[0] == 0) return ERROR; @@ -271,6 +271,9 @@ uint32_t CartridgeStateUpdate(CartridgeSlot Slot,CartridgeState State, double pe CartData.has_slot = true; CartData.slot = Slot; + CartData.has_index = true; + CartData.index = index; + /* struct _CartridgeStatus { @@ -327,9 +330,9 @@ uint32_t StartInkFillingStatusRequestFunc(MessageContainer* requestContainer) StartInkFillingStatusRequest* request = start_ink_filling_status_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); ustrncpy (WasteEmptyingToken, requestContainer->token,36); - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink,CARTRIDGE_STATE__None,0); - CartridgeStateUpdate(CARTRIDGE_SLOT__WasteMiddle,CARTRIDGE_STATE__None,0); - CartridgeStateUpdate(CARTRIDGE_SLOT__WasteLower,CARTRIDGE_STATE__None,0); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink,0, CARTRIDGE_STATE__None,0); + CartridgeStateUpdate(CARTRIDGE_SLOT__WasteMiddle, 0, CARTRIDGE_STATE__None,0); + CartridgeStateUpdate(CARTRIDGE_SLOT__WasteLower, 1, CARTRIDGE_STATE__None,0); start_ink_filling_status_request__free_unpacked(request,NULL); return status; // case MESSAGE_TYPE__StartWasteEmptyingRequest: diff --git a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h index ed3ec205d..a9539e0fa 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h +++ b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h @@ -19,7 +19,7 @@ void SetMachineStatus (MachineState State); int MachineUpdateResponseFunc(void); uint32_t StartInkFillingStatusRequestFunc(MessageContainer* requestContainer); -uint32_t CartridgeStateUpdate(CartridgeSlot Slot,CartridgeState State, double percentage); +uint32_t CartridgeStateUpdate(CartridgeSlot Slot, int32_t index, CartridgeState State, double percentage); diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c index 021dd243f..946958a08 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c @@ -92,8 +92,8 @@ void HeadBlowersInit() HeadBlowerControl[0].m_params.MAX = 200; HeadBlowerControl[0].m_params.MIN = -200; HeadBlowerControl[0].m_params.Kd = 0; - HeadBlowerControl[0].m_params.Kp = 350; - HeadBlowerControl[0].m_params.Ki = 25; + HeadBlowerControl[0].m_params.Kp = 800; + HeadBlowerControl[0].m_params.Ki = 80; HeadBlowerControl[0].m_params.IntegralErrorMultiplier = 10; HeadBlowerControl[0].m_params.ProportionalErrorMultiplier = 10; HeadBlowerControl[0].m_params.epsilon = 0; @@ -110,8 +110,8 @@ void HeadBlowersInit() HeadBlowerControl[1].m_params.MAX = 200; HeadBlowerControl[1].m_params.MIN = -200; HeadBlowerControl[1].m_params.Kd = 0; - HeadBlowerControl[1].m_params.Kp = 350; - HeadBlowerControl[1].m_params.Ki = 25; + HeadBlowerControl[1].m_params.Kp = 800; + HeadBlowerControl[1].m_params.Ki = 80; HeadBlowerControl[1].m_params.IntegralErrorMultiplier = 10; HeadBlowerControl[1].m_params.ProportionalErrorMultiplier = 10; HeadBlowerControl[1].m_params.epsilon = 0; @@ -212,108 +212,148 @@ uint32_t HeadBlowersOffGet() ReportWithPackageFilter(HeatersFilter,"HeadBlowersOffGet",__FILE__,__LINE__,HeadBlowersEnable,RpError, 0,0); return HeadBlowersEnable; } +static int8_t count1 = 0, count2 = 0, count3 = 0, count4 = 0, count5 = 0; +static int8_t count6 = 0, count7 = 0, count8 = 0, count9 = 0, count10 = 0; +void setArcHeadAlarms(uint32_t AlarmId, bool value) +{ + AlarmHandlingSetAlarm(AlarmId, value); + if (value == true) + { + switch(AlarmId) + { + /*case EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0); + break; + case EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0); + break; + case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0); + break; + case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0); + break;*/ + case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count3,RpError, HeadBlowersGetRPM(HEAD_FAN_RIGHT),0); + break; + case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count4,RpError, HeadBlowersGetRPM(HEAD_FAN_LEFT),0); + break; + case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count5,RpError, PressureSensorGetPressure(HEAD_FAN_RIGHT),0); + break; + case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count7,RpError, PressureSensorGetPressure(HEAD_FAN_LEFT),0); + break; + case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count6,RpError, PressureSensorGetPressure(HEAD_FAN_RIGHT),0); + break; + case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW: + ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count8,RpError, PressureSensorGetPressure(HEAD_FAN_LEFT),0); + break; + } + } +} void ArcHeadAlarms(void) { double currentFlow = 0.0; - static int8_t count1 = 0, count2 = 0, count3 = 0, count4 = 0, count5 = 0; - static int8_t count6 = 0, count7 = 0, count8 = 0, count9 = 0, count10 = 0; if (FPGA_Read_limit_Switches(I2C_HEADCARD_COVER_LS_ARC) != LIMIT) { if (++count9 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, true); count9 = (count9 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count9); } else { if (--count9 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, false); count9 = (count9 < 0)?(0):(count9); } if (FPGA_Read_limit_Switches(I2C_HEADCARD_COVER_LS_TUNNEL_ARC) != LIMIT) { if (++count10 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, true); count10 = (count10 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count10); } else { if (--count10 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, false); count10 = (count10 < 0)?(0):(count10); } if (Head_Fan_Tach[0] == 0x1FFE) { if (++count1 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, true); count1 = (count1 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count1); } else { if (--count1 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, false); count1 = (count1 < 0)?(0):(count1); } if (Head_Fan_Tach[1] == 0x1FFE) { if (++count2 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, true); count2 = (count2 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count2); } else { if (--count2 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, false); count2 = (count2 < 0)?(0):(count2); } if (HeadBlowersGetRPM(HEAD_FAN_RIGHT) < 2000) { if (++count3 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, true); count3 = (count3 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count3); } else { if (--count3 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, false); count3 = (count3 < 0)?(0):(count3); } if (HeadBlowersGetRPM(HEAD_FAN_LEFT) < 2000) { if (++count4 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, true); count4 = (count4 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count4); } else { if (--count4 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, false); count4 = (count4 < 0)?(0):(count4); } currentFlow = PressureSensorGetPressure(HEAD_FAN_RIGHT); if (currentFlow > 5.0) { if (++count5 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, true); count5 = (count5 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count5); } else { if (--count5 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, false); count5 = (count5 < 0)?(0):(count5); } if (currentFlow < 1.0) { if (++count6 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, true); count6 = (count6 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count6); } else { if (--count6 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, false); count6 = (count6 < 0)?(0):(count6); } currentFlow = PressureSensorGetPressure(HEAD_FAN_LEFT); if (currentFlow > 5.0) { if (++count7 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, true); count7 = (count7 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count7); } else { if (--count7 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, false); count7 = (count7 < 0)?(0):(count7); } if (currentFlow < 1.0) { if (++count8 == ARC_ALARM_LIMIT) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, true); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, true); count8 = (count8 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count8); } else { if (--count8 == 0) - AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, false); + setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, false); count8 = (count8 < 0)?(0):(count8); } } @@ -411,6 +451,7 @@ uint32_t HeadBlowerCommandRequestMessage(int blowerId, float flow) ReportWithPackageFilter(HeatersFilter,"flow not in range",__FILE__, flow, blowerId,RpError, 0,0); return ERROR; } + ReportWithPackageFilter(HeatersFilter,"HeadBlower configured",__FILE__,blowerId,(int)(flow*100),RpError, PressureSensorV0[blowerId],0); headBlowersFlow[blowerId] = flow; return OK; } diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c index 84013add6..def9c5530 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -1053,7 +1053,7 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue) } if (abs(readValue - HeaterPreviousRead[index])>2000) { - ReportWithPackageFilter(HeatersFilter,"Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index); + ReportWithPackageFilter(HeatersFilter,"Temperature Spike AC",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index); #ifdef IGNORE_SPIKE HeaterPreviousRead[index] = readValue; #else @@ -1345,18 +1345,18 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) DeActivateHeater(HEATER_TYPE__DryerMainHeater); HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerMainHeater,0); HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerSecondaryHeater,0); - if (HeaterSpikeRead[index] == 0) - { - HeaterSpikeRead[index] = readValue; - } - else - { - ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index); - HeaterPreviousRead[index] = HeaterSpikeRead[index]; - HeaterSpikeRead[index] = 0; - } - } + if (HeaterSpikeRead[index] == 0) + { + HeaterSpikeRead[index] = readValue; + } + else + { + ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index); + HeaterPreviousRead[index] = HeaterSpikeRead[index]; + HeaterSpikeRead[index] = 0; + } + return ERROR; #endif } @@ -1580,20 +1580,20 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) #ifdef IGNORE_SPIKE HeaterPreviousRead[index] = readValue; #else - //if (readValue > HeaterCmd[index].targettemperatue) + if (readValue > HeaterCmd[index].targettemperatue) { DeActivateHeater(index); HeaterRecalculateHeaterParams(index, 0); - if (HeaterSpikeRead[index] == 0) - { - HeaterSpikeRead[index] = readValue; - } - else - { - ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index); - HeaterPreviousRead[index] = HeaterSpikeRead[index]; - HeaterSpikeRead[index] = 0; - } + } + if (HeaterSpikeRead[index] == 0) + { + HeaterSpikeRead[index] = readValue; + } + else + { + ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index); + HeaterPreviousRead[index] = HeaterSpikeRead[index]; + HeaterSpikeRead[index] = 0; } #endif } diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h index d86d7ab2d..0f8108dad 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h @@ -5,9 +5,6 @@ #include "drivers/motors/motor.h" #include "ids_ex.h" -#define LUBRICANT_DISPENSER 7 -#define CLEANER_DISPENSER 6 - extern uint32_t DispenserPrepareSpeed ; extern double DispenserPreparePressure ; extern uint32_t DispenserPrepareTimeout ; diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c index 0ae017c13..59b9a56be 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c @@ -107,6 +107,16 @@ uint32_t IDS_Cleaning_Move_Actuators() CleaningStageCounter++; return OK; } + +uint32_t IDS_Cleaning_stop_cleaner_motor() +{ + TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DH_LID; + if (Head_Type != HEAD_TYPE_ARC) + return OK; + + MotorStop(MotorId,Soft_Stop); + return OK; +} /*uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed) { uint32_t status = OK; diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h index 57d3ff5e2..0a8060496 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h @@ -118,5 +118,6 @@ void DispenserDataRequestFunc(MessageContainer* requestContainer); void IDS_Start_Pid_Testing(int DispenserId); void IDS_Stop_Pid_Testing(int DispenserId); uint32_t cleaningMotorCBFunction (uint32_t deviceID, uint32_t Parameter1); +uint32_t IDS_Cleaning_stop_cleaner_motor(); #endif /* MODULES_IDS_IDS_EX_H_ */ diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c index fcd1c05a2..a28d00a91 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -43,7 +43,6 @@ typedef struct }DispenserControlConfig_t; HardwarePidControl *DispensersControl; HardwarePidControl DispensersCtrl[MAX_SYSTEM_DISPENSERS]; -#define MAX_DYE_DISPENSERS 6 #define IDS_PRESEGMENT_TIME_STEP 50 #define INITIAL_CLEANER_SPEED 300 @@ -251,6 +250,7 @@ JobDescriptionFileBrushStop *FirstBrushStop = NULL; DispenserUsedInJob[Dispenser_i] = false; } n_segments = 0; +#ifndef LIGHT_COLORS if (MotorsCfg[DispenserIdToMotorId[CLEANER_DISPENSER]].hardwaremotortype == DispenserIdToMotorId[CLEANER_DISPENSER]) { DispenserUsedInJob[CLEANER_DISPENSER] = true; @@ -261,7 +261,7 @@ JobDescriptionFileBrushStop *FirstBrushStop = NULL; DispenserUsedInJob[CLEANER_DISPENSER] = false; EnableCleaning = false; } - +#endif if (JobTicket->enablelubrication == true) { //DispenserUsedInJob[LUBRICANT_DISPENSER] = true; @@ -522,7 +522,20 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue) char IdMessage[100]; int SegmentPrepareWFCFCounter = 0; bool pressureReady = false,endOfPrepareWCF = false; - +int BuildIdsJobPrintString(char *dest,char *desc, int info) +{ + int len = 0,i; + int DispenserSpeed[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0}; + if (dest == NULL) + return 0; + for (i = 0; i<MAX_SYSTEM_DISPENSERS; i++) + { + if (DispenserUsedInJob[i]) + DispenserSpeed[i] = CurrentDispenserSpeed[i]; + } + len = usnprintf(dest, 80,"%s %d K %d,C %d,M %d,Y %d,TI %d",desc,(int)info,DispenserSpeed[0],DispenserSpeed[1],DispenserSpeed[2],DispenserSpeed[3],DispenserSpeed[4]); + return len; +} bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,double pressure) { TimerMotors_t HW_Motor_Id = DispenserIdToMotorId[DispenserId]; @@ -565,7 +578,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl double segmentfirst_speed; double pressure; ModuleStateEnum result = ModuleDone; - bool DispenserReady[MAX_DYE_DISPENSERS] = {false,false,false,false,false,false}; + bool DispenserReady[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false}; //REPORT_MSG((int)DispenserPrepareControlId, "Prepare Callback"); @@ -591,10 +604,10 @@ 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))) + /*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); @@ -617,6 +630,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl else DispenserReady[i] = true; } +#ifndef LIGHT_COLORS pressure = GetDispenserPressure(CLEANER_DISPENSER); if (pressure > 0.02) { @@ -626,7 +640,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(pressure*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0); CurrentDispenserSpeed[CLEANER_DISPENSER] = 0; } - +#endif if ((NumofReadyDispensers)&&(DispenserBuildTimeCounter%1000 == 0)) { ReportWithPackageFilter(IDSFilter,"IDS_Prepare_Callback",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0); @@ -634,7 +648,9 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl if (NumofReadyDispensers>=NumOfActiveDispensers) { pressureReady = true; - ReportWithPackageFilter(IDSFilter,"pressureReady = true;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0); + usnprintf(IdMessage, 80,"setting pressureReady = true %d K %d,C %d,M %d,Y %d,TI %d",(int)TargetNumberOfStepsPreRun,DispenserTotalPrepareSteps[0],DispenserTotalPrepareSteps[1], + DispenserTotalPrepareSteps[2],DispenserTotalPrepareSteps[3],DispenserTotalPrepareSteps[4]); + ReportWithPackageFilter(IDSFilter,IdMessage,__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0); } if (pressureReady == true) { @@ -736,9 +752,10 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl } } }//for - 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); + //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]); + if (BuildIdsJobPrintString(IdMessage,"WFCF ",WFCF)) + ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, DispenserBuildTimeCounter, RpWarning, WFCF, 0); }//if n_dis } @@ -760,6 +777,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl //start new stage if (endOfPrepareWCF == true) { +#ifndef LIGHT_COLORS if (CurrentDispenserSpeed[CLEANER_DISPENSER]) { HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER]; @@ -767,6 +785,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl CurrentDispenserSpeed[CLEANER_DISPENSER] = 0; ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(pressure*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0); } +#endif SafeRemoveControlCallback(DispenserPrepareControlId, IDS_Prepare_Callback ); DispenserPrepareControlId = 0xFF; ReportWithPackageFilter(IDSFilter,"IDS_Prepare_Callback SafeRemoveControlCallback",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0); @@ -884,6 +903,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl } else { + DispenserTotalPrepareSteps[i] = 0; if (AutoHoming_Config >= AutoHoming_JobEnd_PowerOn_off) { if ((HomingActive[i] == false)&&(PrimingActive[i] == false)) @@ -940,11 +960,12 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl }*/ } } +#ifndef LIGHT_COLORS TimerMotors_t HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER]; MotorSetSpeed((TimerMotors_t)HW_Motor_Id,INITIAL_CLEANER_SPEED ); //set the dispenser to the CurrentDispenserSpeed[CLEANER_DISPENSER] = INITIAL_CLEANER_SPEED; ReportWithPackageFilter(IDSFilter,"IDS start cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0); - +#endif } DispenserBuildTimeCounter = 0; @@ -1087,9 +1108,10 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl } } }//for - 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); + //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]); + if (BuildIdsJobPrintString(IdMessage,"Presegment Prepare ",0)) + ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, Dispenser_i, RpWarning, segmentfirst_speed, 0); DispenserBuildTimeCounter = 0; //DispenserPrepareControlId = AddControlCallback( IDS_PreSegmentPrepare_Callback, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 ); @@ -1175,8 +1197,10 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback); ReportWithPackageFilter(IDSFilter,"End of Pre-segment Handling",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0); //PreSegmentReady(Module_IDS,ModuleDone); SafeRemoveControlCallback(DispenserPreSegmentControlId,IDSPreSegmentStateCallbackRunner); +#ifndef LIGHT_COLORS if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0) IDS_Cleaning_Stop_Cleaning_Solution (NULL); +#endif setRapidPressureRead(false); //if (JobEndSequence == true) // DistanceToSpoolReady(Module_IDS,ModuleDone); @@ -1289,9 +1313,10 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback); //SendJobProgress(0.0, 0, false, IdsMessage);*/ } }//for - 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); + //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]); + if (BuildIdsJobPrintString(IdMessage,"Presegment WFCF ",WFCF)) + ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, FileBrushStop->index, RpWarning, lInterSegmentLength, 0); } } //startDispensersAtSegmentSpeed*1=WFCFClenerSpray(speed); @@ -1616,9 +1641,10 @@ void IDS_StartBrushStop(int n_dispensers, JobDispenser** Dispensers) } } //for } - 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); + //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]); + if (BuildIdsJobPrintString(IdMessage,"IDS_StartBrushStop ",FileBrushStop->index)) + ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, SegmentNumOfBrushStops, FileBrushStop->index, RpWarning,(int)FileBrushStop->offsetmeters, 0); } uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue) @@ -1717,8 +1743,10 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId) #else Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head); #endif +#ifndef LIGHT_COLORS if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0) IDS_Cleaning_Stop_Cleaning_Solution(NULL); +#endif SegmentNumOfBrushStops = Segment->n_brushstops; BrushStopTime = Segment->length*1000/(double)SegmentNumOfBrushStops; //brushstop in meters //brushstop in millisecond BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds @@ -1935,27 +1963,38 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId) } } - IDS_StopLubrication(); +#ifndef LIGHT_COLORS + if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0) + IDS_Cleaning_Stop_Cleaning_Solution(NULL); +#endif + IDS_StopLubrication(); Init_CleaningStageCounter();//set the counter before relocating + IDS_Cleaning_stop_cleaner_motor(); HeadCard_Actuators_Relocate(); return OK; } uint32_t IDS_StartLubrication(void) { +#ifdef LIGHT_COLORS +#else IDS_Dispenser_Start_Motor_and_Open_Valve(LUBRICANT_DISPENSER,lubricant_speed,NULL); CurrentDispenserSpeed[LUBRICANT_DISPENSER] = lubricant_speed; - REPORT_MSG (lubricant_speed, "IDS_StartLubrication"); Lubricant_2Way_Valve (START); +#endif + REPORT_MSG (lubricant_speed, "IDS_StartLubrication"); return OK; } uint32_t IDS_StopLubrication(void) { REPORT_MSG (lubricant_speed, "IDS_StopLubrication and home dispenser"); +#ifdef LIGHT_COLORS +#else Lubricant_2Way_Valve (STOP); //IDS_Dispenser_Close_Valve_And_Stop_Motor(LUBRICANT_DISPENSER,IDS_Valve_EndValveReady); TimerMotors_t HW_Motor_Id = DispenserIdToMotorId[LUBRICANT_DISPENSER]; MotorStop(HW_Motor_Id,Hard_Hiz); CurrentDispenserSpeed[LUBRICANT_DISPENSER] = 0; //IDS_HomeDispenser (LUBRICANT_DISPENSER, 1000 , NULL); do not fill lubricant between jobs +#endif return OK; } diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c index 329357ed4..469e82aa8 100644 --- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c +++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c @@ -157,9 +157,20 @@ bool CartridgeInkFull() int GetCartridgeFillPercent() { double MidTank_Pressure = 0; - +#ifdef IFS_DEBUG + static int percent = 0; + if (midTankState == MidTankStateFilling) { + if (percent < 100) { + percent += 1; + } + } else { + percent = 0; + } + return percent; +#else MidTank_Pressure = Read_MidTank_Pressure_Sensor(midTankCartColor); return (((MidTank_Pressure - midTankCapacity)* 100) / CARTRIDGE_CAPATICY); +#endif } bool midTankCart_door() @@ -284,7 +295,6 @@ void midTankStateMachine(void) break; } //check RFID - check cartridge OK - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Inserted, 0); // send request for validation to ppc inkAuthenticationPass = 2; //not defined @@ -306,17 +316,18 @@ void midTankStateMachine(void) Report("MidTank Cartridge authentication wait...", __FILE__, __LINE__, authenticationTimeOutCounter, RpMessage, 0, 0); if (authenticationTimeOutCounter > 60) { midTankState = MidTankStateIdle; - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Error, 0); } break; } if (inkAuthenticationPass == false) { Report("MidTank Cartridge authentication fail", __FILE__, __LINE__, 0, RpMessage, 0, 0); - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Error, 0); midTankState = MidTankStateIdle; break; } // Cartridge status received from user - assume cartridge is full + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Inserted, 0); midTankCapacity = Get_MidTank_Pressure_Sensor(midTankCartColor); if ((midTankCapacity > MidTankEmptyLimit)&&(midTankCartColor!=MIDTANK_8))//enable lubricant filling in two stages @@ -325,13 +336,13 @@ void midTankStateMachine(void) cart1.color = fastBILNK; Report("Mid-tank not empty", __FILE__, __LINE__, midTankCapacity, RpMessage, MidTankEmptyLimit, 0); midTankState = MidTankStateIdle; - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Error, 0); break; } Report("Mid-tank filling in process", __FILE__,__LINE__,(int)(MidTankEmptyLimit*1000), RpMessage, (int)(midTankCapacity*1000), 0); Pannel_Leds(CART_1, MODE_ON); cart1.color = BLINK; - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Filling, 0); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Filling, 0); if (midTankCartColor == MIDTANK_8) { @@ -356,7 +367,7 @@ void midTankStateMachine(void) Report("Cartridge extracted during filling!!!", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); Report("Mid-tank # filling fail", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); midTankState = MidTankStateIdle; - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Absent, GetCartridgeFillPercent()); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Absent, GetCartridgeFillPercent()); } // if time out or emptying done - idle if (midTankTimeoutCounter++ > CartridgeInkTimeout) { @@ -366,7 +377,7 @@ void midTankStateMachine(void) MidTankValvesAction(Cartridge_MidTank_OFF); Report("Mid-tank # filling fail", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); Report("Call customer support", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, GetCartridgeFillPercent()); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Error, GetCartridgeFillPercent()); midTankState = MidTankStateIdle; } else if (CartridgeInkFull()) { midTankTimeoutCounter = 0; @@ -376,9 +387,10 @@ void midTankStateMachine(void) Report("Mid-tank # filling done", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); midTankState = MidTankStateIdle; // RFID change status - inkEmpty - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__FillingCompleted, 100.0); + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__FillingCompleted, 100.0); } - CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Filling, GetCartridgeFillPercent()); + if (midTankState == MidTankStateFilling) + CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Filling, GetCartridgeFillPercent()); break; default: Report("wrong state", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c index e386df88c..d26b3d814 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c @@ -5,22 +5,32 @@ #include <PMR/Stubs/CalculateResponse.pb-c.h> #include "include.h" #include "driverlib/gpio.h" +#include "modules/control/control.h" #include "Drivers/USB_Communication/USBCDCD.h" - -void Stub_CalculateRequest(MessageContainer* requestContainer) +char CalculateToken[36+1] = {0}; +//char init_string[100]; +int aaa = 0; +uint32_t CalculateControlId = 0xFF; +uint32_t CalculateRpeat(uint32_t IfIndex, uint32_t BusyFlag) { MessageContainer responseContainer; - - CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); - - CalculateResponse response = CALCULATE_RESPONSE__INIT; - response.sum = request->a + request->b; + bool last = false; + response.sum = aaa++; response.has_sum = true; + if (aaa >=20) + { + RemoveControlCallback(CalculateControlId, CalculateRpeat); + last = true; + aaa=0; + } + Report("CalculateRpeat",__FILE__,__LINE__,(int)aaa,RpWarning,(int)0,0); - responseContainer = createContainer(MESSAGE_TYPE__CalculateResponse, requestContainer->token, true, &response, &calculate_response__pack, &calculate_response__get_packed_size); + responseContainer = createContainer(MESSAGE_TYPE__CalculateResponse, CalculateToken, last, &response, &calculate_response__pack, &calculate_response__get_packed_size); + responseContainer.has_continuous = true; + responseContainer.continuous = true; // free(request); @@ -30,5 +40,21 @@ void Stub_CalculateRequest(MessageContainer* requestContainer) SendChars((char*)container_buffer, container_size); //free(container_buffer); //free(requestContainer); + + return OK; +} + + +void Stub_CalculateRequest(MessageContainer* requestContainer) +{ + MessageContainer responseContainer; + + CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + ustrncpy (CalculateToken, requestContainer->token,36); + + + Report("Stub_CalculateRequest",__FILE__,__LINE__,(int)aaa,RpWarning,(int)0,0); + CalculateControlId = AddControlCallback("PowerUpLoad", CalculateRpeat, eOneSecond, TemplateDataReadCBFunction,0,0, 0 ); + calculate_request__free_unpacked(request,NULL); } diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c index 0ce6474cc..284a43e41 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c @@ -1246,7 +1246,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) response.has_progress = true; } else - if(request->amount == 0xB24) //Set loading arm cycles + if(request->amount == 0xB24) //AttemptThreadJoggingFunc { REPORT_MSG(request->delay,"AttemptThreadJoggingFunc"); AttemptThreadJoggingFunc(NULL); @@ -1254,7 +1254,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) response.has_progress = true; } else - if(request->amount == 0xB25) //Set loading arm cycles + if(request->amount == 0xB25) //Change jog speed { REPORT_MSG(request->delay,"Change jog speed"); if (request->delay<100) @@ -1263,6 +1263,14 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) response.has_progress = true; } else + if(request->amount == 0xB26) //Change sublimation time + { + REPORT_MSG(request->delay,"Change sublimation time"); + setSublimationBlowTime(request->delay); + response.progress = JogSpeed; + response.has_progress = true; + } + else if(request->amount == 0xC3) //suspend I2C task { if (request->delay == 0) diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c index 63c7b6963..f4b1f7463 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c @@ -9,21 +9,23 @@ #include "include.h" #include "inc/hw_uart.h" #include "driverlib/gpio.h" - -#include "Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_RFID.h" #include <Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.h> +#include "Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_RFID.h" + +#include <Drivers/I2C_Communication/RFID_NFC/RFIDTagInfo.h> #include "Drivers/I2C_Communication/RFID_NFC/NFC.h" #include <Utilities/RfidTagHandling.h> -#include <Drivers/I2C_Communication/RFID_NFC/RFIDTagInfo.h> + #include <Drivers/I2C_Communication/I2C.h> #include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h> +#include <Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.h> #include "Stub_Status.h" void Stub_CartridgeReadRequest(MessageContainer* requestContainer) { - //uint32_t status = PASSED; + uint32_t status = PASSED; MessageContainer responseContainer; static bool first_time = true; @@ -38,26 +40,69 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer) uint8_t readerID = request->cartridgeid >> 8; - /*if(request->cartridgeid == 0x0100) + if(request->cartridgeid == 0x0100) { - Init_RFID_Reader(readerID);//0-2 + Init_RFID_Reader(readerID);//0-2 - done in main.c. by Init_IFS no need to use it } else if(request->cartridgeid == 0x0101) { - Connect_to_RFID_Reder(readerID);//0-2 - conect the card and get tag id + Connect_to_RFID_Reder(readerID);//0-2 - conect the card and get tag id - while(1) } else if(request->cartridgeid == 0x0102) { + /* Active_RFID_Reader = readerID + 1; - if(first_time == true) - { - TagStage = Tag_PrepareForDiscovery; - first_time = false; - } +// if(first_time == true) +// { +// TagStage = Tag_PrepareForDiscovery; +// first_time = false; +// } + TagStage[readerID] = Tag_PrepareForDiscovery; + + RFIDTagComm_StateMachine(readerID, Auto); + */ + Trigger_RFID_TestTask(readerID); - RFIDTagComm_StateMachine(Auto); } - */ + else if(request->cartridgeid == 0x0103)//first time before 0x0102 - no need done in 102 + { + Active_RFID_Reader = readerID + 1; + TagStage[readerID] = Tag_PrepareForDiscovery; + + } + else if((request->cartridgeid & 0xFF)== 0xC1) + { + Trigger_RFID_UpdateInkFill(readerID); + } + else if((request->cartridgeid & 0xFF)== 0xC2) + { + Trigger_RFID_UpdateInkUsed(readerID); + } + else if((request->cartridgeid & 0xFF)== 0xC3) + { + Trigger_RFID_UpdateInkEmpty(readerID); + } + else if((request->cartridgeid & 0xFF)== 0xC4) + { + Trigger_RFID_UpdateInkMachineID(readerID); + } + else if((request->cartridgeid & 0xFF)== 0xE1) + { + Trigger_RFID_UpdateWasteFill(readerID); + } + else if((request->cartridgeid & 0xFF)== 0xE2) + { + Trigger_RFID_UpdateWasteFull(readerID); + } + else if((request->cartridgeid & 0xFF)== 0xE3) + { + Trigger_RFID_UpdateWasteEmpty(readerID); + } + else if((request->cartridgeid & 0xFF)== 0xE4) + { + Trigger_RFID_UpdateWasteMachineID(readerID); + } + response.cartridge = &CartridgeRead; CartridgeRead.has_index = false; CartridgeRead.has_slot = true; @@ -82,7 +127,7 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer) void Stub_CartridgeWriteRequest(MessageContainer* requestContainer) { - //uint32_t status = NOT_SUPPORTED; + uint32_t status = NOT_SUPPORTED; MessageContainer responseContainer; StubCartridgeWriteRequest* request = stub_cartridge_write_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c index 3d2db071e..27a7dfb31 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c @@ -70,6 +70,7 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer) response.has_general_status = true; response.detailed_status = DANCER_ENC[request->dancer_id].Det_status; response.has_general_status = true; + StoreDancerConfigMessage(Dancer_Id); } else if(Dancer_Id < NUM_OF_ROTENC*2) { @@ -86,8 +87,6 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer) response.detailed_status = ERROR; // use the Reserved bits to send our errors response.has_general_status = true; } - if (Dancer_Id == 2) - StoreDancerConfigMessage(); responseContainer = createContainer(MESSAGE_TYPE__StubDancerPositionResponse, requestContainer->token, true, &response, &stub_dancer_position_response__pack, &stub_dancer_position_response__get_packed_size); //free(request); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index cdb726b5e..c3f15aff8 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -258,7 +258,7 @@ { CallbackCounter--; } - if ((angle>14000 )&&(BusyFlag == NOTBUSY)) // OK - take another round + if ((abs(angle)>14000 )&&(BusyFlag == NOTBUSY)) // OK - take another round { Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h index 07ecf5d0b..11a92ab63 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h @@ -46,7 +46,7 @@ uint32_t ThreadEndState(); bool Set_Thread_Rockers_Bypass (int value); -uint32_t StoreDancerConfigMessage(void); +uint32_t StoreDancerConfigMessage(int DancerId); uint32_t LoadDancerConfigMessage(void); //uint32_t MotorPidRequestMessage(HardwarePidControl* request); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 1920db03a..869485b71 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -188,40 +188,36 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) } char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg"; -uint32_t StoreDancerConfigMessage() +uint32_t StoreDancerConfigMessage(int DancerId) { uint32_t status = OK; // FRESULT Fresult = FR_OK; //HardwareConfiguration DancerConfig; HardwareDancer Dancers[MAX_SYSTEM_DANCERS]; - // uint8_t* response_buffer; +#ifdef FOUR_WINDERS + uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2,EEPROM_STORAGE_DANCER_3,EEPROM_STORAGE_DANCER_4}; +#else + uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2}; +#endif // size_t response_size = 0; - int Dancer_i; + int Dancer_i = DancerId; //hardware_configuration__init(&DancerConfig); //DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS); - for (Dancer_i = 0; Dancer_i < MAX_SYSTEM_DANCERS; Dancer_i++) - { - hardware_dancer__init(&Dancers[Dancer_i]); - //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i]; - Dancers[Dancer_i].has_zeropoint = true; - Dancers[Dancer_i].hardwaredancertype = Dancer_i; - Dancers[Dancer_i].has_hardwaredancertype = true; - Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0); - //DancerConfig.n_dancers++; - DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint; - DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0); - } + hardware_dancer__init(&Dancers[Dancer_i]); + //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i]; + Dancers[Dancer_i].has_zeropoint = true; + Dancers[Dancer_i].hardwaredancertype = Dancer_i; + Dancers[Dancer_i].has_hardwaredancertype = true; + Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0); + //DancerConfig.n_dancers++; + DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint; + DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_0,DancersCfg[0].zeropoint); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_1,DancersCfg[1].zeropoint); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_2,DancersCfg[2].zeropoint); - Report("~~~~~~Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0); -#ifdef FOUR_WINDERS - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_3,DancersCfg[HARDWARE_DANCER_3].zeropoint); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_4,DancersCfg[HARDWARE_DANCER_4].zeropoint); - Report("~~~~~~Store eeprom 1",__FILE__,__LINE__,(int)DancersCfg[HARDWARE_DANCER_3].zeropoint,RpWarning,(int)DancersCfg[HARDWARE_DANCER_4].zeropoint,0); -#endif + + + status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint); + Report("~~~~~~Store eeprom dancer",__FILE__,__LINE__,Dancer_i,RpWarning,(int)DancersCfg[Dancer_i].zeropoint,0); /* response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig)); if (response_buffer) diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 8d41f3b9a..5fee72dc7 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -1338,22 +1338,22 @@ uint32_t UpdatePidDuringRun(HardwarePidControl *request) return ERROR; - if (request->derivativetime == true) + if (request->has_derivativetime == true) { MotorControlConfig[Motor_i].m_params.Kd = request->derivativetime; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Kd",__FILE__,Motor_i,(int)(request->derivativetime),RpWarning,0,0); } - if (request->proportionalgain == true) + if (request->has_proportionalgain == true) { MotorControlConfig[Motor_i].m_params.Kp = request->proportionalgain; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Kp",__FILE__,Motor_i,(int)(request->proportionalgain),RpWarning,0,0); } - if (request->integraltime == true) + if (request->has_integraltime == true) { MotorControlConfig[Motor_i].m_params.Ki = request->integraltime; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Ki",__FILE__,Motor_i,(int)(request->integraltime),RpWarning,0,0); } - if (request->epsilon == true) + if (request->has_epsilon == true) { MotorControlConfig[Motor_i].m_params.epsilon = request->epsilon; ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun epsilon",__FILE__,Motor_i,(int)(request->epsilon*10000),RpWarning,0,0); diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c index 9c5fe9822..490a0c0a5 100644 --- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c @@ -8,8 +8,9 @@ #include "Modules/Waste/Waste_ex.h" #include "modules/heaters/heaters_ex.h" #include <Drivers/I2C_Communication/RFID_NFC/RFIDTagInfo.h> -#include "Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_RFID.h" #include <Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.h> +#include "Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_RFID.h" + #include "Drivers/I2C_Communication/RFID_NFC/NFC.h" #include <Utilities/RfidTagHandling.h> #include "PMR/IFS/CartridgeState.pb-c.h" @@ -27,6 +28,7 @@ #include <Drivers/I2C_Communication/I2C_Task.h> #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.h> #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h> +#include <Drivers/I2C_Communication/RFID_NFC/RFID_Waste.h> #include <Drivers/I2C_Communication/WHS_Card/D_AD5272_Rheostat/WHS_Rheostat.h> uint8_t VocPpmAlarmLimit = 10;//PPM @@ -42,6 +44,7 @@ uint32_t Cartridge_Cover_Control; button *CartLed[MaxWasteCartridges] = {0, &cart2, &cart3}; WasteTankStateEnum WasteTankState = WasteTankStateIdle; +extern char WasteEmptyingToken[36+1]; int init = 1; bool setWasteValve (WasteCartridgeEnum WasteCartridge); @@ -165,7 +168,7 @@ WasteCartridgeEnum cartGetActiveCart() { uint32_t CartId; - for (CartId = 0; CartId < MaxWasteCartridges; CartId++) { + for (CartId = WasteCartridge_middle; CartId < MaxWasteCartridges; CartId++) { if (CartState[CartId] == CartridgeStateACTIVE) return CartId; } @@ -223,10 +226,13 @@ bool setWasteValve (WasteCartridgeEnum WasteCartridge) bool RdWasteTankEmptySensor() { //double WasteLevel = 0.0; - +#ifndef WHS_DEBUG if (WHS_Type == WHS_TYPE_UNKNOWN) { return WHS_GPI_WCONTAINER_WARN(); - } else { //new WHS + } + else +#endif + { //new WHS //WasteLevel = GetWHSWasteTankLevelMiliLiter(); if (wasteLevel < wasteLevelEmpty) return 1; //Empty @@ -237,10 +243,13 @@ bool RdWasteTankEmptySensor() bool RdWasteTankFullSensor() { //double WasteLevel = 0.0; - +#ifndef WHS_DEBUG if (WHS_Type == WHS_TYPE_UNKNOWN) { return WHS_GPI_WCONTAINER_FULL(); - } else { //new WHS + } + else +#endif + { //new WHS //WasteLevel = GetWHSWasteTankLevelMiliLiter(); if (wasteLevel >= wasteLevelFull) return 1; //full @@ -251,10 +260,13 @@ bool RdWasteTankFullSensor() bool RdWasteTankOverFlowSensor() { //double WasteLevel = 0.0; - +#ifndef WHS_DEBUG if (WHS_Type == WHS_TYPE_UNKNOWN) { return WHS_GPI_WASTE_OVERFULL(); - } else {//new WHS + } + else +#endif + {//new WHS //WasteLevel = GetWHSWasteTankLevelMiliLiter(); if (wasteLevel > wasteLevelOverflow) return 1; //overflow @@ -348,13 +360,14 @@ uint32_t Waste_DoorOpenDuringEmptying(uint32_t IfIndex, uint32_t ReadValue) void Waste_StateMachine_OneSecond_Call(void) { static WasteTankStateEnum prev_state = 0; - static int prev_wasteLevel = 0; + static int cart, prev_wasteLevel = 0; + static int insertUpdate[3] = {0, 0, 0}; //call cartridge state if ((Is_Cartridge_Present(CART_2) != cartGetPresence(WasteCartridge_middle)) || (init)) { if (Is_Cartridge_Present(CART_2)) { cartCART_INSERTED(WasteCartridge_middle); - CartridgeStateUpdate(CARTRIDGE_SLOT__WasteMiddle, CARTRIDGE_STATE__Inserted, 0); + insertUpdate[CARTRIDGE_SLOT__WasteMiddle-1] = 1; } else { cartCART_EXTRACTED(WasteCartridge_middle); } @@ -362,12 +375,20 @@ void Waste_StateMachine_OneSecond_Call(void) if ((Is_Cartridge_Present(CART_3) != cartGetPresence(WasteCartridge_lower)) || (init)) { if (Is_Cartridge_Present(CART_3)) { cartCART_INSERTED(WasteCartridge_lower); - CartridgeStateUpdate(CARTRIDGE_SLOT__WasteLower, CARTRIDGE_STATE__Inserted, 0); + insertUpdate[CARTRIDGE_SLOT__WasteLower-1] = 1; } else { cartCART_EXTRACTED(WasteCartridge_lower); } } + //update ppc + for (cart = WasteCartridge_middle; cart <= WasteCartridge_lower; cart++) { + if ((insertUpdate[cart]) && (WasteEmptyingToken[0])) { + CartridgeStateUpdate(cart, cart-1, CARTRIDGE_STATE__Inserted, 0); + insertUpdate[cart] = 0; + } + } + //call door state cartCart_door(); @@ -467,7 +488,7 @@ void Waste_StateMachine(void) //start emptying // RFID change status - set wasteFilling WasteTankState = WasteTankStateEmptying; - CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, 0); + CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Emptying, 0); break; case WasteTankStateEmptying: // if time out or emptying done - idle @@ -478,7 +499,7 @@ void Waste_StateMachine(void) WasteTankState = WasteTankStateIdle; usnprintf(str, 100, "WasteTankStateEmptying Timeout. time:%d:%d volume:%d", timeout_counter/60, timeout_counter%60, WHS_GetCartridgeFill()); Report(str, __FILE__, __LINE__, 0, RpMessage, 0, 0); - CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent()); + CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent()); AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT, true); RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying); timeout_counter = 0; @@ -493,10 +514,11 @@ void Waste_StateMachine(void) AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL, true); usnprintf(str, 100, "WasteTankStateEmptying done. time:%d:%d volume:%d", timeout_counter/60, timeout_counter%60, WHS_GetCartridgeFill()); Report(str, __FILE__, __LINE__, 0, RpMessage, 0, 0); - CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__EmptyingCompleted, WHS_GetCartridgeFillPercent()); + CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__EmptyingCompleted, WHS_GetCartridgeFillPercent()); timeout_counter = 0; } - CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, WHS_GetCartridgeFillPercent()); + if (WasteTankState == WasteTankStateEmptying) + CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Emptying, WHS_GetCartridgeFillPercent()); #ifdef WHS_DEBUG wasteLevel -= 100; timeout_counter += 10; @@ -517,7 +539,7 @@ void Waste_StateMachine(void) AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL, true); Report("WasteTankStatePaused done", __FILE__, __LINE__, 0, RpMessage, 0, 0); timeout_counter = 0; - CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent()); + CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent()); } break; default: |