diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
10 files changed, 213 insertions, 11 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c index 7a9f8fd37..cf8684ddb 100644 --- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c +++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c @@ -79,7 +79,7 @@ typedef struct AlarmHandlingMessage{ // uint32_t Data; }AlarmHandlingMessageStruc; -#define MAX_SYSTEM_ALARMS EVENT_TYPE__ELECTRICAL_CABINET_FANS_STOPPED+1 +#define MAX_SYSTEM_ALARMS 300+1 typedef enum { TemperatureAlarm, @@ -215,8 +215,53 @@ const AlarmHandlingItemStruc AlarmItem[MAX_SYSTEM_ALARMS]={ {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5 ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_B,"DyeingHead 5 PT100 Heating Failure"}, {eOneSecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3, HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6 ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_B,"DyeingHead 6 PT100 Heating Failure"}, {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1, HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,"Dryer PT100 Heating Failure"}, + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING , HARDWARE_MOTOR_TYPE__MOTO_RLOADING , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_OVERCURRENT ," MotorRightLoaderOverCurrent " }, /* 3004 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING , HARDWARE_MOTOR_TYPE__MOTO_LLOADING , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_OVERCURRENT ," MotorLeftLoaderOverCurrent " }, /* 3006 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_OVERCURRENT ," MotorLoadindARMOverCurrent " }, /* 3009 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_MOTOR_OVERCURRENT /*EVENT_TYPE__WINDER_DANCER_MOTOR_OVERCURRENT*/ ," MotorWinderDancerOverCurrent " }, /* 3036 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_MOTOR_OVERCURRENT /*EVENT_TYPE__PULLER_DANCER_MOTOR_OVERCURRENT*/ ," MotorPullerDancerOverCurrent " }, /* 3037 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER , HARDWARE_MOTOR_TYPE__MOTO_RDANCER , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_MOTOR_OVERCURRENT /*EVENT_TYPE__FEEDER_DANCER_MOTOR_OVERCURRENT*/ ," MotorFeederDancerOverCurrent " }, /* 3038 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_MOTOR_OVERCURRENT /*EVENT_TYPE__DRYER_LID_MOTOR_OVERCURRENT*/ ," MotorDryerLidOverCurrent " }, /* 4017 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID , HARDWARE_MOTOR_TYPE__MOTO_DH_LID , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_OVERCURRENT ," MotorDyeingHeadCoverOverCurrent " }, /* 5031 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_OVERCURRENT ," MotorDyeingHeadCleaningMechanismOverCurrent "}, /* 5035 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD , x_STATUS_OCD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_OVERCURRENT ," MotorDyeingHeadCleaningHeadOverCurrent " }, /* 5039 */ + + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING , HARDWARE_MOTOR_TYPE__MOTO_RLOADING , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_OVERTEMPERATURE ," MotorRightLoaderOverTemperature " }, /* 3011 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING , HARDWARE_MOTOR_TYPE__MOTO_LLOADING , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_OVERTEMPERATURE ," MotorLeftLoaderOverTemperature " }, /* 3013 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_OVERTEMPERATURE ," MotorLoadArmOverTemperature " }, /* 3016 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_OVERTEMPERATURE ," MotorWinderDancerOverTemperature " }, /* 3039 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_OVERTEMPERATURE ," MotorPullerDancerOverTemperature " }, /* 3040 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER , HARDWARE_MOTOR_TYPE__MOTO_RDANCER , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_OVERTEMPERATURE ," MotorFeederDancerOverTemperature " }, /* 3041 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_OVERTEMPERATURE ," MotorDryerLidOverTemperature " }, /* 4018 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID , HARDWARE_MOTOR_TYPE__MOTO_DH_LID , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_OVERTEMPERATURE ," MotorDyeingHeadCoverOverTemperature " }, /* 5032 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_OVERTEMPERATURE ," MotorDyeingHeadCleaningOverTemperature " }, /* 5036 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD , x_STATUS_TH_SD , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_OVERTEMPERATURE ," MotorDyeingHeadCleaningHeadOverTemperature "}, /* 5040 */ + + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING , HARDWARE_MOTOR_TYPE__MOTO_RLOADING ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_STALL ," MotorLoadingARMStall " }, /* 3018 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING , HARDWARE_MOTOR_TYPE__MOTO_LLOADING ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_STALL ," MotorWinderDancesStall " }, /* 3020 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_STALL ," MotorLoadingARMStall " }, /* 3023 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_STALL ," MotorWinderDancesStall " }, /* 3042 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_STALL ," MotorPullerDancerStall " }, /* 3043 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER , HARDWARE_MOTOR_TYPE__MOTO_RDANCER ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_STALL ," MotorFeederDancerStall " }, /* 3044 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_STALL ," MotorDryerLidStall " }, /* 4019 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID , HARDWARE_MOTOR_TYPE__MOTO_DH_LID ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_STALL ," MotorDyeingHeadCoverStall " }, /* 5033 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_STALL ," MotorDyeingHeadCleaningMechanismStall " }, /* 5037 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD ,x_STATUS_STEP_LOSS_A , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_STALL ," MotorDryeingHeadCleaningStall " }, /* 5041 */ + + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING , HARDWARE_MOTOR_TYPE__MOTO_RLOADING , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_UNDERVOLTAGE ," MotorRightLoaderUnderVoltage " }, /* 3025 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING , HARDWARE_MOTOR_TYPE__MOTO_LLOADING , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_UNDERVOLTAGE ," MotorLeftLoaderUnderVoltage " }, /* 3027 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_UNDERVOLTAGE ," MotorLoaderARMUnderVoltage " }, /* 3030 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_UNDERVOLTAGE ," MotorWinderDancerUnderVoltage " }, /* 3045 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_UNDERVOLTAGE ," MotorPullerDancerUnderVoltage " }, /* 3046 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER , HARDWARE_MOTOR_TYPE__MOTO_RDANCER , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_UNDERVOLTAGE ," MotorFeederDancerUnderVoltage " }, /* 3047 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_UNDERVOLTAGE ," MotorDryerLidUnderVoltage " }, /* 4020 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID , HARDWARE_MOTOR_TYPE__MOTO_DH_LID , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_UNDERVOLTAGE ," MotorDyeingHeadCoverUnderVoltage " }, /* 5034 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_UNDERVOLTAGE ," MotorDyeingHeadCleaningUnderVoltage " }, /* 5038 */ + { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD , x_STATUS_UVLO , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_UNDERVOLTAGE ," MotorDyeingHeadCleaningHeadUnderVoltage " }, /* 5042 */ {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_BREAK,"Thread Break"}, - {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE,"Thread Tension Control Failure"}, + {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,"Thread Feeder Tension Control Failure"}, + {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,"Thread Puller Tension Control Failure"}, + {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,"Thread Winder Tension Control Failure"}, {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,"No cone in winder"} }; diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c index f9aee7929..a443b4785 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c @@ -71,3 +71,51 @@ float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_ return output; } +float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral) +{ + float error; + float derivative; + float output; + + //double error = *mySetpoint - input; + error = _setPoint - _mesuredParam; + //ITerm+= (ki * error); + *_integral = *_integral + (error*params->Ki); + /* if(ITerm > outMax) + { + ITerm= outMax; + } + else if(ITerm < outMin) + { + ITerm= outMin; + } */ + if(*_integral > params->MAX) + { + *_integral = params->MAX; + } + else if(*_integral < params->MIN) + { + *_integral = params->MIN; + } + // double dInput = (input - lastInput); + derivative = error - *_pre_error; + + /*Compute PID Output*/ + // double output = kp * error + ITerm- kd * dInput; + output = params->Kp*error/params->ProportionalErrorMultiplier + *_integral/params->IntegralErrorMultiplier + params->Kd*derivative; + + //Saturation Filter + if(output > params->MAX) + { + output = params->MAX; + } + else if(output < params->MIN) + { + output = params->MIN; + } + + //Update error + *_pre_error = error; + + return output; +} diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c index a884c3e21..6d64bdf66 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c +++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c @@ -109,10 +109,24 @@ void LoadConfigurationParameters(ConfigurationParameters *Params) EmbeddedParameters.initialdispensertimeout = 10000; EmbeddedParameters.has_initialdispensertimelag = true; EmbeddedParameters.initialdispensertimelag = 100; + EmbeddedParameters.has_dispenserbuildpressurespeed = true; EmbeddedParameters.dispenserbuildpressurespeed=500; + EmbeddedParameters.has_dispenserbuildpressurelimit = true; EmbeddedParameters.dispenserbuildpressurelimit=1.5 ; + EmbeddedParameters.has_dispenserbuildpressuretimeout = true; EmbeddedParameters.dispenserbuildpressuretimeout=20000; + EmbeddedParameters.has_dispenserbuildpressurelag = true; EmbeddedParameters.dispenserbuildpressurelag=50; + EmbeddedParameters.has_acheatersloweroperationlimit = true; + EmbeddedParameters.acheatersloweroperationlimit = 995; + EmbeddedParameters.has_acheatersupperoperationlimit = true; + EmbeddedParameters.acheatersupperoperationlimit = 1005; + EmbeddedParameters.has_dcheatersloweroperationlimit = true; + EmbeddedParameters.dcheatersloweroperationlimit = 978; + EmbeddedParameters.has_dcheatersupperoperationlimit = true; + EmbeddedParameters.dcheatersupperoperationlimit = 1002; + EmbeddedParameters.has_midtankpressurecorrection = true; + EmbeddedParameters.midtankpressurecorrection = 0.5; FileWrite(&EmbeddedParameters,sizeof(EmbeddedParameters),EmbeddedParametersPath); } @@ -138,6 +152,8 @@ uint32_t EmbeddedParametersInit(void) IDS_Dispenser_SetBackLashValues(EmbeddedParameters.initialdispenserpressure, EmbeddedParameters.initialdispensertimeout, EmbeddedParameters.initialdispensertimelag); IDS_Dispenser_SetPrepareValues(EmbeddedParameters.dispenserbuildpressurespeed, EmbeddedParameters.dispenserbuildpressurelimit, EmbeddedParameters.dispenserbuildpressuretimeout, EmbeddedParameters.dispenserbuildpressurelag); Heaters_SetOverHeatTimeOutValues( EmbeddedParameters.overheatcountlimit, EmbeddedParameters.underheatcountlimit); + Heaters_SetOperationLimits(EmbeddedParameters.acheatersloweroperationlimit,EmbeddedParameters.acheatersupperoperationlimit,EmbeddedParameters.dcheatersloweroperationlimit,EmbeddedParameters.dcheatersupperoperationlimit); + MidTankPressureCorrection(EmbeddedParameters.midtankpressurecorrection); SetDiagnosticCollectionLimit(EmbeddedParameters.diagnosticcollectionlimit); ThreadSetBreakSensorLimit(EmbeddedParameters.breaksensorlimit); @@ -188,6 +204,8 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest) upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL); return ERROR; } + // LoadDancerConfigMessage(); + //StoreDancerConfigMessage(); if (request->n_pidcontrols <= HARDWARE_PID_CONTROL_TYPE__Dispenser8) { for (PID_i = 0; PID_i < request->n_pidcontrols ; PID_i++) diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h index d8c4e287d..8a77f98a2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h @@ -23,6 +23,7 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState); uint32_t LoadHeaterSetPoint(HeaterType HeaterType); void Heaters_SetOverHeatTimeOutValues(uint32_t OverHeatTimeout, uint32_t UnderHeatTimeout); +void Heaters_SetOperationLimits(int acheatersloweroperationlimit,int acheatersupperoperationlimit,int dcheatersloweroperationlimit,int dcheatersupperoperationlimit); uint32_t HeatersEnd(void); diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c index 8302fcab6..50b4658c1 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -40,6 +40,10 @@ int Overheat_Count_Limit = OVERHEAT_COUNT_LIMIT; int Underheat_Count_Limit = UNDERHEAT_COUNT_LIMIT; + int AcHeatersLoweroperationLimit = 995; + int AcHeatersUpperoperationLimit = 1005; + int DcHeatersLoweroperationLimit = 978; + int DcHeatersUpperoperationLimit = 1002; typedef enum { @@ -156,6 +160,13 @@ void Heaters_SetOverHeatTimeOutValues(uint32_t OverHeatTimeout, uint32_t UnderHe Overheat_Count_Limit = OverHeatTimeout; Underheat_Count_Limit = UnderHeatTimeout; } +void Heaters_SetOperationLimits(acheatersloweroperationlimit,acheatersupperoperationlimit,dcheatersloweroperationlimit,dcheatersupperoperationlimit) +{ + AcHeatersLoweroperationLimit = acheatersloweroperationlimit; + AcHeatersUpperoperationLimit = acheatersupperoperationlimit; + DcHeatersLoweroperationLimit = dcheatersloweroperationlimit; + DcHeatersUpperoperationLimit = dcheatersupperoperationlimit; +} void HeatersControlStop(void) { @@ -700,7 +711,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) return OK; } - if ((readValue > (HeaterCmd[index].targettemperatue * 995/1000))&&(readValue < (HeaterCmd[index].targettemperatue * 1005/1000)))//read value within 0.5 percent from target + if ((readValue > (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000))&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target { ////////////////// //InitialHeating = false; @@ -820,7 +831,7 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) return OK; } - if ((readValue > (HeaterCmd[index].targettemperatue * 978/1000))&&(readValue < (HeaterCmd[index].targettemperatue * 1002/1000)))//read value within 0.5 percent from target + if ((readValue > (HeaterCmd[index].targettemperatue * DcHeatersLoweroperationLimit/1000))&&(readValue < (HeaterCmd[index].targettemperatue * DcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target { //DCInitialHeating[index] = false; HeatersControlStart(); 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 b7f6a387f..61c7afe74 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c @@ -73,7 +73,7 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer) response.detailed_status = ERROR; // use the Reserved bits to send our errors response.has_general_status = true; } - + 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 e2f97d970..3af29a043 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -219,8 +219,8 @@ 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); CallbackCounter++; - MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); - + //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); + MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 2, Thread_Load_HomingCallback,10000); return OK; } uint32_t Thread_Load_Lift_Dancers(void) @@ -283,7 +283,8 @@ 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); CallbackCounter++; - MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); +// MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); + MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 0, Thread_Load_HomingCallback,10000); 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 56b229ea8..a22be25dc 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h @@ -37,6 +37,9 @@ uint32_t ThreadDistanceToSpoolState(void); uint32_t ThreadEndState(void *JobDetails); uint32_t ThreadInitialTestStub(); +uint32_t StoreDancerConfigMessage(void); +uint32_t LoadDancerConfigMessage(void); + //uint32_t MotorPidRequestMessage(HardwarePidControl* request); uint32_t Winder_Init(void); uint32_t Winder_Prepare(void); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 04a0026bd..b414611ff 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -4,6 +4,8 @@ #include <DataDef.h> #include "include.h" +#include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h" +#include "PMR/Hardware/HardWareConfiguration.pb-c.h" #include "PMR/Hardware/HardwareMotor.pb-c.h" #include "PMR/Hardware/HardwareDancer.pb-c.h" #include "PMR/Hardware/HardwareWinder.pb-c.h" @@ -11,6 +13,10 @@ #include "PMR/Printing/JobSpool.pb-c.h" #include "PMR/common/MessageContainer.pb-c.h" +#include "Common/SWUpdate/FileSystem.h" +#include "drivers/Flash_Memory/fatfs/ff.h" +#include "drivers/SSI_Comm/Dancer/Dancer.h" + #include "thread.h" MotorDriverConfigStruc MotorsCfg[NUM_OF_MOTORS]={0}; HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0}; @@ -100,6 +106,63 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); return OK; } +char DancerConfigPath[50] = "0://SWInfo//DancCfg.msg"; + +uint32_t StoreDancerConfigMessage() +{ + FRESULT Fresult = FR_OK; + HardwareConfiguration DancerConfig; + HardwareDancer Dancers[MAX_SYSTEM_DANCERS]; + uint8_t* response_buffer; + size_t response_size = 0; + int Dancer_i; + + 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; + DancerConfig.dancers[Dancer_i]->zeropoint=Control_Read_Dancer_Position(Dancer_i,0,0); + DancerConfig.n_dancers++; + } + response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig)); + if (response_buffer) + { + response_size = hardware_configuration__pack(&DancerConfig, response_buffer); + } + Fresult = FileWrite(response_buffer,response_size,DancerConfigPath); + my_free(response_buffer); + + return Fresult; +} +uint32_t LoadDancerConfigMessage() +{ + void* buffer = NULL; + uint32_t Bytes = 0; + FRESULT Fresult = FR_OK; + + HardwareConfiguration *DancerConfig; + int Dancer_i; + + Fresult = FileRead(DancerConfigPath, &Bytes, &buffer); + if (Fresult == FR_OK) + { + DancerConfig = hardware_configuration__unpack(NULL, Bytes, buffer); + for (Dancer_i = 0; Dancer_i < DancerConfig->n_dancers ; Dancer_i++) + { + DancersCfg[Dancer_i].zeropoint = DancerConfig->dancers[Dancer_i]->zeropoint; + } + hardware_configuration__free_unpacked(DancerConfig,NULL); + free (buffer); + } + return Fresult; + +} + uint32_t DancerConfigMessage(HardwareDancer * request) { uint32_t status = PASSED; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 1cb854f87..76d4b090a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -458,7 +458,18 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) SendJobProgress(0.0,0,false, TMessage); //EndState(CurrentJob,TMessage ); SegmentReady(Module_Thread,ModuleFail); - AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE,true); + switch (index) + { + case POOLER_MOTOR: + AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,true); + break; + case WINDER_MOTOR: + AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,true); + break; + case FEEDER_MOTOR: + AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,true); + break; + } LOG_ERROR (DancerId, "Dancer Failure"); return OK; } @@ -551,10 +562,11 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue) PoolerTotalProcessedLength = 0.0; PrepareState = true; AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,false); - AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE,false); + AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,false); + AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,false); + AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,false); AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,false); - //start thread control for all motors for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) { |