diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
7 files changed, 52 insertions, 23 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c index 059b8fc4c..829261533 100644 --- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c +++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c @@ -154,14 +154,14 @@ typedef enum typedef struct { - uint16_t Frequency; //1/10/100/1000 + //uint16_t Frequency; //1/10/100/1000 AlarmSourceType AlarmSource; uint16_t DeviceId; uint8_t ModuleDeviceId; uint16_t AlarmValue; bool AlarmDirection; DebugLogCategory Severity; - uint16_t Predecessor; + //uint16_t Predecessor; uint8_t DebounceValue; EventType EventType; bool isPersistent; diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index 7e1424b8a..0e235e043 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -481,17 +481,12 @@ uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_ { MessageContainer responseContainer; MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT; - uint32_t angle, temp = Read_Dryer_ENC_Position(); + uint32_t temp = Read_Dryer_ENC_Position(); + int angle; - angle = Calculate_Arm_Distance(D_DrierPrevLocation,temp); + angle = Calculate_Arm_Distance(Drier_Center_read,temp); - if ((abs (angle)<14000 )||(BusyFlag == BUSY)) // OK - take another round - { - responseContainer.has_error = true; - responseContainer.error = ERROR_CODE__GENERAL_ERROR; - - } - ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Set_Load_Arm_To_Stopper time",__FILE__,__LINE__,msec_millisecondCounter,RpMessage,0,0); + ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Set_Load_Arm_To_Stopper time",__FILE__,__LINE__,msec_millisecondCounter,RpMessage,angle,0); if (HomingControlId[deviceID] != 0xff) { ReportWithPackageFilter(DiagnosticsFilter,"MotorHomingProgressReport stopped",__FILE__,__LINE__,deviceID,RpMessage,HomingCounter[deviceID],0); @@ -506,6 +501,11 @@ uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_ responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size); responseContainer.has_continuous = true; responseContainer.continuous = true; + if (abs (angle)>20) // arm not at center position + { + responseContainer.has_error = true; + responseContainer.error = ERROR_CODE__GENERAL_ERROR; + } uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); size_t container_size = message_container__pack(&responseContainer, container_buffer); my_free(responseContainer.data.data); @@ -556,7 +556,7 @@ uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_ uint32_t Diagnostics_Dryer_UnLoading(void) { D_DrierPrevLocation = Read_Dryer_ENC_Position(); - + MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&Drier_Center_read); LoadingArmReset(Diagnostics_Set_Load_Arm_To_Stopper_Callback,300000); /*uint32_t temp; @@ -615,13 +615,14 @@ uint32_t Diagnostics_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue) { D_numberOfCycles++; - uint32_t angle, temp = Read_Dryer_ENC_Position(); + int angle; + uint32_t temp = Read_Dryer_ENC_Position(); angle = Calculate_Arm_Distance(D_DrierPrevLocation,temp); ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,(int)angle,(int)ReadValue,RpMessage,temp,0); MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles); - if ((abs(angle)>14000 )&&(ReadValue == NOTBUSY)) // OK - take another round + if ((abs(angle)<400 )&&(ReadValue == NOTBUSY)) // OK - take another round { D_DrierPrevLocation = temp; ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,ReadValue,temp,RpMessage,angle,0); @@ -653,6 +654,7 @@ uint32_t Diagnostics_Dryer_Loading(void) if (dryerbufferlength) LoadArmRounds = (int)dryerbufferlength; MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&D_DrierPrevLocation); + //MCU_E2PromProgram(EEPROM_DRIER_LOADING_ARM_ANGLE,Calc_angle); ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading request: current ",__FILE__,D_DrierPrevLocation,D_numberOfCycles,RpMessage,LoadArmRounds,0); Drier_Center_read = D_DrierPrevLocation; diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c index 3fbb4e70c..c572d29e6 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c +++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c @@ -217,6 +217,13 @@ void LoadConfigurationParameters(ConfigurationParameters *Params) EmbeddedParameters->has_openvalvetimeout = true; EmbeddedParameters->openvalvetimeout = 52; + EmbeddedParameters->has_initialdispenserpressure = true; + EmbeddedParameters->initialdispenserpressure=3.85; + EmbeddedParameters->has_initialdispensertimeout = true; + EmbeddedParameters->initialdispensertimeout=120000.0 ; + EmbeddedParameters->has_initialdispensertimelag = true; + EmbeddedParameters->initialdispensertimelag=100.0 ; + EmbeddedParameters->has_dispenserbuildpressurespeed = true; EmbeddedParameters->dispenserbuildpressurespeed=500; EmbeddedParameters->has_dispenserbuildpressurelimit = true; diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c index eefd42d75..2f8de1643 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c @@ -260,7 +260,7 @@ void setArcHeadAlarms(uint32_t AlarmId, bool value) } void FlatHeadAlarms(void) { - if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp [HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT) { + if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp [HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT) { if (++count9 == ARC_ALARM_LIMIT) setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_COVER_IS_OPEN, true); count9 = (count9 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count9); diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c index 750dc81af..73282fa97 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c @@ -1033,7 +1033,9 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) Read_Dryer_ENC_Position(); Task_sleep(500); - response.progress = (double)MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CENTER,Read_Dryer_ENC_Position(0,0)); + (double)MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CENTER,Read_Dryer_ENC_Position(0,0)); + + response.progress = (double)Read_Dryer_ENC_Position(0,0); response.has_progress = true; } else diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index f2ca4e8d7..ffbb504db 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -247,7 +247,8 @@ } uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag) { - uint32_t angle, temp = Read_Dryer_ENC_Position(); + uint32_t temp = Read_Dryer_ENC_Position(); + int angle; ReportWithPackageFilter(DiagnosticsFilter,"Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,(int)numberOfCycles,(int)DrierPrevLocation,RpMessage,temp,0); @@ -258,12 +259,14 @@ { CallbackCounter--; } - if ((abs(angle)>14000 )&&(BusyFlag == NOTBUSY)) // OK - take another round + if (abs(angle)<10 ) // OK { Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0); Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); NumberOfDrierLoaderCycles=0; + MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0); + //storeLoadArmParameters(); LoadStages++; @@ -272,7 +275,7 @@ else { load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]); + usnprintf(LoadErrorMsg, 100, "^Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; @@ -317,7 +320,7 @@ { TimeoutsCounter = 0; load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]); + usnprintf(LoadErrorMsg, 100, "/Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; @@ -687,7 +690,7 @@ TimeoutsCounter = 0; CallbackCounter = 0; load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); + usnprintf(LoadErrorMsg, 100, "$Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); LoadStatus = ERROR; MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200); @@ -729,6 +732,13 @@ { LoadArmRounds -= CurrentlyLoaded; } + if (LoadArmRounds == CurrentlyLoaded) + { + Report("Thread_Load_Dryer_Loading no need for cycles",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); + LoadStages++; + ThreadLoadStateMachine(LoadStages); + return OK; + } ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ; ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING; @@ -932,7 +942,7 @@ MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz); load.color = fastBILNK; - usnprintf(LoadErrorMsg, 100, "Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); + usnprintf(LoadErrorMsg, 100, "&Stage %s - Dryer load arm timeout",LoadStagesStr[LoadStages]); Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0); Report("Dryer unloading timeout(1) or no movement",__FILE__,temp,DrierPrevLocation,RpWarning,ReadValue,0); LoadStatus = ERROR; @@ -1489,6 +1499,8 @@ uint32_t ThreadLoadingRestartReport(void) //sending after a failure in the final if (ThreadLoadingToken[0] == 0) return OK; + if (LoadStages == THREAD_LOAD_INIT) + return OK; ThreadLoadingRestartFlag = true; response.has_state = true; @@ -1520,6 +1532,12 @@ uint32_t TryThreadLoadingFunc(MessageContainer* requestContainer) { responseContainer = createContainer(MESSAGE_TYPE__TryThreadLoadingResponse, requestContainer->token, true, &Cresponse, &try_thread_loading_response__pack, &try_thread_loading_response__get_packed_size); responseContainer.continuous = false; + if (JobIsActive()||(MachineReadyForHeating == false)||(FPGABurningActive==true)) + { + responseContainer.has_error = true; + responseContainer.error = ERROR_CODE__GENERAL_ERROR; + responseContainer.errormessage = "The machine is not ready for loading"; + } uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); size_t container_size = message_container__pack(&responseContainer, container_buffer); my_free(responseContainer.data.data); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index ba505493d..c3fb17460 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -1061,7 +1061,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension) return status; } //******************************************************************************************************************** -bool SkipOpenLids = true; +bool SkipOpenLids = false; uint32_t ThreadPrepareState(void *JobDetails) { int Motor_i,i, HW_Motor_Id, Pid_Id; |