diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
18 files changed, 363 insertions, 983 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c index 9a4871878..53f850352 100644 --- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c +++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c @@ -116,22 +116,22 @@ AlarmHandlingItem AlarmItem[MAX_SYSTEM_ALARMS]={ {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_6,false,true,DEBUG_LOG_CATEGORY__Warning,5,0,0,false,EVENT_TYPE__Dispenser6LowLevel,NULL,"Dispenser6LowLevel"}, {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_7,false,true,DEBUG_LOG_CATEGORY__Warning,6,0,0,false,EVENT_TYPE__Dispenser7LowLevel,NULL,"Dispenser7LowLevel"}, {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_8,false,true,DEBUG_LOG_CATEGORY__Warning,7,0,0,false,EVENT_TYPE__Dispenser8LowLevel,NULL,"Dispenser8LowLevel"},*/ -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"Mixer Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"Mixer Over Temperature"}, //{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternal Over Temperature"}, //{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternal Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead1 Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL,"DyeingHead2 Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL,"DyeingHead3 Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL,"DyeingHead4 Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead5OverTemperature,NULL,"DyeingHead5 Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL,"DyeingHead6 Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead1 Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL,"DyeingHead2 Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL,"DyeingHead3 Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL,"DyeingHead4 Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead5OverTemperature,NULL,"DyeingHead5 Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL,"DyeingHead6 Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"}, {eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"Mixer PT100 Not Working"}, +//{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"Mixer PT100 Not Working"}, //{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalPT100 Not Working,NULL,"GeneralInternalPT100 Not Working"}, //{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalPT100 Not Working,NULL,"GeneralInternalPT100 Not Working"}, -{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead 1 PT100 Not Working"}, +/*{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead 1 PT100 Not Working"}, {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL,"DyeingHead 2 PT100 Not Working"}, {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL,"DyeingHead 3 PT100 Not Working"}, {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL,"DyeingHead 4 PT100 Not Working"}, @@ -139,7 +139,7 @@ AlarmHandlingItem AlarmItem[MAX_SYSTEM_ALARMS]={ {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL,"DyeingHead 6 PT100 Not Working"}, {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer PT100 Not Working"}, {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer PT100 Not Working"}, -{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer PT100 Not Working"}, +{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer PT100 Not Working"},*/ {eHundredMillisecond,PressureAlarm,1,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser1Pressure,NULL,"Dispenser1Pressure"}, {eHundredMillisecond,PressureAlarm,2,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser2Pressure,NULL,"Dispenser2Pressure"}, {eHundredMillisecond,PressureAlarm,3,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser3Pressure,NULL,"Dispenser3Pressure"}, @@ -243,6 +243,24 @@ void AlarmHandlingInit(void) return; } +JobEndReasonEnum getEndReason(uint32_t AlarmId) +{ + switch (AlarmItem[AlarmId].AlarmSource) + { + case TemperatureAlarm: + return JOB_TEMPERATURE_ALARM; + case LimitSwitchAlarm: + return JOB_LS_ALARM; + case PressureAlarm: + return JOB_PRESSURE_ALARM; + case CurrentAlarm: + return JOB_CURRENT_ALARM; + case MotorAlarm: + return JOB_MOTOR_ALARM; + default: + return JOB_OTHER_ALARM; + } +} uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Severity) { switch (Severity) @@ -254,7 +272,7 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever case DEBUG_LOG_CATEGORY__Error: if (JobIsActive()) { - JobEndReason = JOB_OTHER_ALARM; + JobEndReason = getEndReason(AlarmId); AbortJob(AlarmItem[AlarmId].EventName); Report(AlarmItem[AlarmId].EventName, __FILE__,__LINE__,AlarmId, RpMessage, DEBUG_LOG_CATEGORY__Error, 0); } diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 5785bafe4..bee00c049 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -501,6 +501,7 @@ uint32_t MillisecLoop(uint32_t tick) for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++) { CalculateDispenserPressure(Disp_i); + Read_MidTank_Pressure_Sensor(Disp_i); } FPGA_GetAllDispensersValveBusyOCD(); DrawerFansStatus = Read_Fans_Tacho(); @@ -522,7 +523,7 @@ uint32_t MillisecLoop(uint32_t tick) } //ROM_IntMasterEnable(); - + //loop_Run_Read_Speed(); - just for testing return OK; } /****************************************************************************** diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index 78cdd5324..2110029e4 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -202,7 +202,7 @@ uint32_t AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlF unsigned int key; uint32_t device_i; - uint32_t deviceId = 0xFFFFFFFF; + uint32_t deviceId = 0xFF; for(device_i = 0;device_i < MAX_TANGO_CONTROL_DEVICES;device_i++) { if (ControlArray[device_i].ControlActive == false) @@ -211,8 +211,8 @@ uint32_t AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlF break; } } - if (deviceId == 0xFFFFFFFF) - return 0xFFFFFFFF; + if (deviceId == 0xFF) + return 0xFF; key = GateMutex_enter(gateControlDB); ControlArray[deviceId].ControlTiming = CtrlFrequency; ControlArray[deviceId].ControlCallbackPtr = Callback; @@ -221,6 +221,7 @@ uint32_t AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlF ControlArray[deviceId].Parameter1 = Parameter1; ControlArray[deviceId].IfIndex = IfIndex; GateMutex_leave(gateControlDB, key); + //LOG_ERROR(deviceId, "Add Callback"); return deviceId; @@ -239,11 +240,17 @@ int RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) ControlArray[deviceId].ControlCallbackPtr = NULL; ControlArray[deviceId].ControlDataReadPtr = NULL; ControlArray[deviceId].ControlActive = false; + ControlArray[deviceId].Parameter1 = 0; + ControlArray[deviceId].IfIndex = 0; + //LOG_ERROR(deviceId, "Remove Callback "); GateMutex_leave(gateControlDB, key); return OK; } else + { + LOG_ERROR(deviceId, "Remove Callback failed"); return ERROR; + } } diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c index 0cdf5635d..6d575e17b 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c @@ -170,6 +170,12 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer) else DeActivateHeater(9); break; + case INTERFACE_IOS__VALVE_WASTE_TANK: + if (request->value == true) + Valve_Set(VALVE_MIXCHIP_WASTECH,1); + else + Valve_Set(VALVE_MIXCHIP_WASTECH,0); + break; default: status = ERROR; responseContainer.has_error = true; diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index 6ff1ef4fa..20fce7cf6 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -60,7 +60,7 @@ DiagnosticsMonitors DiagnosticsMonitor = DIAGNOSTICS_MONITORS__INIT; #define DIAGNOSTICS_LIMIT 5 #define DIAGNOSTICS_DANCER_LIMIT 50 int DiagnosticsIndex = 0; -int DiagnosticCollectionLimit = 3; //number of data samples to collect before sending to the host +int DiagnosticCollectionLimit = 2; //number of data samples to collect before sending to the host //int DiagnosticLimit = eHundredMillisecond; //frequency of data collection //int DiagnosticFastLimit = eTenMillisecond; //frequency of data collection int DiagnosticLimit =eHundredMillisecond; //frequency of data collection @@ -129,6 +129,11 @@ typedef struct DiagnosticsMessage{ uint8_t messageData[20]; }DiagnosticsMessageStruc; +#define MAX_DIAG_LOG 100 +int diag_index=0; +uint32_t diag_size[MAX_DIAG_LOG]; +uint32_t diag_time[MAX_DIAG_LOG]; + /******************** CODE ********************************************/ //********************************************************************** @@ -227,6 +232,7 @@ void DiagnosticsLoadDigitalValues(void) } void DiagnosticLoadTemperature(int HeaterId, int temperature) { + double temp = temperature; if (HeaterId >= MAX_HEATERS_NUM) { LOG_ERROR(HeaterId,"wrong Heater Id"); @@ -236,7 +242,7 @@ void DiagnosticLoadTemperature(int HeaterId, int temperature) { return; } - HeaterTemperature[HeaterId][HeaterCounterIndex[HeaterId]] = temperature/100; + HeaterTemperature[HeaterId][HeaterCounterIndex[HeaterId]] = temp/100; HeaterCounterIndex[HeaterId]++; if (HeaterCounterIndex[HeaterId]>=DIAGNOSTICS_LIMIT ) HeaterCounterIndex[HeaterId] = 0; @@ -244,9 +250,10 @@ void DiagnosticLoadTemperature(int HeaterId, int temperature) void DiagnosticLoadSpeedSensor(float value) { SpeedValue[SpeedCounterIndex] = (double)(value); - SpeedCounterIndex++; - if (SpeedCounterIndex>=DIAGNOSTICS_DANCER_LIMIT ) - SpeedCounterIndex = 0; + if (SpeedCounterIndex<DIAGNOSTICS_DANCER_LIMIT ) + SpeedCounterIndex++; + //if (SpeedCounterIndex>=DIAGNOSTICS_DANCER_LIMIT ) + // SpeedCounterIndex = 0; } void DiagnosticLoadDancer(int DancerId, uint16_t value) @@ -257,9 +264,10 @@ void DiagnosticLoadDancer(int DancerId, uint16_t value) return; } DancerValue[DancerId][DancerCounterIndex[DancerId]] = value; - DancerCounterIndex[DancerId]++; - if (DancerCounterIndex[DancerId]>=DIAGNOSTICS_DANCER_LIMIT ) - DancerCounterIndex[DancerId] = 0; + if (DancerCounterIndex[DancerId]<DIAGNOSTICS_DANCER_LIMIT ) + DancerCounterIndex[DancerId]++; + //if (DancerCounterIndex[DancerId]>=DIAGNOSTICS_DANCER_LIMIT ) + // DancerCounterIndex[DancerId] = 0; } void DiagnosticLoadDancerError(int DancerId, double value) { @@ -269,9 +277,10 @@ void DiagnosticLoadDancerError(int DancerId, double value) return; } DancerErrorValue[DancerId][DancerErrorCounterIndex[DancerId]] = value; - DancerErrorCounterIndex[DancerId]++; - if (DancerErrorCounterIndex[DancerId]>=DIAGNOSTICS_DANCER_LIMIT ) - DancerErrorCounterIndex[DancerId] = 0; + if (DancerErrorCounterIndex[DancerId]<DIAGNOSTICS_DANCER_LIMIT ) + DancerErrorCounterIndex[DancerId]++; + //if (DancerErrorCounterIndex[DancerId]>=DIAGNOSTICS_DANCER_LIMIT ) + // DancerErrorCounterIndex[DancerId] = 0; } void DiagnosticTenMsecCollection(void) @@ -377,8 +386,12 @@ void Diagnostic100msecCollection(void) } void DiagnosticsReset(void) { + memset(DancerCounterIndex,0,sizeof(DancerCounterIndex)); + memset(MotorCounterIndex,0,sizeof(MotorCounterIndex)); + memset(DancerErrorCounterIndex,0,sizeof(DancerErrorCounterIndex)); + SpeedCounterIndex = 0; + memset(HeaterCounterIndex,0,sizeof(HeaterCounterIndex)); DiagnosticsIndex = 0; - } int j=0; MessageContainer diagnosticsresponseContainer; @@ -393,19 +406,13 @@ void SendDiagnostics(void) if (DiagnosticsActive == false) { - memset(DancerCounterIndex,0,sizeof(DancerCounterIndex)); - memset(MotorCounterIndex,0,sizeof(MotorCounterIndex)); - SpeedCounterIndex = 0; - memset(HeaterCounterIndex,0,sizeof(HeaterCounterIndex)); + DiagnosticsReset(); return; } if (SuspendLargeMessages == true) { LargeMessagesD++; - memset(DancerCounterIndex,0,sizeof(DancerCounterIndex)); - memset(MotorCounterIndex,0,sizeof(MotorCounterIndex)); - SpeedCounterIndex = 0; - memset(HeaterCounterIndex,0,sizeof(HeaterCounterIndex)); + DiagnosticsReset(); return; } @@ -466,9 +473,6 @@ void SendDiagnostics(void) DiagnosticsMonitor.n_windermotor = MotorCounterIndex[WINDER_MOTOR]; DiagnosticsMonitor.n_screwmotor = MotorCounterIndex[SCREW_MOTOR]; } - memset(DancerCounterIndex,0,sizeof(DancerCounterIndex)); - memset(MotorCounterIndex,0,sizeof(MotorCounterIndex)); - SpeedCounterIndex = 0; DiagnosticsMonitor.mixertemperature = HeaterTemperature[HARDWARE_PID_CONTROL_TYPE__MixerHeater]; DiagnosticsMonitor.headzone1temperature = HeaterTemperature[HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1]; @@ -494,7 +498,6 @@ void SendDiagnostics(void) DiagnosticsMonitor.n_blowervoltage = 1; diagvoltage = getBlowerState(); DiagnosticsMonitor.blowervoltage = &diagvoltage; - memset(HeaterCounterIndex,0,sizeof(HeaterCounterIndex)); int i; DiagnosticsMonitor.n_dispensersmotorsfrequency = 0; @@ -572,20 +575,35 @@ void SendDiagnostics(void) if (diagnosticsresponseContainer.data.data) { - diagnosticscontainer_buffer = 0; - diagnosticscontainer_buffer = my_malloc(message_container__get_packed_size(&diagnosticsresponseContainer)); - if (diagnosticscontainer_buffer) + if (diagnosticscontainer_buffer == 0) //send new diagnostics packet only if the previous one was sent and released { - size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer); - if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full + diagnosticscontainer_buffer = my_malloc(message_container__get_packed_size(&diagnosticsresponseContainer)); + if (diagnosticscontainer_buffer) + { + size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer); + if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full + { + DiagnosticsStop(); + } + /*else + { + Report("Diagnostic Messgage",__FILE__,__LINE__,container_size,RpWarning,msec_millisecondCounter, msec_millisecondCounter); + }*/ + //diag_size[diag_index] = container_size; + //diag_time[diag_index] = msec_millisecondCounter; + //if (diag_index++>=MAX_DIAG_LOG) + // diag_index = 0; + } + else { + LOG_ERROR(Task_self(),"my_malloc failed"); DiagnosticsStop(); + //CommunicationMailboxFlush(); } } else { - LOG_ERROR(Task_self(),"my_malloc failed"); - DiagnosticsStop(); + LOG_ERROR(Task_self(),"previous packet not sent"); } my_free(diagnosticsresponseContainer.data.data); } @@ -606,8 +624,14 @@ uint32_t DiagnosticsStart(void) if (DiagnosticRequestAccepted == true) { DiagnosticsActive = true; - DiagnosticsControlId = AddControlCallback(Diagnostics_ControlTrigger,DiagnosticLimit,DiagnosticsEmptyCBFunction,0,0,0); - Diagnostics10MSControlId = AddControlCallback(Diagnostics_TenMiliControlTrigger,DiagnosticFastLimit,DiagnosticsEmptyCBFunction,0,0,0); + if (DiagnosticsControlId == 0xFF) + DiagnosticsControlId = AddControlCallback(Diagnostics_ControlTrigger,DiagnosticLimit,DiagnosticsEmptyCBFunction,0,0,0); + else + LOG_ERROR(DiagnosticsControlId,"Diagnostics restarted"); + if (Diagnostics10MSControlId == 0xFF) + Diagnostics10MSControlId = AddControlCallback(Diagnostics_TenMiliControlTrigger,DiagnosticFastLimit,DiagnosticsEmptyCBFunction,0,0,0); + else + LOG_ERROR(DiagnosticsControlId,"Diagnostics restarted"); } } return OK; diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h index 3fc0969f8..91d531972 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h @@ -11,6 +11,7 @@ extern bool blowervolatgedisplay; extern double voltage; +extern uint8_t* diagnosticscontainer_buffer; uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer); diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index b3ed6fde0..58d05f383 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -163,7 +163,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer) { if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI) { - MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback); + MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback); ustrncpy (HomingToken[MotorId], requestContainer->token,36); return OK; } @@ -172,7 +172,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer) { if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI) { - MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback); + MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback); ustrncpy (HomingToken[MotorId], requestContainer->token,36); return OK; } diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c index 5a709e4a4..bc3630698 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c @@ -65,10 +65,10 @@ uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer) switch (request->direction) { case MOTOR_DIRECTION__Forward: - direction = MotorsCfg[MotorId].directionthreadwize; + direction = 1-MotorsCfg[MotorId].directionthreadwize; break; case MOTOR_DIRECTION__Backward: - direction = 1-MotorsCfg[MotorId].directionthreadwize; + direction = MotorsCfg[MotorId].directionthreadwize; break; } MotorSetDirection(MotorId,direction); diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c index 919a93148..1ab1365d0 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/process.c +++ b/Software/Embedded_SW/Embedded/Modules/General/process.c @@ -158,7 +158,7 @@ void ProcessRequestFunc(MessageContainer* requestContainer) container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); - REPORT_MSG (ProcessParams->dryerzone1temp,"Process Params Dryer"); + //REPORT_MSG (ProcessParams->dryerzone1temp,"Process Params Dryer"); if (status == 0) status = HandleProcessParameters(ProcessParams); diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c index 6222378bb..aa3d695de 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -341,35 +341,29 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue) HeaterPIDConfig[HeaterId].m_SetParam = SetTemperatue*100;//need to update SetParams on presegment stage if (HeaterId >= MAX_AC_HEATERS) //DC Heaters { - ControlIdtoHeaterId [HeaterId] = AddControlCallback( DCHeaterControlCBFunction, /*eOneSecond*/eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0); + if (ControlIdtoHeaterId [HeaterId] == 0xFF) + ControlIdtoHeaterId [HeaterId] = AddControlCallback( DCHeaterControlCBFunction, /*eOneSecond*/eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0); DCInitialHeating[HeaterId] = true; HeaterReady[HeaterId] = false; } else if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature) //AC Heaters { -#ifdef DEMO_TEMPERATURE - ControlIdtoHeaterId [HeaterId] = AddControlCallback( HeaterControlCBFunction, eHundredMillisecond,DemoTemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,0); - MainDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,DemoTemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain),HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0); - SecondDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,DemoTemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary),HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0); -#else - ControlIdtoHeaterId [HeaterId] = AddControlCallback( HeaterControlCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),DryerInternalPT100Id,0); - MainDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain],0); - SecondDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary],0); -#endif + if (ControlIdtoHeaterId [HeaterId] == 0xFF) + ControlIdtoHeaterId [HeaterId] = AddControlCallback( HeaterControlCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),DryerInternalPT100Id,0); + if (MainDryerHeaterMaxTempControl == 0xFF) + MainDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain],0); + if (SecondDryerHeaterMaxTempControl == 0xFF) + SecondDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary],0); InitialHeating = true; HeaterReady[HeaterId] = false; - Turn_the_Blower_Off(); - } -/* if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain) //Dryer Heaters - { - MainDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0); - } - if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary) //Dryer Heaters - { - SecondDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0); - } -*/ + if (BlowerCfg.enabled == true) + { + Turn_the_Blower_On();//Turn on with the Default_Voltage + if (BlowerCfg.voltage) + Control_Voltage_To_Blower(BlowerCfg.voltage-500); + } + } return OK; } bool HeaterCheckReady(void) @@ -475,11 +469,12 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue) } return ERROR; } +char ACheatstr[100]; +int printindex=0; uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) { int index=MAX_HEATERS_NUM; - /*char str[100]; - uint8_t len = 0;*/ + uint8_t len = 0; if (IfIndex>>8 != IfTypeHeaters) { LOG_ERROR (IfIndex, "Wrong Interface type"); @@ -491,6 +486,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) LOG_ERROR (IfIndex, "Wrong Interface "); return 0xFFFFFFFF; } + if (printindex++>MAX_HEATERS_NUM)printindex=0; if (HeaterCmd[index].targettemperatue == 0) { DeActivateHeater(index); @@ -551,6 +547,11 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) //check only for the proportional band limits HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam, &HeaterPIDConfig[index].m_params, &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral); + len = usnprintf(ACheatstr, 254, "ACD%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError); + // Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index, Counter[index]); + // #warning PID is now only proportional (above) + if (printindex==index) + Report(ACheatstr,__FILE__,__LINE__,index,RpWarning,readValue, HeaterPIDConfig[index].m_calculatedError); HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, (int)(HeaterPIDConfig[index].m_calculatedError/100)); } } @@ -568,13 +569,13 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) //float output[HARDWARE_PID_CONTROL_TYPE__MixerHeater][100]; //int Counter[HARDWARE_PID_CONTROL_TYPE__MixerHeater] = {0,0,0,0,0,0,0}; //char logmsg[HARDWARE_PID_CONTROL_TYPE__MixerHeater][254]; +char heatstr[100]; uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) { int index=MAX_HEATERS_NUM; int len; - /*char str[100]; - uint8_t len = 0;*/ + //uint8_t len = 0; if (IfIndex>>8 != IfTypeHeaters) { LOG_ERROR (IfIndex, "Wrong Interface type"); @@ -648,9 +649,11 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) // output[index][Counter[index]] = HeaterPIDConfig[index].m_calculatedError; // if (Counter[index]++ >=100) // Counter[index] = 0; - // len = usnprintf(logmsg[index], 254, "PID%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError); + len = usnprintf(heatstr, 254, "PID%d: Temp %d Integral %d Output %d ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError); // Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index, Counter[index]); // #warning PID is now only proportional (above) + if (printindex==index) + Report(heatstr,__FILE__,__LINE__,index,RpWarning,readValue, HeaterPIDConfig[index].m_calculatedError); HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError/100)); } diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h index 2b8779207..db2277659 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h @@ -29,7 +29,7 @@ typedef enum { LimitSwitchAlarmLow_8, //MOTO_DISPENSER_8 = 13, }LimitSwitchAlarms; -void Calculateinit (void); +void IDS_ModuleInit (void); uint32_t IDSPrepareState(void *JobDetails); uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId); diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c index b035ff97b..43984f8d1 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c @@ -13,6 +13,7 @@ #include "drivers/Motors/Motor.h" #include "drivers/ADC_Sampling/adc.h" +#include "drivers/valves/valve.h" #define MAX_CONTROL_SAMPLES 10 @@ -89,4 +90,9 @@ uint32_t DispenserConfigMessage(HardwareDispenser * request) else return Dispenser_i; } +void IDS_ModuleInit(void) +{ + Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); + Calculateinit(); +} diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c index 64855daed..f9c4c1bc3 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -116,6 +116,7 @@ void DispenserPrepareReady(void) int Motor_i, HW_Motor_Id, Pid_Id,i; //start IDS control for all motors IDS_Active = true; + Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++) { HW_Motor_Id = DispenserIdToMotorId[Motor_i]; @@ -192,11 +193,11 @@ bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int Segmen { if (DispenserPreSegmentReady[i] == false) { - REPORT_MSG(i,"IDS_Valve_Presegment Not Ready"); + //REPORT_MSG(i,"IDS_Valve_Presegment Not Ready"); return OK; //not all configured heaters are ready } } - REPORT_MSG(deviceID,"IDS_Valve_PresegmentReady"); + //REPORT_MSG(deviceID,"IDS_Valve_PresegmentReady"); PreSegmentReady(Module_IDS,ModuleDone); return OK; // all configured heaters are ready } @@ -229,18 +230,32 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId) LOG_ERROR(JobBrushStopId,"Error JobBrushStopId"); return ERROR; } + if (( JobTicket->enableintersegment == true)&&(JobTicket->intersegmentlength>0)) + { + Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); //if intersegment is defined throw the ink away + } + if (JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->n_dispensers) { n_dispensers = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->n_dispensers; for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++) { + //prepare the SW structures + DispenserId = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index; + DispenserPreSegmentReady[DispenserId] = false; + LOG_ERROR(DispenserId,"Dispenser PreSegment Start"); + } + for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++) + { DispenserId = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index; HW_Motor_Id = DispenserIdToMotorId[DispenserId]; if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser + { + LOG_ERROR(DispenserId,"Dispenser PreSegment not configured"); continue; - DispenserPreSegmentReady[DispenserId] = false; - LOG_ERROR(DispenserId,"Dispenser PreSegment Start"); - if (IDS_isDispenserUsedNextSegment(JobDetails,DispenserId,SegmentId) == false) + } + if (JobTicket->segments[SegmentId]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond==0) + //if (IDS_isDispenserUsedNextSegment(JobDetails,Dispenser_i,SegmentId) == false) { Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer LOG_ERROR(DispenserId,"Dispenser Not Used Next Segment"); @@ -258,7 +273,6 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId) MotorSetMicroStep(HW_Motor_Id,JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision); else*/ //MotorSetMicroStep(HW_Motor_Id,MotorsCfg[HW_Motor_Id].microstep); - } } @@ -291,7 +305,6 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId) double segmentfirst_speed; int CurrentSegment = SegmentId; - if (CurrentSegment>=JobTicket->n_segments) { LOG_ERROR(CurrentSegment,"Error Segment"); @@ -302,6 +315,7 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId) LOG_ERROR(JobBrushStopId,"Error JobBrushStopId"); return ERROR; } + Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head); if (JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->n_dispensers) { n_dispensers = JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->n_dispensers; @@ -385,6 +399,7 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId) { int Dispenser_i; IDS_Active = false; + Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); for ( Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++) { MotorStop(DispenserIdToMotorId[Dispenser_i],Hard_Hiz); diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c index 759d76a43..5f087c50a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c @@ -32,8 +32,9 @@ void Stub_ValveRequest(MessageContainer* requestContainer) request->inkflow request->valveon */ - Control3WayValvesWithCallback (request->valveid, request->valveon, NULL); + //Control3WayValvesWithCallback (request->valveid, request->valveon, NULL); //test_valve_3_way(request->valveid, request->valveon); + Valve_Set(request->valveid, request->valveon); StubValveResponse response = STUB_VALVE_RESPONSE__INIT; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index ce4395e0f..b6392249a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -21,23 +21,38 @@ #include "drivers/FPGA/FPGA_SPI_Comm.h" #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h" +#include <driverlib/timer.h> +#include <inc/hw_ints.h> +#include <inc/hw_memmap.h> + + bool Winder_ScrewHoming = false; -bool Winder_Active = false; +#define MAX_WINDER_SPEED_CALCULATION 100 uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag); uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue); bool ScrewCurrentDirection = false; //holds current screw direction -bool BusyfirstCall = true; //Ignores first call after activating the screw - too early -double ScrewSpeed = 0; //ScrewSpeed -uint32_t ScrewControlId = 0xFF; +uint32_t ScrewDirectionChangeCounter = 1; //holds the current number of runs of the screw - will be used to build the cone +uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of runs of the screw - will be used to build the cone +uint32_t WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION]; +uint8_t WinderMotorSpeedCounter=0; +uint32_t WinderMotorSpeedRollOver=0; +double ScrewSpeed = 0; +double ScrewRunningTime = 0; uint32_t ScrewNumberOfSteps = 0; //holds the current number of steps for the next screw run - will be used to build the cone -uint32_t DirectionChangeCounter = 0; //holds the current number of runs of the screw - will be used to build the cone +bool SCREW_TimerActivated = false; +//ScrewSpeed +uint32_t ScrewControlId = 0xFF; InternalWinderConfigStruc InternalWinderCfg = {0}; +void ScrewTimerInterruptInit(void); +void ScrewsStopControlTimer (void); +void ScrewsStartControlTimer (void); uint32_t Winder_Init(void) { + ScrewTimerInterruptInit(); return OK; } @@ -73,9 +88,9 @@ uint32_t Winder_Prepare(void) { uint32_t status = 0; //JobTicket* JobTicket = JobDetails; - Winder_Active = true; //float process_speed = JobTicket->processparameters->dyeingspeed; - double ScrewSpeed = 1000;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius); // we will use pulley radius of the screw for this purpose, as of now + double ScrewSpeed = 1500;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius); // we will use pulley radius of the screw for this purpose, as of now + //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses); //REPORT_MSG(ScrewSpeed, "Winder_Prepare"); /* * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop. @@ -84,12 +99,12 @@ uint32_t Winder_Prepare(void) */ if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) { - REPORT_MSG(LIMIT, "Winder_Prepare at limit"); + //REPORT_MSG(LIMIT, "Winder_Prepare at limit"); Winder_PrepareStage2(0,0); } else { - REPORT_MSG(ScrewSpeed, "Winder_Prepare"); + //REPORT_MSG(ScrewSpeed, "Winder_Prepare"); Winder_ScrewHoming = true; //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit"); status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2); @@ -107,7 +122,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) uint32_t status=OK; uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses); + //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses); //REPORT_MSG(numOfSteps, "Winder_PrepareStage2"); REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2"); @@ -119,16 +134,15 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag) { - SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW); //set this point as the spool home + //SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW); //set this point as the spool home + //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,temp_MaxFrequency); ScrewCurrentDirection = false; - BusyfirstCall = true; ScrewSpeed = 0; ScrewControlId = 0xFF; ScrewNumberOfSteps = 0; - DirectionChangeCounter = 0; REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback"); - + MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Soft_Hiz); //per L6470 errata between mov and run commands PrepareReady(Module_Winder, ModuleDone); return OK; } @@ -137,15 +151,6 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag) * this is the main operational function of the screw - run back and forth until stopped */ /* - -bool ScrewCurrentDirection = false; -bool BusyfirstCall = true; -double ScrewSpeed = 0; -uint32_t ScrewControlId = 0xFF; -uint32_t ScrewNumberOfSteps = 0; -uint32_t DirectionChangeCounter = 0; -*/ -/* InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses; InternalWinderCfg.spoolbackingrate = request->backingrate; InternalWinderCfg.startoffsetpulses = request->startoffsetpulses; @@ -169,97 +174,68 @@ InternalWinderCfg.segmentoffsetpulses numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; */ -uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction) +uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) { - uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; + uint32_t Steps,i,winderspeed=0; + double temp; + uint32_t WinderReferenceSpeed = OriginalMotorSpd_2PPS[WINDER_MOTOR]; float screw_horizontal_speed = 0; float RotationsPerSecond; - if (Counter) + WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR]; + if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION) { - if (Counter%InternalWinderCfg.spoolbackingrate == 1) - { - NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate); - REPORT_MSG(ScrewNumberOfSteps, "Head Backing"); - ScrewNumberOfSteps--; - /* - screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses / InternalWinderCfg.NumberOfRotationPerPassage; - // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second. - RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI); - RotationsPerSecond = CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; - // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. - ScrewSpeed = screw_horizontal_speed*RotationsPerSecond; - - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); - REPORT_MSG(ScrewSpeed, "CalculateNumberOfSteps"); - CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed; - */ - } - if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 1)) - { - if (direction != MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) - { - NumberOfSteps += (Counter/InternalWinderCfg.SpoolBottomBackingRate); - ScrewNumberOfSteps++; - REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing"); - } - - } + WinderMotorSpeedCounter=0; + WinderMotorSpeedRollOver++; } - return NumberOfSteps; -} -uint32_t wtick=0,prevwtick = 0; -uint32_t wgap[100]; -uint32_t wgap_counter=0; -uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) -{ - uint32_t Steps; - if (BusyfirstCall) - { - BusyfirstCall = false; + if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter) return OK; - } -// if (Winder_Active == false) -// return OK; - wtick++; - //ScrewCurrentDirection: false moves out, true moves home - if (BusyFlag == NOTBUSY) + + ScrewCurrentDirection = 1-ScrewCurrentDirection; + CalculationDirectionChangeCounter++; + + if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out { - if (wtick-prevwtick>10) + if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0) { - wgap[wgap_counter++] = wtick-prevwtick; - prevwtick = wtick; - if (wgap_counter >=99) - wgap_counter = 0; - } - else - return OK; - CalculateNumberOfSteps (DirectionChangeCounter++, ScrewCurrentDirection); - Steps = ScrewNumberOfSteps; - if (ScrewCurrentDirection == false) - { - ScrewCurrentDirection = true; - } - else - { - ScrewCurrentDirection = false; + ScrewNumberOfSteps--; + REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps"); + } -/* if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) + } + else //next time going back + { + if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.SpoolBottomBackingRate == 0) { - ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - Steps += InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - REPORT_MSG(LIMIT, "Winder at right limit"); + ScrewNumberOfSteps++; + REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing ScrewNumberOfSteps"); } - else if (FPGA_Read_limit_Switches(GPI_LS_SCREW_LEFT)==LIMIT) + } + if (WinderMotorSpeedRollOver) + { + for (i=0;i<MAX_WINDER_SPEED_CALCULATION;i++) { - ScrewCurrentDirection = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - REPORT_MSG(LIMIT, "Winder at left limit"); + winderspeed+=WinderMotorSpeed[i]; } -*/ - MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,Steps); //process: set point 0, set max speed, move to the specified length, return back. - REPORT_MSG(ScrewCurrentDirection, "ScrewDirectionChange"); + winderspeed/=MAX_WINDER_SPEED_CALCULATION; + LOG_ERROR(winderspeed, "WinderSpeedUpdated"); + WinderReferenceSpeed = winderspeed; + } + screw_horizontal_speed = ScrewNumberOfSteps / InternalWinderCfg.NumberOfRotationPerPassage; + RotationsPerSecond = WinderReferenceSpeed / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; + ScrewSpeed = screw_horizontal_speed*RotationsPerSecond; + CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed; + temp = SYS_CLK_FREQ; + temp *= ScrewNumberOfSteps; + temp /= ScrewSpeed; + if (ScrewRunningTime != temp) + { + LOG_ERROR(temp , "new winder speed"); } + ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed; + + /********************************************************************************/ return OK; } @@ -275,7 +251,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) float screw_horizontal_speed = 0; float RotationsPerSecond; char Message[80]; - + double temp = 0; if (dyeingspeed == 0) { LOG_ERROR (dyeingspeed," job speed zero"); @@ -292,47 +268,61 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) // * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation. screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses / InternalWinderCfg.NumberOfRotationPerPassage; // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second. - RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI); - RotationsPerSecond = CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; + //RotationsPerSecond = dyeingspeed / (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulleyradius * PI); + RotationsPerSecond = OriginalMotorSpd_2PPS[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. ScrewSpeed = screw_horizontal_speed*RotationsPerSecond; - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); + //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); usnprintf(Message, 80, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed); //LOG_ERROR(segmentfirst_speed,Message); //Report(Message,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0); SendJobProgress(0.0,0,false, Message); CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed; + OriginalMotorSpd_2PPS[SCREW_MOTOR] = ScrewSpeed; //screw_horizontal_speed = InternalWinderCfg.milimetersperrotation // * 2. determine optimal micro-step setting // * 3. calculate cart travel length from winding parameters // * 4. start move of travel length // * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed - ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back. - wtick = 0;prevwtick = 0; - ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0); - - // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_horizontal_speed,WinderPresegmentReady); - //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move; - - } + ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; + temp = SYS_CLK_FREQ; + temp *= InternalWinderCfg.segmentoffsetpulses; + temp /= ScrewSpeed; + ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed; + LOG_ERROR(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps"); + LOG_ERROR(ScrewRunningTime,"Winder pre segment - ScrewRunningTime"); +// MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); + //ScrewDirection = 1-ScrewDirection; + LOG_ERROR(ScrewSpeed,"Winder pre segment - ScrewSpeed"); + //MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); + ScrewsStartControlTimer (); + ScrewControlId = AddControlCallback(Screw100msecDirectionChange, eHundredMillisecond,TemplateDataReadCBFunction,0,0,0); + ScrewDirectionChangeCounter = 1; + CalculationDirectionChangeCounter = 1; + memset (WinderMotorSpeed,0,sizeof(uint32_t) *MAX_WINDER_SPEED_CALCULATION); + WinderMotorSpeedCounter=0,WinderMotorSpeedRollOver=0; + } PreSegmentReady(Module_Winder,ModuleDone); return OK; } uint32_t Winder_End(void) { - int pend; //stop screw ScrewNumberOfSteps = 0; -// Winder_Active = false; if (ScrewControlId != 0xFF) - RemoveControlCallback(ScrewControlId,ScrewDirectionChange); + { + RemoveControlCallback(ScrewControlId,Screw100msecDirectionChange); + ScrewControlId = 0xFF; + } CurrentControlledSpeed[SCREW_MOTOR] = 0; - pend = MillisecFlushMsgQ(HARDWARE_MOTOR_TYPE__MOTO_SCREW); - return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz); + ScrewsStopControlTimer(); + //move the cart to the edge so the spool can be easily replaced + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL); + + return OK; } void Winder_ScrewHomeLimitSwitchInterrupt(void) { @@ -351,3 +341,62 @@ void Winder_ScrewOutLimitSwitchInterrupt(void) MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out } +uint32_t Screw_timerBase = TIMER3_BASE; //Timer handle + +bool Screw_Restart = false; +void ScrewTimerInterruptInit(void) +{ + ROM_TimerConfigure(Screw_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer + ROM_TimerEnable(Screw_timerBase, TIMER_A); + ROM_IntEnable(INT_TIMER3A); + ROM_TimerIntEnable(Screw_timerBase, TIMER_TIMA_TIMEOUT); + Screw_Restart = false; + +} +void ScrewsStopControlTimer (void) +{ + SCREW_TimerActivated = false; + ROM_TimerDisable(Screw_timerBase, TIMER_A); + //ROM_IntDisable(INT_TIMER3A); + //ROM_TimerIntDisable(Screw_timerBase, TIMER_TIMA_TIMEOUT); +} +void ScrewsStartControlTimer (void) +{ + if (SCREW_TimerActivated == true) + return; + SCREW_TimerActivated = true; + //ROM_TimerConfigure(Screw_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer + TimerEnable(Screw_timerBase, TIMER_A); + ROM_IntEnable(INT_TIMER3A); + ROM_TimerIntEnable(Screw_timerBase, TIMER_TIMA_TIMEOUT); + ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)1200000/*10 millisec*/ ); + Report("ScrewsStartControlTimer direction,speed ", __FILE__,__LINE__,ScrewCurrentDirection, RpMessage, ScrewSpeed, 0); + return; +} + +void ScrewTimerInterrupt(int ARG0) +{ + ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt + ROM_IntMasterDisable(); + //ScrewDirectionChange(0,NOTBUSY); + + if (SCREW_TimerActivated == true) + { + MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); +// ScrewCurrentDirection = 1-ScrewCurrentDirection; + MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); + ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime); + ScrewDirectionChangeCounter++; + } + else + { + TimerDisable(Screw_timerBase, TIMER_A); + } + //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0); + // + // Enable all interrupts. + // + ROM_IntMasterEnable(); + return ; + +} diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.new b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.new deleted file mode 100644 index f33a134e1..000000000 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.new +++ /dev/null @@ -1,401 +0,0 @@ -/* - * Thread_Winder.c - * - * Created on: 25 áîøõ 2018 - * Author: shlomo - */ -#include"include.h" -#include "thread.h" - -#include "drivers/Motors/Motor.h" -#include "StateMachines/Printing/PrintingSTM.h" -#include "Modules/Control/Control.h" -#include "Modules/Control/MillisecTask.h" - -#include "modules/General/process.h" - -#include "Common/report/report.h" - -#include "drivers/FPGA/FPGA.h" - -#include "drivers/FPGA/FPGA_SPI_Comm.h" -#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h" - -#include <driverlib/timer.h> -#include <inc/hw_ints.h> -#include <inc/hw_memmap.h> - - -bool Winder_ScrewHoming = false; - -uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag); -uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue); - -bool ScrewCurrentDirection = false; //holds current screw direction -bool BusyfirstCall = true; //Ignores first call after activating the screw - too early -double ScrewSpeed = 0; -double ScrewRunningTime = 0; -bool ScrewDirection = false; -bool SCREW_TimerActivated = false; -//ScrewSpeed -uint32_t ScrewControlId = 0xFF; -uint32_t ScrewNumberOfSteps = 0; //holds the current number of steps for the next screw run - will be used to build the cone -uint32_t DirectionChangeCounter = 0; //holds the current number of runs of the screw - will be used to build the cone - -InternalWinderConfigStruc InternalWinderCfg = {0}; -void ScrewTimerInterruptInit(void); -void ScrewsStopControlTimer (void); -void ScrewsStartControlTimer (void); - -uint32_t Winder_Init(void) -{ - ScrewTimerInterruptInit(); - return OK; -} - - -uint32_t InternalWinderConfigMessage(HardwareWinder* request) -{ - uint32_t status = PASSED; - - InternalWinderCfg.milimetersperrotation = request->millimeterperrotation; - - return status; -} -uint32_t InternalWindingConfigMessage(JobSpool* request) -{ - uint32_t status = PASSED; - - InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses; - InternalWinderCfg.spoolbackingrate = request->backingrate; - InternalWinderCfg.startoffsetpulses = request->startoffsetpulses; - InternalWinderCfg.SpoolBottomBackingRate = request->bottombackingrate; - InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage; - InternalWinderCfg.diameter = request->diameter; - - return status; -} -/* - *uint32_t Winder_Prepare(void *JobDetails) - - * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop. - * report ready to the job STM - */ -uint32_t Winder_Prepare(void) -{ - uint32_t status = 0; - //JobTicket* JobTicket = JobDetails; - //float process_speed = JobTicket->processparameters->dyeingspeed; - double ScrewSpeed = 1500;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius); // we will use pulley radius of the screw for this purpose, as of now - //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses); - //REPORT_MSG(ScrewSpeed, "Winder_Prepare"); - /* - * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop. - * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done - * report ready to the job STM - */ - if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) - { - //REPORT_MSG(LIMIT, "Winder_Prepare at limit"); - Winder_PrepareStage2(0,0); - } - else - { - //REPORT_MSG(ScrewSpeed, "Winder_Prepare"); - Winder_ScrewHoming = true; - //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit"); - status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2); - } - return status; -} -/* - * uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) - * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done - * report ready to the job STM - */ - -uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) -{ - uint32_t status=OK; - uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - - //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses); - //REPORT_MSG(numOfSteps, "Winder_PrepareStage2"); - REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2"); - - status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback); - //set motor location 0 here - return status; - -} - -uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag) -{ - //SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW); //set this point as the spool home - //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,temp_MaxFrequency); - - ScrewCurrentDirection = false; - ScrewSpeed = 0; - ScrewControlId = 0xFF; - ScrewNumberOfSteps = 0; - DirectionChangeCounter = 0; - REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback"); - PrepareReady(Module_Winder, ModuleDone); - return OK; -} - -/* - * this is the main operational function of the screw - run back and forth until stopped - */ -/* - InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses; - InternalWinderCfg.spoolbackingrate = request->backingrate; - InternalWinderCfg.startoffsetpulses = request->startoffsetpulses; - InternalWinderCfg.SpoolBottomBackingRate = request->bottombackingrate; - InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage; - * -Calculate the number of steps. -Initial home position = ... -Initial out movement = ScrewNumberOfSteps -if DirectionChangeCounter %= backingrate : reduce one from the ScrewNumberOfSteps -if DirectionChangeCounter %= bottombackingrate && direction was out: ADD one to the ScrewNumberOfSteps, -// WRONG? if the flag is raised - lower it and reduce one from the ScrewNumberOfSteps -30:100 - 70 -30:99 - 69 -30:98 - 68 -29:98 - 69 -29:97 -68 -InternalWinderCfg.segmentoffsetpulses - int32_t backingrate; - int32_t bottombackingrate; - -numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; -*/ -uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction) -{ - uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - float screw_horizontal_speed = 0; - float RotationsPerSecond; - - if (Counter%InternalWinderCfg.spoolbackingrate == 0) - { - NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate); - REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps"); - ScrewNumberOfSteps--; - screw_horizontal_speed = ScrewNumberOfSteps / InternalWinderCfg.NumberOfRotationPerPassage; - // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second. - RotationsPerSecond = CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; - // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. - ScrewSpeed = screw_horizontal_speed*RotationsPerSecond; - - //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); - REPORT_MSG(ScrewSpeed, "CalculateNumberOfSteps ScrewSpeed"); - REPORT_MSG(CurrentControlledSpeed[WINDER_MOTOR], "CalculateNumberOfSteps Winder speed"); - CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed; - - } - if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)) - { - if (direction != MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) - { - NumberOfSteps += (Counter/InternalWinderCfg.SpoolBottomBackingRate); - ScrewNumberOfSteps++; - REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing ScrewNumberOfSteps"); - } - - } - return NumberOfSteps; - -} -uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) -{ - uint32_t Steps; - double temp; - if (BusyfirstCall) - { - BusyfirstCall = false; - DirectionChangeCounter++; - return OK; - } - //ScrewCurrentDirection: false moves out, true moves home - if (BusyFlag == NOTBUSY) - { - CalculateNumberOfSteps (DirectionChangeCounter++, ScrewCurrentDirection); - Steps = ScrewNumberOfSteps; -/* if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) - { - ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - Steps += InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - REPORT_MSG(LIMIT, "Winder at right limit"); - } - else if (FPGA_Read_limit_Switches(GPI_LS_SCREW_LEFT)==LIMIT) - { - ScrewCurrentDirection = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - REPORT_MSG(LIMIT, "Winder at left limit"); - } -*/ - temp = SYS_CLK_FREQ; - temp *= Steps; - temp /= ScrewSpeed; - //LOG_ERROR(Steps,"ScrewDirectionChange - ScrewNumberOfSteps"); - - if (ScrewRunningTime != temp) - { - REPORT_MSG(temp, "ScrewDirectionChange ScrewRunningTime changed"); - } - ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed; - //MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,Steps); //process: set point 0, set max speed, move to the specified length, return back. - } - return OK; - -} - -uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue) -{ - return PreSegmentReady(Module_Winder,ModuleDone); -} - -uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) -{ - //JobTicket* JobTicket = JobDetails; - float screw_horizontal_speed = 0; - float RotationsPerSecond; - char Message[80]; - double temp = 0; - if (dyeingspeed == 0) - { - LOG_ERROR (dyeingspeed," job speed zero"); - return ERROR; - } - - if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job) - { - ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - - // * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec) - // * calculate - // * 1. calculate speed according to JobTicket->processparameters->dyeingspeed - // * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation. - screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses / InternalWinderCfg.NumberOfRotationPerPassage; - // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second. - //RotationsPerSecond = dyeingspeed / (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulleyradius * PI); - RotationsPerSecond = OriginalMotorSpd_2PPS[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; - // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. - ScrewSpeed = screw_horizontal_speed*RotationsPerSecond; - - //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); - usnprintf(Message, 80, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed); - //LOG_ERROR(segmentfirst_speed,Message); - //Report(Message,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0); - SendJobProgress(0.0,0,false, Message); - - CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed; - OriginalMotorSpd_2PPS[SCREW_MOTOR] = ScrewSpeed; - //screw_horizontal_speed = InternalWinderCfg.milimetersperrotation - // * 2. determine optimal micro-step setting - // * 3. calculate cart travel length from winding parameters - // * 4. start move of travel length - // * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed - ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - temp = SYS_CLK_FREQ; - temp *= InternalWinderCfg.segmentoffsetpulses; - temp /= ScrewSpeed; - ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed; - LOG_ERROR(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps"); - LOG_ERROR(ScrewRunningTime,"Winder pre segment - ScrewRunningTime"); -// MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); - //ScrewDirection = 1-ScrewDirection; - LOG_ERROR(ScrewSpeed,"Winder pre segment - ScrewSpeed"); - //MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); - ScrewsStartControlTimer (); - } - PreSegmentReady(Module_Winder,ModuleDone); - - return OK; -} -uint32_t Winder_End(void) -{ - int pend; - //stop screw - ScrewNumberOfSteps = 0; - if (ScrewControlId != 0xFF) - RemoveControlCallback(ScrewControlId,ScrewDirectionChange); - CurrentControlledSpeed[SCREW_MOTOR] = 0; - ScrewsStopControlTimer(); - - return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz); -} -void Winder_ScrewHomeLimitSwitchInterrupt(void) -{ - //uint32_t status; - //handle glitch - send information to the next time that the motor stops - if (Winder_ScrewHoming) - { - MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz); //stop ASAP - } - MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out -} -void Winder_ScrewOutLimitSwitchInterrupt(void) -{ - //handle glitch - send information to the next time that the motor stops - //uint32_t status; - MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out -} - -uint32_t Screw_timerBase = TIMER3_BASE; //Timer handle - -bool Screw_Restart = false; -void ScrewTimerInterruptInit(void) -{ - ROM_TimerConfigure(Screw_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer - ROM_TimerEnable(Screw_timerBase, TIMER_A); - ROM_IntEnable(INT_TIMER3A); - ROM_TimerIntEnable(Screw_timerBase, TIMER_TIMA_TIMEOUT); - Screw_Restart = false; - -} -void ScrewsStopControlTimer (void) -{ - SCREW_TimerActivated = false; - ROM_TimerDisable(Screw_timerBase, TIMER_A); - //ROM_IntDisable(INT_TIMER3A); - //ROM_TimerIntDisable(Screw_timerBase, TIMER_TIMA_TIMEOUT); -} -void ScrewsStartControlTimer (void) -{ - if (SCREW_TimerActivated == true) - return; - SCREW_TimerActivated = true; - //ROM_TimerConfigure(Screw_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer - TimerEnable(Screw_timerBase, TIMER_A); - ROM_IntEnable(INT_TIMER3A); - ROM_TimerIntEnable(Screw_timerBase, TIMER_TIMA_TIMEOUT); - ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)1200000/*10 millisec*/ ); - Report("ScrewsStartControlTimer direction,speed ", __FILE__,__LINE__,ScrewCurrentDirection, RpMessage, ScrewSpeed, 0); - return; -} -void ScrewTimerInterrupt(int ARG0) -{ - bool dir = ScrewCurrentDirection; - ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt - ROM_IntMasterDisable(); - ScrewDirectionChange(0,NOTBUSY); - if (SCREW_TimerActivated == true) - { - MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); - ScrewCurrentDirection = 1-ScrewCurrentDirection; - MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); - ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime); - } - else - { - TimerDisable(Screw_timerBase, TIMER_A); - } - Report("ScrewTimerInterrupt duration, speed", __FILE__,__LINE__,ScrewRunningTime, RpMessage, ScrewSpeed, 0); - // - // Enable all interrupts. - // - ROM_IntMasterEnable(); - return ; - -} diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.old b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.old deleted file mode 100644 index 1aaeec556..000000000 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.old +++ /dev/null @@ -1,366 +0,0 @@ -/* - * Thread_Winder.c - * - * Created on: 25 áîøõ 2018 - * Author: shlomo - */ -#include"include.h" -#include "thread.h" - -#include "drivers/Motors/Motor.h" -#include "StateMachines/Printing/PrintingSTM.h" -#include "Modules/Control/Control.h" -#include "Modules/Control/MillisecTask.h" - -#include "modules/General/process.h" - -#include "Common/report/report.h" - -#include "drivers/FPGA/FPGA.h" - -#include "drivers/FPGA/FPGA_SPI_Comm.h" -#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h" - -#include <driverlib/timer.h> -#include <inc/hw_ints.h> -#include <inc/hw_memmap.h> - -bool Winder_ScrewHoming = false; -//bool Winder_Active = false; - -uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag); -uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue); - -bool ScrewCurrentDirection = false; //holds current screw direction -bool BusyfirstCall = true; //Ignores first call after activating the screw - too early -double ScrewSpeed = 0; //ScrewSpeed -uint32_t ScrewControlId = 0xFF; -uint32_t ScrewNumberOfSteps = 0; //holds the current number of steps for the next screw run - will be used to build the cone -uint32_t DirectionChangeCounter = 0; //holds the current number of runs of the screw - will be used to build the cone - -InternalWinderConfigStruc InternalWinderCfg = {0}; - -uint32_t Winder_Init(void) -{ - return OK; -} - - -uint32_t InternalWinderConfigMessage(HardwareWinder* request) -{ - uint32_t status = PASSED; - - InternalWinderCfg.milimetersperrotation = request->millimeterperrotation; - - return status; -} -uint32_t InternalWindingConfigMessage(JobSpool* request) -{ - uint32_t status = PASSED; - - InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses; - InternalWinderCfg.spoolbackingrate = request->backingrate; - InternalWinderCfg.startoffsetpulses = request->startoffsetpulses; - InternalWinderCfg.SpoolBottomBackingRate = request->bottombackingrate; - InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage; - InternalWinderCfg.diameter = request->diameter; - - return status; -} -/* - *uint32_t Winder_Prepare(void *JobDetails) - - * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop. - * report ready to the job STM - */ -uint32_t Winder_Prepare(void) -{ - uint32_t status = 0; - //JobTicket* JobTicket = JobDetails; -// Winder_Active = true; - //float process_speed = JobTicket->processparameters->dyeingspeed; - double ScrewSpeed = 1000;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius); // we will use pulley radius of the screw for this purpose, as of now - //REPORT_MSG(ScrewSpeed, "Winder_Prepare"); - /* - * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop. - * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done - * report ready to the job STM - */ - if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) - { - REPORT_MSG(LIMIT, "Winder_Prepare at limit"); - Winder_PrepareStage2(0,0); - } - else - { - REPORT_MSG(ScrewSpeed, "Winder_Prepare"); - Winder_ScrewHoming = true; - //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit"); - status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2); - } - return status; -} -/* - * uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) - * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done - * report ready to the job STM - */ - -uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) -{ - uint32_t status=OK; - uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses); - //REPORT_MSG(numOfSteps, "Winder_PrepareStage2"); - REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency, "Winder_PrepareStage2"); - - status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback); - //set motor location 0 here - return status; - -} - -uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag) -{ - SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW); //set this point as the spool home - - ScrewCurrentDirection = false; - BusyfirstCall = true; - ScrewSpeed = 0; - ScrewControlId = 0xFF; - ScrewNumberOfSteps = 0; - DirectionChangeCounter = 0; - REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback"); - - PrepareReady(Module_Winder, ModuleDone); - return OK; -} - -/* - * this is the main operational function of the screw - run back and forth until stopped - */ -/* - -bool ScrewCurrentDirection = false; -bool BusyfirstCall = true; -double ScrewSpeed = 0; -uint32_t ScrewControlId = 0xFF; -uint32_t ScrewNumberOfSteps = 0; -uint32_t DirectionChangeCounter = 0; -*/ -/* - InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses; - InternalWinderCfg.spoolbackingrate = request->backingrate; - InternalWinderCfg.startoffsetpulses = request->startoffsetpulses; - InternalWinderCfg.SpoolBottomBackingRate = request->bottombackingrate; - InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage; - * -Calculate the number of steps. -Initial home position = ... -Initial out movement = ScrewNumberOfSteps -if DirectionChangeCounter %= backingrate : reduce one from the ScrewNumberOfSteps -if DirectionChangeCounter %= bottombackingrate && direction was out: ADD one to the ScrewNumberOfSteps, -// WRONG? if the flag is raised - lower it and reduce one from the ScrewNumberOfSteps -30:100 - 70 -30:99 - 69 -30:98 - 68 -29:98 - 69 -29:97 -68 -InternalWinderCfg.segmentoffsetpulses - int32_t backingrate; - int32_t bottombackingrate; - -numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; -*/ -uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction) -{ - uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - float screw_horizontal_speed = 0; - float RotationsPerSecond; - - if (Counter) - { - if (Counter%InternalWinderCfg.spoolbackingrate == 1) - { - NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate); - REPORT_MSG(ScrewNumberOfSteps, "Head Backing"); - ScrewNumberOfSteps--; - /* - screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses / InternalWinderCfg.NumberOfRotationPerPassage; - // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second. - RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI); - RotationsPerSecond = CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; - // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. - ScrewSpeed = screw_horizontal_speed*RotationsPerSecond; - - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); - REPORT_MSG(ScrewSpeed, "CalculateNumberOfSteps"); - CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed; - */ - } - if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 1)) - { - if (direction != MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) - { - NumberOfSteps += (Counter/InternalWinderCfg.SpoolBottomBackingRate); - ScrewNumberOfSteps++; - REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing"); - } - - } - } - return NumberOfSteps; - -} -uint32_t wtick=0,prevwtick = 0; -uint32_t wgap[100]; -uint32_t wgap_counter=0; -uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) -{ - uint32_t Steps; - if (BusyfirstCall) - { - BusyfirstCall = false; - return OK; - } -// if (Winder_Active == false) -// return OK; - wtick++; - //ScrewCurrentDirection: false moves out, true moves home - if (BusyFlag == NOTBUSY) - { - if (wtick-prevwtick>10) - { - wgap[wgap_counter++] = wtick-prevwtick; - prevwtick = wtick; - if (wgap_counter >=99) - wgap_counter = 0; - } - else - return OK; - CalculateNumberOfSteps (DirectionChangeCounter++, ScrewCurrentDirection); - Steps = ScrewNumberOfSteps; - if (ScrewCurrentDirection == false) - { - ScrewCurrentDirection = true; - } - else - { - ScrewCurrentDirection = false; - } -/* if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) - { - ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - Steps += InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - REPORT_MSG(LIMIT, "Winder at right limit"); - } - else if (FPGA_Read_limit_Switches(GPI_LS_SCREW_LEFT)==LIMIT) - { - ScrewCurrentDirection = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - REPORT_MSG(LIMIT, "Winder at left limit"); - } -*/ - MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,Steps); //process: set point 0, set max speed, move to the specified length, return back. - REPORT_MSG(ScrewCurrentDirection, "ScrewDirectionChange"); - } - return OK; - -} - -uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue) -{ - return PreSegmentReady(Module_Winder,ModuleDone); -} - -uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) -{ - //JobTicket* JobTicket = JobDetails; - float screw_horizontal_speed = 0; - float RotationsPerSecond; - char Message[80]; - - if (dyeingspeed == 0) - { - LOG_ERROR (dyeingspeed," job speed zero"); - return ERROR; - } - - if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job) - { - ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); - - // * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec) - // * calculate - // * 1. calculate speed according to JobTicket->processparameters->dyeingspeed - // * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation. - screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses / InternalWinderCfg.NumberOfRotationPerPassage; - // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second. - RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI); - RotationsPerSecond = CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; - // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. - ScrewSpeed = screw_horizontal_speed*RotationsPerSecond; - - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); - usnprintf(Message, 80, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed); - //LOG_ERROR(segmentfirst_speed,Message); - //Report(Message,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0); - SendJobProgress(0.0,0,false, Message); - - CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed; - //screw_horizontal_speed = InternalWinderCfg.milimetersperrotation - // * 2. determine optimal micro-step setting - // * 3. calculate cart travel length from winding parameters - // * 4. start move of travel length - // * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed - ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back. - wtick = 0;prevwtick = 0; - ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0); - - // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_horizontal_speed,WinderPresegmentReady); - //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move; - - } - PreSegmentReady(Module_Winder,ModuleDone); - - return OK; -} -uint32_t Winder_End(void) -{ - int pend; - //stop screw - ScrewNumberOfSteps = 0; -// Winder_Active = false; - if (ScrewControlId != 0xFF) - RemoveControlCallback(ScrewControlId,ScrewDirectionChange); - CurrentControlledSpeed[SCREW_MOTOR] = 0; - pend = MillisecFlushMsgQ(HARDWARE_MOTOR_TYPE__MOTO_SCREW); - return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz); -} -void Winder_ScrewHomeLimitSwitchInterrupt(void) -{ - //uint32_t status; - //handle glitch - send information to the next time that the motor stops - if (Winder_ScrewHoming) - { - MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz); //stop ASAP - } - MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out -} -void Winder_ScrewOutLimitSwitchInterrupt(void) -{ - //handle glitch - send information to the next time that the motor stops - //uint32_t status; - MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out -} -uint32_t Screw_timerBase = TIMER3_BASE; //Timer handle - -void ScrewTimerInterrupt(int ARG0) -{ - ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt - return ; - -} - - diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 3b17cd5dd..5390ed0a7 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -42,7 +42,7 @@ uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0}; TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW}; HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS}; -uint32_t ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF}; +uint32_t ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF}; uint32_t SpeedControlId=0xFF; uint32_t PoolerSpeedControlId=0xFF; @@ -582,8 +582,9 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (PoolerSpeedControlId != 0xFF) { - RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction); - PoolerSpeedControlId = 0xFF; + if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK) + LOG_ERROR(Motor_i,"Remove Control Failed"); + PoolerSpeedControlId = 0xFF; } //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); @@ -593,7 +594,8 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (ControlIdtoMotorId[Motor_i] != 0xFF) { - RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); + if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK) + LOG_ERROR(Motor_i,"Remove Control Failed"); ControlIdtoMotorId[Motor_i] = 0xFF; CurrentControlledSpeed[Motor_i] = 0; } @@ -604,7 +606,8 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (ControlIdtoMotorId[Motor_i] != 0xFF) { - RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); + if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK) + LOG_ERROR(Motor_i,"Remove Control Failed"); CurrentControlledSpeed[Motor_i] = 0; ControlIdtoMotorId[Motor_i] = 0xFF; } @@ -614,7 +617,8 @@ uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (ControlIdtoMotorId[Motor_i] != 0xFF) { - RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); + if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK) + LOG_ERROR(Motor_i,"Remove Control Failed"); CurrentControlledSpeed[Motor_i] = 0; ControlIdtoMotorId[Motor_i] = 0xFF; } @@ -706,16 +710,20 @@ uint32_t ThreadPreSegmentState(void *JobDetails) return OK; } +int REPSegmentId = 0; void ThreadInterSegmentEnded(void) { + LOG_ERROR (REPSegmentId,"ThreadInterSegmentEnded"); PreSegmentReady(Module_Thread,ModuleDone); } void ThreadSegmentEnded(void) { + LOG_ERROR (REPSegmentId," ThreadSegmentState"); SegmentReady(Module_Thread,ModuleDone); } void ThreadDistanceToSpoolEnded(void) { + LOG_ERROR (REPSegmentId," ThreadDistanceToSpoolEnded"); DistanceToSpoolReady(Module_Thread,ModuleDone); } double seglength = 0.0; @@ -723,8 +731,10 @@ double seglength = 0.0; uint32_t ThreadSegmentState(void *JobDetails, int SegmentId) { JobTicket* JobTicket = JobDetails; + REPSegmentId = SegmentId; seglength = JobTicket->segments[SegmentId]->length; CurrentSegmentId = SegmentId; + LOG_ERROR (seglength," ThreadSegmentState"); ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded); return OK; } @@ -733,6 +743,7 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId) uint32_t ThreadDistanceToSpoolState(void ) { seglength = dryerbufferlength; + LOG_ERROR (seglength,"ThreadDistanceToSpoolState"); ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded); return OK; } @@ -753,20 +764,25 @@ char Endstr[150]; if (SpeedControlId != 0xFF) { - RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction); + if(RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction)!=OK) + LOG_ERROR(Motor_i,"RemoveControl Failed"); SpeedControlId = 0xFF; } if (PoolerSpeedControlId != 0xFF) { - RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction); + if(RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK) + LOG_ERROR(Motor_i,"RemoveControl Failed"); PoolerSpeedControlId = 0xFF; } - for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) + for ( Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++) { if (ControlIdtoMotorId[Motor_i] != 0xFF) { - RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); + if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction) == OK) + ControlIdtoMotorId[Motor_i] == 0xFF; + else + LOG_ERROR (ControlIdtoMotorId[Motor_i],"Remove Control failed"); } MotorStop(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz); } |