diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
8 files changed, 255 insertions, 107 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index d334c9001..a6380c188 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -570,6 +570,10 @@ float MillisecGetPressures (int SensorId) return PressureCalc[SensorId]; } +bool getRapidPressureRead(void) +{ + return RapidPressureRead; +} void setRapidPressureRead(bool value) { RapidPressureRead = value; @@ -626,6 +630,10 @@ uint32_t MillisecLowLoop(uint32_t tick) Trigger_HeaterWriting(); } + if (m20msecTick) + { + ADC0SS0Handler(); + } if(Fifty_msTick) { WHS_Read_GPI_Registers(); diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h index 9335a6d08..226d0d57a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h @@ -36,6 +36,7 @@ uint8_t getGasReading(void); int MillisecGetTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId); float MillisecGetPressures (int SensorId); void setRapidPressureRead(bool value); +bool getRapidPressureRead(void); void MillisecInit(void); diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index 3f9811636..2ff1588f2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -781,6 +781,9 @@ void DiagnosticOneSecCollection(void) DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone10, MillisecGetTemperatures(HEAD_PT100_ZONE_10_0X88_1)); DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone11, MillisecGetTemperatures(HEAD_PT100_ZONE_11_0X8A_0)); DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone12, MillisecGetTemperatures(HEAD_PT100_ZONE_12_0X8A_1)); + + DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater1, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_2_0X8C_1)); + DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater2, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_1_0X8C_0)); } if (Head_Type == HEAD_TYPE_STAPLE_SPUN) { @@ -790,6 +793,8 @@ void DiagnosticOneSecCollection(void) DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone3, MillisecGetTemperatures(HEAD_PT100_ZONE_3_0X82_0)); DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater1, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_2_0X8C_1)); DiagnosticLoadTemperature(HEATER_TYPE__HeadCoverHeater2, MillisecGetTemperatures(HEAD_PT100_AIR_HEATER_1_0X8C_0)); + DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone4, MillisecGetTemperatures(HEAD_PT100_ZONE_4_0X82_1)); + DiagnosticLoadTemperature(HEATER_TYPE__HeaterZone6, MillisecGetTemperatures(HEAD_PT100_ZONE_6_0X84_1)); } DiagnosticLoadTemperature(HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature, MillisecGetTemperatures(TEMP_SENSE_ANALOG_DRYER_TEMP1)); DiagnosticLoadTemperature(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, MillisecGetTemperatures(TEMP_SENSE_ANALOG_DRYER_TEMP2)); @@ -797,16 +802,31 @@ void DiagnosticOneSecCollection(void) for (i=0;i<MAX_SYSTEM_DISPENSERS;i++) { dispensermotorfrequency[i][0] = IdsGetMotorSpeed(i); - /*if ((i == 1)&&(JobIsActive())) - { - Report("Dispenser 1",__FILE__,(int)__LINE__,(int)dispensermotorfrequency[i][DiagnosticsIndex],RpWarning,(int)DiagnosticsIndex,0); - }*/ - //dispensermotorfrequency[i][DiagnosticsIndex] = IDS_Dispenser_Data[i].consumedinnanolitter; - if (DiagnosticMode < Diagnostic_Extended_Mode) dispenserspressure[i][0] = GetDispenserPressure(i); //Read_MidTank_Pressure_Sensor MidTankpressure[i][0] = Get_MidTank_Pressure_Sensor(i); } + if (DiagnosticMode < Diagnostic_Extended_Mode) + { + DiagnosticsMonitor.n_dispenser1pressure = 1; + DiagnosticsMonitor.dispenser1pressure = dispenserspressure[0]; + DiagnosticsMonitor.n_dispenser2pressure = 1; + DiagnosticsMonitor.dispenser2pressure = dispenserspressure[1]; + DiagnosticsMonitor.n_dispenser3pressure = 1; + DiagnosticsMonitor.dispenser3pressure = dispenserspressure[2]; + DiagnosticsMonitor.n_dispenser4pressure = 1; + DiagnosticsMonitor.dispenser4pressure = dispenserspressure[3]; + DiagnosticsMonitor.n_dispenser5pressure = 1; + DiagnosticsMonitor.dispenser5pressure = dispenserspressure[4]; + DiagnosticsMonitor.n_dispenser6pressure = 1; + DiagnosticsMonitor.dispenser6pressure = dispenserspressure[5]; + DiagnosticsMonitor.n_dispenser7pressure = 1; + DiagnosticsMonitor.dispenser7pressure = dispenserspressure[6]; + DiagnosticsMonitor.n_dispenser8pressure = 1; + DiagnosticsMonitor.dispenser8pressure = dispenserspressure[7]; + + } + } void Diagnostic100msecCollection(void) { @@ -977,14 +997,23 @@ void SendDiagnostics(void) DiagnosticsMonitor.n_headzone10temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone10]; DiagnosticsMonitor.n_headzone11temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone11]; DiagnosticsMonitor.n_headzone12temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone12]; +//temporary + DiagnosticsMonitor.headcoverheater1temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater1]; + DiagnosticsMonitor.headcoverheater2temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater2]; + DiagnosticsMonitor.n_headcoverheater1temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater1]; + DiagnosticsMonitor.n_headcoverheater2temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater2]; } - if ((Head_Type == HEAD_TYPE_SYLKO)||(Head_Type == HEAD_TYPE_STAPLE_SPUN)) -// if (Head_Type == HEAD_TYPE_STAPLE_SPUN) + //if ((Head_Type == HEAD_TYPE_SYLKO)||(Head_Type == HEAD_TYPE_STAPLE_SPUN)) + if (Head_Type == HEAD_TYPE_STAPLE_SPUN) { DiagnosticsMonitor.headcoverheater1temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater1]; DiagnosticsMonitor.headcoverheater2temperature = HeaterTemperature[HEATER_TYPE__HeadCoverHeater2]; DiagnosticsMonitor.n_headcoverheater1temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater1]; DiagnosticsMonitor.n_headcoverheater2temperature = HeaterCounterIndex[HEATER_TYPE__HeadCoverHeater2]; + DiagnosticsMonitor.headzone4temperature = HeaterTemperature[HEATER_TYPE__HeaterZone4]; + DiagnosticsMonitor.headzone6temperature = HeaterTemperature[HEATER_TYPE__HeaterZone6]; + DiagnosticsMonitor.n_headzone4temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone4]; + DiagnosticsMonitor.n_headzone6temperature = HeaterCounterIndex[HEATER_TYPE__HeaterZone6]; } DiagnosticsMonitor.dryerzone1temperature = HeaterTemperature[HEATER_TYPE__DryerAirHeater]; DiagnosticsMonitor.dryerzone2temperature = HeaterTemperature[HEATER_TYPE__DryerMainHeater]; @@ -1036,22 +1065,26 @@ void SendDiagnostics(void) DiagnosticsMonitor.n_dispenserslinearpositions = 0; DiagnosticsMonitor.n_dispensersangularencoders = 0; - DiagnosticsMonitor.n_dispenser1pressure = temp; - DiagnosticsMonitor.dispenser1pressure = dispenserspressure[0]; - DiagnosticsMonitor.n_dispenser2pressure = temp; - DiagnosticsMonitor.dispenser2pressure = dispenserspressure[1]; - DiagnosticsMonitor.n_dispenser3pressure = temp; - DiagnosticsMonitor.dispenser3pressure = dispenserspressure[2]; - DiagnosticsMonitor.n_dispenser4pressure = temp; - DiagnosticsMonitor.dispenser4pressure = dispenserspressure[3]; - DiagnosticsMonitor.n_dispenser5pressure = temp; - DiagnosticsMonitor.dispenser5pressure = dispenserspressure[4]; - DiagnosticsMonitor.n_dispenser6pressure = temp; - DiagnosticsMonitor.dispenser6pressure = dispenserspressure[5]; - DiagnosticsMonitor.n_dispenser7pressure = temp; - DiagnosticsMonitor.dispenser7pressure = dispenserspressure[6]; - DiagnosticsMonitor.n_dispenser8pressure = temp; - DiagnosticsMonitor.dispenser8pressure = dispenserspressure[7]; + if (DiagnosticMode >= Diagnostic_Extended_Mode) + { + DiagnosticsMonitor.n_dispenser1pressure = temp; + DiagnosticsMonitor.dispenser1pressure = dispenserspressure[0]; + DiagnosticsMonitor.n_dispenser2pressure = temp; + DiagnosticsMonitor.dispenser2pressure = dispenserspressure[1]; + DiagnosticsMonitor.n_dispenser3pressure = temp; + DiagnosticsMonitor.dispenser3pressure = dispenserspressure[2]; + DiagnosticsMonitor.n_dispenser4pressure = temp; + DiagnosticsMonitor.dispenser4pressure = dispenserspressure[3]; + DiagnosticsMonitor.n_dispenser5pressure = temp; + DiagnosticsMonitor.dispenser5pressure = dispenserspressure[4]; + DiagnosticsMonitor.n_dispenser6pressure = temp; + DiagnosticsMonitor.dispenser6pressure = dispenserspressure[5]; + DiagnosticsMonitor.n_dispenser7pressure = temp; + DiagnosticsMonitor.dispenser7pressure = dispenserspressure[6]; + DiagnosticsMonitor.n_dispenser8pressure = temp; + DiagnosticsMonitor.dispenser8pressure = dispenserspressure[7]; + + } DiagnosticsMonitor.n_midtank1level = 1; diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index d81ab7abb..3b010247d 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -30,6 +30,7 @@ #include "drivers/Valves/Valve.h" #include "Drivers/I2C_Communication/DAC/blower.h" #include "drivers/Flash_ram/MCU_E2Prom.h" +#include <Drivers/SSI_Comm/Dancer/Dancer.h> #include "ids/ids_ex.h" #include "General/process.h" @@ -40,6 +41,9 @@ char HomingToken[NUM_OF_MOTORS][36+1]={0}; int HomingCounter[NUM_OF_MOTORS]; uint32_t HomingControlId[NUM_OF_MOTORS]; +uint32_t Diagnostics_Dryer_UnLoading(void); +uint32_t Diagnostics_Dryer_Loading(void); + /******************************************************************************** * Motor Homing ********************************************************************************/ @@ -119,61 +123,9 @@ uint32_t D_numberOfSteps = 0; float D_numberOfCycles = 0; double D_DrierPrevLocation = 0; -uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag) -{ - Report("Diagnostics_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,D_numberOfCycles,RpMessage,0,0); - //storeLoadArmParameters(); - - SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM); //set this point as the spool home - if (HomingControlId[deviceID] != 0xff) - { - Report("MotorHomingProgressReport stopped",__FILE__,__LINE__,deviceID,RpMessage,HomingCounter[deviceID],0); - RemoveControlCallback(HomingControlId[deviceID],MotorHomingProgressReport); - HomingControlId[deviceID] = 0xff; - } - return OK; -} - -uint32_t Diagnostics_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue) -{ - D_numberOfCycles++; - uint32_t temp = Read_Dryer_ENC_Position(); - Report("Thread_Load_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,D_DrierPrevLocation,0); - //Report("Thread_Load_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),D_numberOfCycles,RpMessage,CallbackCounter,0); - if ((abs (temp -D_DrierPrevLocation)>1000 )&&(ReadValue == NOTBUSY)) // OK - take another round - { - D_DrierPrevLocation = temp; - Report("Thread_Load_Dryer_UnLoading cycles",__FILE__,D_numberOfCycles,LoadArmRounds,RpMessage,0,0); - if (D_numberOfCycles<LoadArmRounds) - { - MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, - D_numberOfSteps, Diagnostics_Dryer_UnLoading_Callback, 10000); - } - else //done enough cycles, go to the center point - { - MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Set_Load_Arm_To_Stopper_Callback,30000); - MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-D_numberOfCycles); - Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0); - } - } - else //timeout or no movement - { - Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0); - MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-(D_numberOfCycles-2));//it takes two cycles to identify a stop of the arm - Report("Drier unloading timeout(1) or no movement",__FILE__,temp,D_DrierPrevLocation,RpWarning,ReadValue,0); - if (HomingControlId[MotorId] != 0xff) - { - Report("MotorHomingProgressReport stopped",__FILE__,__LINE__,MotorId,RpMessage,HomingCounter[MotorId],0); - RemoveControlCallback(HomingControlId[MotorId],MotorHomingProgressReport); - HomingControlId[MotorId] = 0xff; - } - } - return OK; -} uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer) { - //uint32_t numberOfSteps = 0; uint32_t status = FAILED; MessageContainer responseContainer; @@ -215,16 +167,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer) { if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM) { - D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; - Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,D_numberOfSteps,RpMessage,LoadArmRounds,0); - //MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize), - // MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/2, MotorHomingRequestCallback,0,1000); - MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, - D_numberOfSteps-800, Diagnostics_Dryer_UnLoading_Callback, 10000); - D_numberOfCycles = 0; - - //MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize), - // D_numberOfSteps, MotorHomingRequestCallback,1000); + Diagnostics_Dryer_UnLoading(); status = OK; } if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI) @@ -265,18 +208,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer) { if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM) { - if (LoadArmRounds <= 2) - LoadArmRounds = 30; - - D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; - D_numberOfSteps -= 100; - D_numberOfCycles = LoadArmRounds; - Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,D_numberOfSteps,RpMessage,LoadArmRounds,0); - - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4); - - MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, - D_numberOfSteps, MotorHomingRequestCallback, 100000); + Diagnostics_Dryer_Loading(); status = OK; } if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI) @@ -486,4 +418,128 @@ uint32_t DispenserAbortHomingRequestFunc(MessageContainer* requestContainer) return OK; } +uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag) +{ + + Report("Diagnostics_Set_Load_Arm_To_Stopper time",__FILE__,__LINE__,msec_millisecondCounter,RpMessage,0,0); + + //NumberOfDrierLoaderCycles=0; + //storeLoadArmParameters(); + SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM); //set this point as the spool home + + return OK; +} + +uint32_t Diagnostics_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue) +{ + D_numberOfCycles++; + uint32_t temp = Read_Dryer_ENC_Position(); + Report("Diagnostics_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,D_DrierPrevLocation,0); + //Report("Diagnostics_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),D_numberOfCycles,RpMessage,CallbackCounter,0); + if (ReadValue == NOTBUSY) // OK - take another round + { + D_DrierPrevLocation = temp; + Report("Diagnostics_Dryer_UnLoading cycles",__FILE__,D_numberOfCycles,LoadArmRounds,RpMessage,0,0); + if (D_numberOfCycles<LoadArmRounds) + { + MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, + D_numberOfSteps, Diagnostics_Dryer_UnLoading_Callback, 10000); + } + else //done enough cycles, go to the center point + { + MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Set_Load_Arm_To_Stopper_Callback,15000); + MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-D_numberOfCycles); + Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0); + } + } + else //timeout or no movement + { + Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0); + MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-(D_numberOfCycles-2));//it takes two cycles to identify a stop of the arm + + Report("Drier unloading timeout(1) or no movement",__FILE__,temp,D_DrierPrevLocation,RpWarning,ReadValue,0); + } + return OK; +} +uint32_t Diagnostics_Dryer_UnLoading(void) +{ + uint32_t temp; + + D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; + D_numberOfCycles = 0; + + MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds); + if (LoadArmRounds == 0) //prev trial stopped + { + LoadArmRounds = (int)dryerbufferlength; + } + if (LoadArmRounds <= 2) + MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds); + + MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&temp); + D_DrierPrevLocation = temp; + Report("Diagnostics_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,D_DrierPrevLocation,RpMessage, LoadArmRounds,0); + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/6*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius); +// status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize), +// MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Diagnostics_Set_Load_Arm_To_Stopper_Callback,0,1000); + MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, + D_numberOfSteps-800, Diagnostics_Dryer_UnLoading_Callback, 10000); + + return OK; +} +uint32_t Diagnostics_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue) +{ + //Report("Diagnostics_Dryer_MovetoEncoderPosition_Callback",__FILE__,__LINE__,0,RpMessage,CallbackCounter,0); + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200); + + return OK; +} + +uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue) +{ + D_numberOfCycles++; + + Report("Diagnostics_Dryer_Loading_Callback",__FILE__,(int)D_numberOfCycles,(int)D_DrierPrevLocation,RpMessage,ReadValue,0); + + if (ReadValue == NOTBUSY) + { + //Report("Diagnostics_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); + //Report("Diagnostics_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0); + if (D_numberOfCycles<LoadArmRounds) + { + MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, + D_numberOfSteps, Diagnostics_Dryer_Loading_Callback, 10000); + } + else + { + MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Diagnostics_Dryer_MovetoEncoderPosition_Callback,15000); + MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles); + Report("Store Number of cycles in drier",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0); + } + } + else + { + Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,D_numberOfCycles,RpMessage,LoadArmRounds,0); + MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles); + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200); + } + return OK; +} + +uint32_t Diagnostics_Dryer_Loading(void) +{ + if (dryerbufferlength) + LoadArmRounds = (int)dryerbufferlength; + MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&D_DrierPrevLocation); + D_numberOfCycles = 0; + D_numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; + + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/6*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius); + //6 seconds per round + + //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); + MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, + D_numberOfSteps-800, Diagnostics_Dryer_Loading_Callback, 10000); + return OK; +} diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c index 30f9d7596..95441d1a6 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -1009,8 +1009,18 @@ uint32_t DcHeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue) AlarmHandlingSetAlarm(HeaterEventType[index], true); } } - DeActivateHeater(index); - HeaterRecalculateHeaterParams(index, 0); + if (index == HEATER_TYPE__DryerAirHeater) + { + DeActivateHeater(HEATER_TYPE__DryerMainHeater); + HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerMainHeater,0); + DeActivateHeater(HEATER_TYPE__DryerSecondaryHeater); + HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerSecondaryHeater,0); + } + else + { + DeActivateHeater(index); + HeaterRecalculateHeaterParams(index, 0); + } HeaterMaxTempFlag[index] = true; //ReportWithPackageFilter(HeatersFilter,(MinreadValue/100), "Heater Over the max temperature, turned off"); return OK; @@ -1149,9 +1159,9 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) //if (readValue < (/*HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000*/HeaterCmd[index].targettemperatue-800)) { - //ReportWithPackageFilter(HeatersFilter,"AC Activating",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index); if ((HeaterMaxTempFlag[HEATER_TYPE__DryerSecondaryHeater] == false)&&(HeaterMaxTempFlag[HEATER_TYPE__DryerMainHeater] == false)) { + ReportWithPackageFilter(HeatersFilter,"AC Activating",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index); ActivateHeater(HEATER_TYPE__DryerSecondaryHeater); ActivateHeater(HEATER_TYPE__DryerMainHeater); HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerMainHeater,100); @@ -1181,6 +1191,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) } */ // if ((readValue > (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000))&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target + if ( (readValue > (HeaterCmd[index].targettemperatue * ((100-HeaterControl[index].outputproportionalband)/100))) && (readValue < (HeaterCmd[index].targettemperatue * ((100+HeaterControl[index].outputproportionalband)/100)))) { @@ -1190,7 +1201,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerSecondaryHeater, 0); HeatersControlStart(); AlarmHandlingSetAlarm(HeaterUnderEventType[index], false); - if (BlowerCfg.enabled == true) + /*if (BlowerCfg.enabled == true) { if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD) { @@ -1202,7 +1213,7 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) if (BlowerCfg.voltage) Control_Voltage_To_Blower(BlowerCfg.voltage); } - } + }*/ HeaterReady[index] = true; //Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerMainHeater]); //Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerSecondaryHeater]); @@ -1220,6 +1231,23 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) HeaterPrepareReady(); } } + if ( (readValue > (HeaterCmd[index].targettemperatue * ((100-HeaterControl[index].outputproportionalband+2)/100))) + && (readValue < (HeaterCmd[index].targettemperatue * ((100+HeaterControl[index].outputproportionalband)/100)))) + { + if (BlowerCfg.enabled == true) + { + if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD) + { + WHS_Set_SetPoint_Q_value(headairflow); + } + else + { + Turn_the_Blower_On();//Turn on with the Default_Voltage + if (BlowerCfg.voltage) + Control_Voltage_To_Blower(BlowerCfg.voltage); + } + } + } if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0)) { HeaterPIDConfig[index].m_mesuredParam = readValue; @@ -1255,10 +1283,12 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) 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 Id, Temp , Integral, Output{ %d, %d ,%d, %d} ",index,(int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError); + int len = usnprintf(ACheatstr, 254, "ACD Id, Temp , Integral, Output{ %d, %d ,%d, %d} H1 %d H2 %d ",index, + (int)HeaterPIDConfig[index].m_mesuredParam ,(int)HeaterPIDConfig[index].m_integral,(int)HeaterPIDConfig[index].m_calculatedError, + GetHeaterState(HEATER_TYPE__DryerMainHeater),GetHeaterState(HEATER_TYPE__DryerSecondaryHeater)); // ReportWithPackageFilter(HeatersFilter,logmsg[index],__FILE__,__LINE__,index,RpWarning,index, Counter[index]); // #warning PID is now only proportional (above) -// ReportWithPackageFilter(HeatersFilter,ACheatstr,__FILE__,__LINE__,index,RpWarning,readValue, HeaterPIDConfig[index].m_calculatedError); + ReportWithPackageFilter(HeatersFilter,ACheatstr,__FILE__,__LINE__,index,RpWarning,readValue, HeaterPIDConfig[index].m_calculatedError); //ReportWithPackageFilter(HeatersFilter,"AC PID",__FILE__,__LINE__,HeaterPIDConfig[index].m_calculatedError/100,RpWarning,readValue, index); if (HeaterRestarted[HEATER_TYPE__DryerMainHeater] == true) { @@ -1668,6 +1698,10 @@ uint32_t HeatersControlLoop(uint32_t tick) //DeActivate HEATER_TYPE__DryerSecondaryHeater //DeActivateHeater (HEATER_TYPE__DryerSecondaryHeater); } + else + { + DeActivateHeater (HEATER_TYPE__DryerSecondaryHeater); + } } /*else if (TimeSliceAllocation[SliceCounter] == HEATER_TYPE__DryerSecondaryHeater) { diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c index f34e56470..1c43872cc 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -710,7 +710,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue) JobTicket* JobTicket = JobDetails; JobEndSequence = false; - if ((pressurebuildup>0.1)&&(pressurebuildup<1.5)) + if ((pressurebuildup>0.1)&&(pressurebuildup<2.5)) { Report("Setting pressure from RML feeder tension",__FILE__,__LINE__,(int)(pressurebuildup*100),RpWarning,(int)(DispenserPreparePressure*100),0); DispenserPreparePressure = pressurebuildup; diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c index f4384ab94..fe1118f15 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c @@ -149,6 +149,7 @@ void Stub_TempSensorRequest(MessageContainer* requestContainer) response.temperature_c_mult_by_100 = TempSensorResponse[request->stemp_sensor_id].Temperature_C_mult_by_100; } + response.temperature_c_mult_by_100 = MillisecGetTemperatures(request->stemp_sensor_id); /* diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index edfc517bf..386b34f49 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -961,7 +961,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension) } MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, Hard_Stop); - if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT) + /*if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT) { ReportWithPackageFilter(ThreadFilter,"Dyeing head is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpFatalError,LIMIT,0); //JobEndReason = JOB_LIDS_OPEN; @@ -974,6 +974,21 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension) //JobEndReason = JOB_LIDS_OPEN; //PrepareReady(Module_Thread,ModuleFail); //return ERROR; + }*/ + + if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT) + { + ReportWithPackageFilter(ThreadFilter,"Dyeing head is wide open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpFatalError,LIMIT,0); + JobEndReason = JOB_LIDS_OPEN; + PrepareReady(Module_Thread,ModuleFail); + return ERROR; + } + if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID]) == LIMIT) + { + ReportWithPackageFilter(ThreadFilter,"Dryer lid is wide open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,RpFatalError,LIMIT,0); + JobEndReason = JOB_LIDS_OPEN; + PrepareReady(Module_Thread,ModuleFail); + return ERROR; } //start thread control for all motors |