From 91d4a6eceb00882a0898016e743130d62156e33b Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Thu, 24 Jan 2019 08:41:39 +0200 Subject: 1.3.5.0 changes ==================================== 1. preparations for keeping data in internal flash 2. keep applicative data in external flash: software parameters, dispensers data, etc. 3. moved to new alarms definitions, tamper alarms, improved temperature alarms, cone presence alarm, 4. support for Machine Studio 4 5. some tests for memory allocations 6. thread load proto code 7. Hardware: doors tampering switches, drier fan, blower PWM control, new backplane support, new motor drivers support, 8. FPGA jtag code loading 9. Heaters: alarms on set temperature band. test facilities. 10. motors - additional complex actions for thread load support. new drivers support 11. preparations for control debugging 12. read motor status and mid tank level 13. collect and store dispenser usage data 14. IDS - controlled operation of motor and valve. backlash movement after refill 15. bug fixes in job handling --- Software/Embedded_SW/Embedded/Modules/Thread/Thread.h | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread.h') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h index 9c42dde01..8c6164219 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h @@ -13,6 +13,7 @@ #include "PMR/Printing/JobSpoolType.pb-c.h" #include "drivers/Motors/Motor.h" +#include "../control/pidalgo.h" #include "thread_ex.h" @@ -26,6 +27,18 @@ typedef struct double NumberOfRotationPerPassage; // how many rotations per spool passage double diameter; }InternalWinderConfigStruc; +typedef struct +{ + bool m_isEnabled; + int32_t m_SetParam; + float m_mesuredParam; + float m_preError; + float m_integral; + float m_calculatedError; + bool m_isReady; + uint32_t m_ingnoreValue; + PID_Config_Params m_params; +}MotorControlConfig_t; #define MAX_THREAD_FEED_MOTORS WINDER_MOTOR+1 @@ -50,6 +63,7 @@ extern int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM]; extern double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM]; extern int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM]; +extern MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM]; uint32_t InternalWinderConfigMessage(HardwareWinder* request); -- cgit v1.3.1