From 0f9ed0892d136072c1e5b82c14aa401e84a5ce4f Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Tue, 23 Jul 2019 18:30:48 +0300 Subject: Version 1.4.2.5 store data in EEPROM, thread loading, IDS datat store, IDS prepare with reduced ink usage --- .../Embedded/Modules/Thread/ThreadLoad.c | 64 ++++++++++++++++------ 1 file changed, 47 insertions(+), 17 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 9ef7f3d0d..d2f6170cf 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -59,7 +59,7 @@ ProcessParameters ProcessParametersClear,ProcessParametersRecover; uint8_t NumberOfDrierLoaderCycles = 0; uint32_t status = OK; - uint32_t ControlId = 0xFF; + uint32_t ControlId = 0xFF,PullerControlId = 0xFF,WinderControlId = 0xFF; uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM LoadStages); uint32_t ThreadLoadControlCBFunction(uint32_t index, uint32_t ReadValue); uint32_t Thread_Load_Dryer_UnLoading(void); @@ -173,6 +173,24 @@ } uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag) { + if(PullerControlId != 0xFF) + { + MotorStop(ThreadMotorIdToMotorId[POOLER_MOTOR],Hard_Hiz); + RemoveControlCallback(PullerControlId, ThreadLoadControlCBFunction ); + PullerControlId = 0xFF; + } + if(WinderControlId != 0xFF) + { + MotorStop(ThreadMotorIdToMotorId[WINDER_MOTOR],Hard_Hiz); + RemoveControlCallback(WinderControlId, ThreadLoadControlCBFunction ); + WinderControlId = 0xFF; + } + /*Task_sleep(5) + MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz); + MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/ + + MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz); + // Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); NumberOfDrierLoaderCycles=0; @@ -374,15 +392,14 @@ return OK; } - uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue) + uint32_t Thread_Load_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue) { - Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); - REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id"); - MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,0,0); if(ControlId != 0xFF) { MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz); RemoveControlCallback(ControlId, ThreadLoadControlCBFunction ); + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround); + ControlId = 0xFF; } if (CallbackCounter) @@ -399,6 +416,13 @@ } else LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0"); + + } + uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue) + { + Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); + //REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id"); + MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000); return OK; } @@ -413,6 +437,7 @@ // CurrentControlledSpeed[FEEDER_MOTOR] = 1000; numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; + Report("Thread Load State Machine step.",__FILE__,LoadStages,numberOfSteps,RpMessage,(int)(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius),0); MotorControlConfig[FEEDER_MOTOR].m_params.MAX = 1; MotorControlConfig[FEEDER_MOTOR].m_params.MIN = MotorsControl[FEEDER_MOTOR].outputproportionalpowerlimit*-1; MotorControlConfig[FEEDER_MOTOR].m_params.Kd = MotorsControl[FEEDER_MOTOR].derivativetime; @@ -432,6 +457,8 @@ MotorControlConfig[FEEDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize); + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4); + ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR); CallbackCounter++; MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, @@ -472,7 +499,7 @@ LoadArmInfo.LoadArmRounds = 0; uint32_t numberOfSteps = 0; //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40 - SetOriginMotorSpeed(20); + SetOriginMotorSpeed(19); // OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000; // CurrentControlledSpeed[FEEDER_MOTOR] = 1000; @@ -496,7 +523,7 @@ MotorControlConfig[POOLER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].directionthreadwize); - ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+POOLER_MOTOR),FEEDER_DANCER,POOLER_MOTOR); + PullerControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+POOLER_MOTOR),POOLER_DANCER,POOLER_MOTOR); //////////////////////// MotorControlConfig[WINDER_MOTOR].m_params.MAX = 1; MotorControlConfig[WINDER_MOTOR].m_params.MIN = MotorsControl[WINDER_MOTOR].outputproportionalpowerlimit*-1; @@ -515,18 +542,20 @@ MotorControlConfig[WINDER_MOTOR].m_mesuredParam = 0; MotorControlConfig[WINDER_MOTOR].m_preError = 0; MotorControlConfig[WINDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage - MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].directionthreadwize); + MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_WINDER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].directionthreadwize); - ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+WINDER_MOTOR),FEEDER_DANCER,WINDER_MOTOR); + WinderControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+WINDER_MOTOR),WINDER_DANCER,WINDER_MOTOR); //////////////////////// + MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING].directionthreadwize); + MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]); CallbackCounter++; //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, // numberOfSteps, Thread_Load_Dryer_Loading_Callback, 100000); Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); 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/2, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000); + MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000); //Keep Notation How Many Rotations In The Dryer //LoadArmInfo.LoadArmBackLash = 0; @@ -623,7 +652,14 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) uint32_t calculated_speed; double NormalizedError; - DancerId = FEEDER_DANCER;//ThreadMotorIdToDancerId[index]; + if (IfIndex>>8 != IfTypeThread) + { + LOG_ERROR (IfIndex, "Wrong Interface type"); + return 0xFFFFFFFF; + } + index = IfIndex&0xFF; + + DancerId = ThreadMotorIdToDancerId[index]; if (ReadValue < 10) { Report("Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0); @@ -634,12 +670,6 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) return OK; } TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint; - if (IfIndex>>8 != IfTypeThread) - { - LOG_ERROR (IfIndex, "Wrong Interface type"); - return 0xFFFFFFFF; - } - index = IfIndex&0xFF; if (index == POOLER_MOTOR) { //pooler dancer is right sided: data is opposite -- cgit v1.3.1 From 1a4e2e8a731c7d4c6150de73b36b7c40d6422cd7 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 24 Jul 2019 14:03:35 +0300 Subject: Version 1.4.2.5 firmware upgrade works, improved thread load. (works????) --- .../Embedded/Common/SWUpdate/FileSystem.c | 2 +- .../Embedded/Common/SWUpdate/FirmwareUpgrade.c | 5 +--- .../Embedded/Common/SWUpdate/FirmwareUpgrade.h | 1 + .../Embedded_SW/Embedded/Common/SW_Info/SW_Info.c | 2 +- .../Drivers/FPGA/Full_Vme/FPGA_Programming_Up.c | 3 +++ .../Embedded/Drivers/Motors/MotorActions.c | 2 +- .../Embedded/Modules/Control/MillisecTask.c | 7 ++--- .../Embedded/Modules/Heaters/Heaters_init.c | 9 +++---- .../Embedded/Modules/Thread/ThreadLoad.c | 30 +++++++++++----------- 9 files changed, 29 insertions(+), 32 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c') diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c index 05b118c90..1e02283e0 100644 --- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c +++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c @@ -53,7 +53,7 @@ FIL *UploadFileHandle = 0; //the system supports a single active file FIL *DownloadFileHandle = 0; //the system supports a single active file char FileHandleChar[5]; char ErrorMsg[100]; -#define MAX_CHUNK_LENGTH 4000 +#define MAX_CHUNK_LENGTH 5500 int32_t FileLength = 0; int32_t FileReceivedLength = 0; int32_t FileSentLength = 0; diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c index dabd5ff44..139b452dc 100644 --- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c +++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c @@ -71,6 +71,7 @@ uint32_t ActivateVersionCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) if (Reboot == true) { + LOG_ERROR(255,"Update successful, Rebooting in 5 seconds"); Task_sleep (120000000*5); Power_Reset(); } @@ -186,10 +187,6 @@ uint32_t ActivateVersionRequestFunc(MessageContainer* requestContainer) activate_version_request__free_unpacked(request,NULL); SendChars(container_buffer, container_size); - if (Reboot == true) - { - Power_Reset(); - } return OK; } diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h index 1d11a84b6..2b0a9bff9 100644 --- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h +++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h @@ -9,6 +9,7 @@ #define COMMON_SWUPDATE_FIRMWAREUPGRADE_H_ extern int CurrentFileSize; +extern int CurrentRunningFile; uint32_t ActivateVersionRequestFunc(MessageContainer* requestContainer); uint32_t ValidateVersionRequestFunc(MessageContainer* requestContainer); diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c index 9c02e609e..5b0944ab9 100644 --- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c +++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c @@ -20,7 +20,7 @@ typedef struct } TangoVersion_t; -TangoVersion_t _gTangoVersion = {1,4,2,5}; +TangoVersion_t _gTangoVersion = {1,4,2,6}; #define BUILD_DATE __DATE__ char Dat[50] = BUILD_DATE; char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/FPGA_Programming_Up.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/FPGA_Programming_Up.c index 931044f82..11ba12c32 100644 --- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/FPGA_Programming_Up.c +++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/FPGA_Programming_Up.c @@ -96,6 +96,7 @@ FRESULT FPGA_Programming_Up(FPGA_ID FPGA_Id, char * FullPath, bool IncludeReboot Report(FullPath,__FILE__,__LINE__,CurrentFileSize,RpWarning,0,0); fresult = main_vme(); + CurrentRunningFile++; } @@ -158,6 +159,8 @@ void FPGALoadTask(UArg arg0, UArg arg1) case OneFPGALoad: //ControlStop(); //MillisecStop(); + Report(FPGALoadMessage.FullPath,__FILE__,__LINE__,CurrentRunningFile,RpWarning,0,0); + FPGA_Programming_Up(FPGALoadMessage.FPGA_Id,FPGALoadMessage.FullPath,FPGALoadMessage.IncludeReboot); //ControlStart(); //MillisecStart(); diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c index 911b31eed..83e041591 100644 --- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c +++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c @@ -343,7 +343,7 @@ uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId, callback_fptr callb } MotorSetDirection( MotorId, direction); - MotorSetSpeed (MotorId, 5); + MotorSetSpeed (MotorId, 15); MotorControlId[MotorId] = AddControlCallback( MotorMoveToDrierPositionCallBackFunction, eTenMillisecond,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 ); MotorControlCallback[MotorId] = MotorMoveToDrierPositionCallBackFunction; return MotorControlId[MotorId]; diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index c1fcd4030..e3955793d 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -426,10 +426,8 @@ uint32_t MillisecLoop(uint32_t tick) { #ifdef Use_Head_Card HeadADCPT100_SendReadDataCommand(Sensor_i); - #else - TemperatureSensorReadFromFPGA_Res(Sensor_i); //got the data from the FPGA #endif - + TemperatureSensorReadFromFPGA_Res(Sensor_i); //got the data from the FPGA PT100Data[Sensor_i].WaitForData = false; PT100Data[Sensor_i].SyncRequired = true; if (PT100Data[Sensor_i].Callback) @@ -440,9 +438,8 @@ uint32_t MillisecLoop(uint32_t tick) { #ifdef Use_Head_Card HeadADCPT100_StartSync(Sensor_i); - #else - TemperatureSensorSync(Sensor_i); #endif + TemperatureSensorSync(Sensor_i); PT100Data[Sensor_i].SyncRequired = false; PT100Activity--; diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c index faf6022d6..350236708 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c @@ -63,11 +63,10 @@ uint32_t Heaters_Init(void) int i; //ROM_TimerDisable(Heater_timerBase, TIMER_A); - #ifdef Use_Head_Card - HeadADCPT100_SensorInitConfig(); - #else - FPGA_SensorInitConfig(); - #endif +#ifdef Use_Head_Card + HeadADCPT100_SensorInitConfig(); +#endif + FPGA_SensorInitConfig(); memset(HeaterControl,0,sizeof(HeaterControl)); for (i = 0;i