From 517b7d9643f336d498fada274d6666da38e42c06 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 14 Aug 2019 15:11:15 +0300 Subject: Version 1.4.3.7 VOC sensors, disable saving dispenser data to flash during a job (winder jump), screw encoder data,power off and init improved. --- .../Embedded/Modules/Thread/Thread_Winder.c | 54 ++++++++++++++++++---- 1 file changed, 44 insertions(+), 10 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index 7e1312464..0ed0f5318 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -59,10 +59,11 @@ static uint32_t WindingConeLocation; static uint32_t WinderBackToBaseTime = 800; InternalWinderConfigStruc InternalWinderCfg = {0}; - +#define READ_SCREW_ENCODER +#ifdef READ_SCREW_ENCODER uint32_t ScrewLocationLimitSwitch = 0,ScrewLocationStart = 0; uint32_t ScrewLocationRun[3]; - +#endif bool SampleWinding = false; uint32_t Winder_Init(void) { @@ -89,6 +90,8 @@ uint32_t InternalWinderConfigMessage(HardwareWinder* request) return status; } +char ScrewStr[150]; + uint32_t InternalWindingConfigMessage(JobSpool* request) { uint32_t status = PASSED; @@ -99,6 +102,9 @@ uint32_t InternalWindingConfigMessage(JobSpool* request) InternalWinderCfg.SpoolBottomBackingRate = request->bottombackingrate; InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage; InternalWinderCfg.diameter = request->diameter; + usnprintf(ScrewStr, 150, "WindingConfig start,offset,head,tail {, %d, %d, %d, %d, %d}",InternalWinderCfg.startoffsetpulses,(int)InternalWinderCfg.segmentoffsetpulses, + (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate); + Report(ScrewStr,__FILE__,__LINE__,(int)InternalWinderCfg.diameter,RpWarning,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000), 0); return status; } @@ -132,8 +138,10 @@ uint32_t Winder_Prepare(void *JobDetails) return ERROR; }*/ +#ifdef READ_SCREW_ENCODER ScrewLocationRun[0] = 0; ScrewLocationRun[1] = 0; +#endif if (( KeepWindingCone == false)||(WindingConeLocation == 0)) { WindingConeLocation = InternalWinderCfg.startoffsetpulses; @@ -176,10 +184,11 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses); //REPORT_MSG(numOfSteps, "Winder_PrepareStage2"); +#ifdef READ_SCREW_ENCODER Read_Screw_Encoder(); ScrewLocationLimitSwitch = Screw_RotEnc.Position; REPORT_MSG(ScrewLocationLimitSwitch, "Winder_PrepareStage2 Encoder Location"); - +#endif REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2"); if (ReadValue != LIMIT) @@ -203,6 +212,7 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag) MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Soft_Hiz); //per L6470 errata between mov and run commands Task_sleep(5); +#ifdef READ_SCREW_ENCODER Reset_Screw_Encoder(); Task_sleep(5); Read_Screw_Encoder(); @@ -210,10 +220,13 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag) ScrewLocationStart = Screw_RotEnc.Position; REPORT_MSG(ScrewLocationStart, "Winder_ScrewAtOffsetCallback Encoder Location"); +#endif SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW); //set this point as the spool home ScrewCurrentDirection = false; +#ifdef READ_SCREW_ENCODER ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position; +#endif ScrewSpeed = 0; ScrewControlId = 0xFF; ScrewNumberOfSteps = 0; @@ -249,7 +262,7 @@ InternalWinderCfg.segmentoffsetpulses numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; */ -char ScrewStr[150]; + //char TempScrewStr[100]; double WinderReferenceSpeed=0; double TotalWinderSpeed=0; @@ -259,6 +272,8 @@ int flipflop = 0; uint32_t motspeed; float speedf; int WinderCalculation = 0; +float WinderRunAverage = 0.0,WinderRunSum = 0.0; +int WinderRunSamples = 0; uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) { //uint32_t Steps; @@ -266,6 +281,8 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) double screw_horizontal_speed = 0; double RotationsPerSecond; double Averagewinderspeed = 0; + int WinderRun; + // { // TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter]; @@ -302,13 +319,28 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) if (SampleWinding) return OK; //double calcsteps = (ScrewRunningTime/SYS_CLK_FREQ)*ScrewSpeed; - //REPORT_MSG((abs(ScrewLocationRun[1] - ScrewLocationRun[0]), "Screw Run NumberOfSteps"); -// usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d intent %d rot %d",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,Rotations*10); +#ifdef READ_SCREW_ENCODER + WinderRun = abs(ScrewLocationRun[1] - ScrewLocationRun[0]); + if ((WinderRun < 50000)&&(Add100 == false)) + { + WinderRunSum+=WinderRun; + WinderRunSamples++; + WinderRunAverage = WinderRunSum/WinderRunSamples; + if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0)) + { + usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples, + (int)(100*WinderRun/ScrewNumberOfSteps)); + Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0); + } + } + //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0); + //REPORT_MSG(abs(ScrewLocationRun[1] - ScrewLocationRun[0]), "Screw Run NumberOfSteps"); + //usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d intent %d rot %d",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,Rotations*10); //usnprintf(ScrewStr, 150, "Winder Encoder:id, diff, intended, winderspeed, rotation, speed, time, mot speed {, %d, %d, %d, %d, %d, %d, %d, %d, }",CalculationDirectionChangeCounter, // abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,(int)(WinderReferenceSpeed),(int)(Rotations*10),(int)ScrewSpeed,(int)ScrewRunningTime,(int)speedf); //usnprintf(ScrewStr, 100, "Winder Encoder: 0 %d 1 %d diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],ScrewLocationRun[1] - ScrewLocationRun[0]); //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0); - +#endif if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out { if (Add100 == true) //once per job @@ -321,7 +353,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) { ScrewNumberOfSteps--; WindingConeLocation--; - // ReportWithPackageFilter(ThreadFilter,"Head Backing",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0); + ReportWithPackageFilter(ThreadFilter,"Head Backing",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0); } } else //next time going back @@ -329,7 +361,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag) if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.SpoolBottomBackingRate == 0) { ScrewNumberOfSteps++; - // Report("Bottom Backing ",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0); + Report("Bottom Backing ",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0); } } /* if (WinderMotorSpeedRollOver) @@ -617,11 +649,13 @@ void ScrewTimerInterrupt(int ARG0) if (SCREW_TimerActivated == true) { - Read_Screw_Encoder(); ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime); MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); +#ifdef READ_SCREW_ENCODER + Read_Screw_Encoder(); ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position; +#endif // ScrewChangeCounter = 0; // ScrewChangeLimit = ScrewRunningTime/12000000; ScrewDirectionChangeCounter++; -- cgit v1.3.1