From d86a63d6ec2c74b5e0edd49e22a5acd04c6b6f9c Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 15 Jul 2020 13:34:46 +0300 Subject: fix thread PID handling on job start. cleaning improved. stub for watchdog added --- .../Embedded/Modules/Thread/Thread_print.c | 169 ++++++++++++--------- 1 file changed, 93 insertions(+), 76 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 42a56ae8a..1c52a9b68 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -352,9 +352,9 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) } if ((CurrentProcessedLength>=CurrentRequestedLength )&&(CurrentRequestedLength > 0.0)) { - usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); + usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Puller %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); SendJobProgress(0.0,0,false, Lenstr); - ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0); + ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)(TotalProcessedLength*100),RpWarning,(int)(PoolerTotalProcessedLength*100),0); // segment/intersegment/distance to spool finished if (ProcessedLengthFuncPtr) ProcessedLengthFuncPtr(); @@ -696,18 +696,19 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) }*`/ }*/ calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; + calculated_speed = calculated_speed*InitialDryerSpeed/OriginalMotorSpd_2PPS[DRYER_MOTOR]; //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index]; - //if (JobCounter % eHundredMillisecond == 50) - if (FirstCalcInJob == true) + if (0)//(JobCounter % 1000 == 0) + //if (JobCounter < 100)//(FirstCalcInJob == true) { - if (index == POOLER_MOTOR) + if (index == FEEDER_MOTOR) { - FirstCalcInJob = false; - len = usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d", - ReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000), + // FirstCalcInJob = false; + len = usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d %d", + TranslatedReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000), (int)(MotorControlConfig[index].m_integral*1000000000),(int)((MotorControlConfig[index].m_mesuredParam*MotorControlConfig[index].m_params.dt)*1000000000), - (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed); - ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,__LINE__,DancerId,RpError,ReadValue,0); + (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed, (int)(InitialDryerSpeed*100/OriginalMotorSpd_2PPS[DRYER_MOTOR])); + ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,MotorSamplePointer[index],JobCounter,RpError,ReadValue,0); } } @@ -720,6 +721,11 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (calculated_speed>5.0) { + if (calculated_speed>(CurrentControlledSpeed[index]+100)) + { + ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,CurrentControlledSpeed[index]+100,0); + calculated_speed=CurrentControlledSpeed[index]+100; + } CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); } @@ -845,6 +851,7 @@ uint32_t Release_Right_TFU_Tension() return status; } int SecondFeederCorrection = 4; +int PrepareWaitCount = 0; uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadValue) { MotorStop (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,Soft_Stop); //per L6470 errata between mov and run commands @@ -854,6 +861,18 @@ uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadVa Report("release tension - job aborted",__FILE__,__LINE__,MotorId,RpMessage,0,0); Release_Right_TFU_Tension(); } + if (PrepareWaitCount) + { + ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,2,RpWarning,PrepareWaitCount,0); + PrepareWaitCount--; + } + if ((PrepareWaitCount == 0)&&(PrepareState == true)) + { + PrepareState = false; + ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback Prepare Ready",__FILE__,__LINE__,2,RpWarning,PrepareWaitCount,0); + PrepareReady(Module_Thread,ModuleDone); + } + return OK; } uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue) @@ -869,16 +888,16 @@ uint32_t Adjust_Right_TFU_Tension(double tension) uint32_t status = OK; if (tension > 0.5) //0 = lower position, 1 = high position { + //PrepareWaitCount++; if (FPGA_Read_limit_Switches(GPI_LS_RDANCER_UP) == NO_LIMIT) { - MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 40, GPI_LS_RDANCER_UP, Adjust_Right_TFU_Tension_Callback,15000); + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15, GPI_LS_RDANCER_UP, Adjust_Right_TFU_Tension_Callback,15000); Report("Adjust_Right_TFU_Tension",__FILE__,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,GPI_LS_RDANCER_UP,0); } } return status; } -int PrepareWaitCount = 0; uint32_t ThreadPrepare_TensionCallback (int DancerId, double tension) { if (PrepareWaitCount) @@ -886,7 +905,7 @@ uint32_t ThreadPrepare_TensionCallback (int DancerId, double tension) ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0); PrepareWaitCount--; } - if (PrepareWaitCount == 0) + if ((PrepareWaitCount == 0)&&(PrepareState == true)) { PrepareState = false; ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback Prepare Ready",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0); @@ -1046,71 +1065,73 @@ uint32_t ThreadPrepareState(void *JobDetails) { HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i]; Pid_Id = Motor_i;/*ThreadMotorIdToControlId[Motor_i];*/ - MotorControlConfig[Motor_i].m_params.MAX = 1; - MotorControlConfig[Motor_i].m_params.MIN = MotorsControl[Pid_Id].outputproportionalpowerlimit*-1; - MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime; - MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain; - MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime; - MotorControlConfig[Motor_i].m_params.IntegralErrorMultiplier = MotorsControl[Pid_Id].setpointramprateorsoftstartramp; - MotorControlConfig[Motor_i].m_params.ProportionalErrorMultiplier = MotorsControl[Pid_Id].outputonoffhysteresisvalue; - MotorControlConfig[Motor_i].m_params.epsilon = MotorsControl[Pid_Id].epsilon; - MotorControlConfig[Motor_i].m_params.dt = MotorsControl[Pid_Id].controloutputtype; - MotorControlConfig[Motor_i].m_ingnoreValue = MotorsControl[Pid_Id].sensorcorrectionadjustment; // the minimal change required to change the motor speed in pulses - MotorControlConfig[Motor_i].m_calculatedError = 0; - MotorControlConfig[Motor_i].m_integral = 0; - MotorControlConfig[Motor_i].m_isEnabled = true; - MotorControlConfig[Motor_i].m_isReady = true; - MotorControlConfig[Motor_i].m_mesuredParam = 0; - MotorControlConfig[Motor_i].m_preError = 0; - MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage - - HandleJobThreadControlParameters(JobTicket->threadparameters); //OVERRIDES CONFIGURATION PARAMETERS!!! - - temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001; - MotorTiming[Motor_i] = (int)temp_dt; - if (MotorTiming[Motor_i]) - { - MotorTimer[Motor_i] = MotorTiming[Motor_i]-1; - ReportWithPackageFilter(ThreadFilter,"MotorTiming",__FILE__,Motor_i,MotorTiming[Motor_i],RpWarning,MotorTimer[Motor_i],0); - } + MotorControlConfig[Motor_i].m_params.MAX = 1; + MotorControlConfig[Motor_i].m_params.MIN = MotorsControl[Pid_Id].outputproportionalpowerlimit*-1; + MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime; + MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain; + MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime; + MotorControlConfig[Motor_i].m_params.IntegralErrorMultiplier = MotorsControl[Pid_Id].setpointramprateorsoftstartramp; + MotorControlConfig[Motor_i].m_params.ProportionalErrorMultiplier = MotorsControl[Pid_Id].outputonoffhysteresisvalue; + MotorControlConfig[Motor_i].m_params.epsilon = MotorsControl[Pid_Id].epsilon; + MotorControlConfig[Motor_i].m_params.dt = MotorsControl[Pid_Id].controloutputtype; + MotorControlConfig[Motor_i].m_ingnoreValue = MotorsControl[Pid_Id].sensorcorrectionadjustment; // the minimal change required to change the motor speed in pulses + MotorControlConfig[Motor_i].m_calculatedError = 0; + MotorControlConfig[Motor_i].m_integral = 0; + MotorControlConfig[Motor_i].m_isEnabled = true; + MotorControlConfig[Motor_i].m_isReady = true; + MotorControlConfig[Motor_i].m_mesuredParam = 0; + MotorControlConfig[Motor_i].m_preError = 0; + MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage + + HandleJobThreadControlParameters(JobTicket->threadparameters); //OVERRIDES CONFIGURATION PARAMETERS!!! + + temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001; + MotorTiming[Motor_i] = (int)temp_dt; + if (MotorTiming[Motor_i]) + { + MotorTimer[Motor_i] = MotorTiming[Motor_i]-1; + ReportWithPackageFilter(ThreadFilter,"MotorTiming",__FILE__,Motor_i,MotorTiming[Motor_i],RpWarning,MotorTimer[Motor_i],0); + } ////////////////////////////////////////////////// - for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++) - { - //if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled - MotorSamples[Motor_i][i] = 0; - // else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR)) - // MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint; - //MotorSpeedSamples[Motor_i][i] = 0; - } - MotorSamplePointer[Motor_i] = 0; + for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++) + { + //if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + MotorSamples[Motor_i][i] = 0; + if (Motor_i == FEEDER_MOTOR) + MotorSamples[Motor_i][i] = -500; + // else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR)) + // MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint; + //MotorSpeedSamples[Motor_i][i] = 0; + } + MotorSamplePointer[Motor_i] = 0; ///////////////////////////////////////////////////// - MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); + MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); - if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + { + ReportWithPackageFilter(ThreadFilter,"Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); + if (SpeedControlId != 0xFF) { - ReportWithPackageFilter(ThreadFilter,"Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); - if (SpeedControlId != 0xFF) - { - RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction); - SpeedControlId = 0xFF; - } - //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); - LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); - SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction); + SpeedControlId = 0xFF; } - if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); + LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); + SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + } + if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + { + ReportWithPackageFilter(ThreadFilter,"Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); + if (PoolerSpeedControlId != 0xFF) { - ReportWithPackageFilter(ThreadFilter,"Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); - if (PoolerSpeedControlId != 0xFF) - { - if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK) - ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)PoolerSpeedControlId,0); - PoolerSpeedControlId = 0xFF; - } - //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); - PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); - PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK) + ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)PoolerSpeedControlId,0); + PoolerSpeedControlId = 0xFF; } + //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); + PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); + PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + } if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled { if (ControlIdtoMotorId[Motor_i] != 0xFF) @@ -1152,10 +1173,6 @@ uint32_t ThreadPrepareState(void *JobDetails) ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); #endif } -// if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled -// AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0); - if (Motor_i == ThreadMotorIdToMotorId[DRYER_MOTOR]) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled - continue; } #ifdef TEST_PID_THREAD @@ -1382,7 +1399,7 @@ char Endstr[150]; int Motor_i; ThreadControlActive = false; uint32_t status = OK; - usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); + usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Puller %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); SendJobProgress(0.0,0,false, Endstr); ReportWithPackageFilter(ThreadFilter,Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0); -- cgit v1.3.1 From 47206cdc9db4df3c611b55905a6e540e80080f40 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Mon, 20 Jul 2020 14:33:21 +0300 Subject: Version 14.6.36 initial: block Dyeing head move on safety. some important logs --- Software/Embedded_SW/Embedded/DataDef.h | 4 +- .../Embedded/Drivers/Motors/MotorActions.c | 6 + .../Embedded/Modules/AlarmHandling/AlarmHandling.c | 4 + .../Embedded/Modules/General/GeneralHardware.c | 6 +- .../Embedded_SW/Embedded/Modules/IDS/IDS_init.c | 6 +- .../Embedded_SW/Embedded/Modules/IDS/IDS_print.c | 2 +- .../Embedded/Modules/Stubs_Handler/Progress.c | 2 +- .../Embedded/Modules/Thread/Thread_Winder.c | 4 +- .../Embedded/Modules/Thread/Thread_print.c | 2 +- .../stubs/embeddedparametersbuild_w_cleaning.cs | 195 +++++++++++++++++++++ 10 files changed, 218 insertions(+), 13 deletions(-) create mode 100644 Software/Stubs Collection/stubs/embeddedparametersbuild_w_cleaning.cs (limited to 'Software/Embedded_SW/Embedded/Modules/Thread') diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h index 32ea48152..0e38c6e2e 100644 --- a/Software/Embedded_SW/Embedded/DataDef.h +++ b/Software/Embedded_SW/Embedded/DataDef.h @@ -20,9 +20,9 @@ #define NO_INITIAL_HEATING #define MAX_STRING_LEN 255 //Embedded version + filter.c -//#define WATCHDOG +#define WATCHDOG //#define DISPESER_TEST -#define FPGA_WATCHDOG_DISABLE +//#define FPGA_WATCHDOG_DISABLE //#define USE_POWERSTEP01 -NA diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c index b2e623a11..12c9193e3 100644 --- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c +++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c @@ -179,6 +179,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S printBusy = true; Report("MotorControlGetnBusyState print",__FILE__,__LINE__,MotorDriverResponse[MotorId].Busy,RpMessage,0,0); }*/ + ReportWithPackageFilter(GeneralFilter,"MotorMoveWithCallback",__FILE__,direction,MotorId,RpMessage,Steps,0); //call driver action to device id with the parameter //SetMotorSpeed (deviceId, parameter); @@ -657,6 +658,11 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t MotorId,bool direction, uint32_t //SetMotorSpeed (deviceId, parameter); if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DH_LID) { + if ((Is_PP_Machine()==true)&&(Safety_Incident_Report()==Safety_Event_Occurred)) + { + ReportWithPackageFilter(GeneralFilter,"cannot open dyeing head lid when safety active",__FILE__,direction,MotorId,RpMessage,Safety_Incident_Report(),0); + return ERROR; + } DeActivateHeadMagnet(); //open the lid magnet if (direction == MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize) { diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c index 650d9be24..cc8ae5be8 100644 --- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c +++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c @@ -1325,6 +1325,10 @@ uint32_t AlarmHandlingLoop(uint32_t tick) { Status = false; } + else if (AlarmItem[Alarm_i].DeviceId == HARDWARE_MOTOR_TYPE__MOTO_SCREW) + { + Status = false; + } else { switch (AlarmItem[Alarm_i].AlarmValue) diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c index 1e828c74f..e9d9a4e9b 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c +++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c @@ -424,8 +424,8 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest) EmbeddedParametersInit(); PrintingHWConfiguration(request); - if (request->n_winders == 1) - status += InternalWinderConfigMessage(request->winders); + //if (request->n_winders == 1) + // status += InternalWinderConfigMessage(request->winders); status += MotorsInit(); @@ -494,7 +494,7 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest) DispenserId = request->dispensers[Dispenser_i]->index; Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF ); //Atm_MidTank_OFF/ON Valve_Set(IDS_Id_to_CartrideValve[DispenserId], Atm_MidTank_OFF ); //Atm_MidTank_OFF/ON - status += DispenserConfigMessage(request->dispensers[Dispenser_i]); + //status += DispenserConfigMessage(request->dispensers[Dispenser_i]); if (Check_Dispenser_Type(DispenserId) == LS_STATUS_ERROR) { LOG_ERROR (DispenserId, "Dispenser identification failed"); diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c index 470bf974e..8f1de2c1c 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c @@ -17,7 +17,7 @@ #define MAX_CONTROL_SAMPLES 10 -HardwareDispenser DispensersCfg[ MAX_SYSTEM_DISPENSERS]; +//HardwareDispenser DispensersCfg[ MAX_SYSTEM_DISPENSERS]; TimerMotors_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS] = {HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8}; @@ -37,7 +37,7 @@ bool isDispenserInConfig(int DispenserId) } -uint32_t DispenserConfigMessage(HardwareDispenser * request) +/*uint32_t DispenserConfigMessage(HardwareDispenser * request) { uint32_t status = PASSED; int Dispenser_i; @@ -50,7 +50,7 @@ uint32_t DispenserConfigMessage(HardwareDispenser * request) } else return Dispenser_i; -} +}*/ void IDS_ModuleInit(void) { Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c index ac9bd0deb..8682d648a 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -651,7 +651,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue) "WFCF Dispenser %d nl/sec %d nl/pulse %d Pulse/sec %d speed %d", DispenserId, (int) Dispensers[Dispenser_i]->nanolitterpersecond, - (int) Dispensers[Dispenser_i]->nanoliterperpulse, + (int) (Dispensers[Dispenser_i]->nanoliterperpulse*100), (int) Dispensers[Dispenser_i]->pulsepersecond*1000, (int) segmentfirst_speed*1000); //REPORT_MSG(segmentfirst_speed,IdsMessage); diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c index bfea7b13b..6b6b85f2f 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c @@ -1125,7 +1125,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); size_t container_size = message_container__pack(&responseContainer, container_buffer); free(responseContainer.data.data); - //writeLine("Progress Completed!"); + progress_request__free_unpacked(request,NULL); SendChars((char*)container_buffer, container_size); //free(container_buffer); if (RestartNeeded == true) diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index 92b953db5..420141d5b 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -89,14 +89,14 @@ void SetWinderBackToBaseTime(uint32_t value) ReportWithPackageFilter(ThreadFilter,"Set WinderBackToBaseTime",__FILE__,__LINE__,WinderBackToBaseTime,RpWarning,KeepWindingCone, 0); } -uint32_t InternalWinderConfigMessage(HardwareWinder* request) +/*uint32_t InternalWinderConfigMessage(HardwareWinder* request) { uint32_t status = PASSED; InternalWinderCfg.milimetersperrotation = request->millimeterperrotation; return status; -} +}*/ char ScrewStr[150]; uint32_t InternalWindingConfigMessage(JobSpool* request) diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 1c52a9b68..c67619e20 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -963,7 +963,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension) } usnprintf(Lenstr, 100, "ThreadPrepare_Tension Dancer %d Request: %d Current %d movement %d dir %d motor %d address %d", DancerId,request,current,movement,direction,HW_Motor_Id,address); - ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,address,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpWarning,PrepareWaitCount,0); + ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,address,current,RpWarning,request,0); return status; } diff --git a/Software/Stubs Collection/stubs/embeddedparametersbuild_w_cleaning.cs b/Software/Stubs Collection/stubs/embeddedparametersbuild_w_cleaning.cs new file mode 100644 index 000000000..eaf15b1f6 --- /dev/null +++ b/Software/Stubs Collection/stubs/embeddedparametersbuild_w_cleaning.cs @@ -0,0 +1,195 @@ +using System; +using System.Text; +using System.Linq; +using System.Drawing; +using System.Diagnostics; +using System.Windows.Forms; +using System.Threading; +using System.Threading.Tasks; +using System.Collections.Generic; +using Tango.PMR.Stubs; +using Tango.Stubs; +using Google.Protobuf; +using Tango.PMR.EmbeddedParameters; +using System.IO; +using Tango.PMR.IO; + + +public void OnExecute(StubManager stubManager) +{ + + +ConfigurationParameters configurationParameters = new ConfigurationParameters(); + +configurationParameters.BreakSensorLimit = 10; + +//how many samples to collect in diagnostics before sending +configurationParameters.DiagnosticCollectionLimit = 3; + +//how many consecutive readout before declaring DC over/underheat alarm +configurationParameters.OverHeatCountLimit = 3; +configurationParameters.UnderHeatCountLimit = 3; + +// time of motor activity before opening the valve or after closing the valve, in milliseconds +configurationParameters.CloseValveTimeout = 20; +configurationParameters.OpenValveTimeout = 20; + +//backlash after filling - target pressure, timoeout, time staps (speed will be added in general parameters) +configurationParameters.InitialDispenserPressure = 0.25; +configurationParameters.InitialDispenserTimeout = 60000; //20 seconds +configurationParameters.InitialDispenserTimeLag = 100; + +//job prepare - build pressure in dispensers - target pressure, timoeout, time staps, speed +configurationParameters.DispenserBuildPressureSpeed = 950; //no more than 1000 +configurationParameters.DispenserBuildPressureLimit = 0.85; +configurationParameters.DispenserBuildPressureTimeout = 180000; +configurationParameters.DispenserBuildPressureLag = 100; + +//temperature band 1000 = 100% - thresholds for job start around target temprature - AC +configurationParameters.ACHeatersLowerOperationLimit = 995; +configurationParameters.ACHeatersUpperOperationLimit = 1005; + +//temperature band 1000 = 100% - thresholds for job start around target temprature - DC +configurationParameters.DCHeatersLowerOperationLimit = 978; +configurationParameters.DCHeatersUpperOperationLimit = 1005; + +// mid tank reading offset to add to the readout (OBSOLETE!) +configurationParameters.MidTankPressureCorrection = 0.0; + +//waste factor for intersegment pressure building +configurationParameters.DispenserPresegmentWFCF = 40; +//how much time to start the WFCF process (pressure buildup) before segment start +configurationParameters.IDSPreSegmentWFCFTimeBeforeSegment = 12000; + +//flag: start heaters according to saved process parameters upon init? +configurationParameters.StartHeatingOnInitSequence = true; + +// current test for the heaters - alarm thresholds +configurationParameters.CurrentAlarmLowLimit = 0.78; +configurationParameters.CurrentAlarmHighLimit = 1.07; + +//currently not in use +configurationParameters.IDSSegmentRefillTimeout = 5000; +configurationParameters.IDSPreSegmentBuildupTime = 5000; +//cleaning!!!!!!!!!! +configurationParameters.IDSCleaningSpeed = 800; +configurationParameters.IDSCleaningStopBeforeSegmentTime = 10000; //end of presegemnt +configurationParameters.IDSCleaningStartSprayPreSegmentTime =2000; //beginning of presegment + +int Tup = 6,Tdelay1 = 26,Tdelay2 = 65;//300 milli up, stay 1 sec, stay down 2 sec +// Tup = LeftRockerSpeed/100; +// Tdelay1 = LeftRockerSpeed%100; +// Tdelay2 = RightRockerSpeed; +int LeftRockerSpeed = Tup*100+Tdelay1; +int RightRockerSpeed = Tdelay2; + +configurationParameters.IDSLeftCleaningMotorSpeed = LeftRockerSpeed; +configurationParameters.IDSRightCleaningMotorSpeed = RightRockerSpeed; + +configurationParameters.SwitchToIdleTimeinSeconds = 3600; +configurationParameters.IdleDrierTemperature = 80; +configurationParameters.IdleHeadTemperature = 80; +configurationParameters.IdleMixerTemperature = 0; +configurationParameters.PowerOffTemperatureLimit = 60; + +//general parameters, ORDER MUST BE PRESERVED!!!! +//check the dispensers hard limit alarms +/*1*/ +Double checkHardLimitAlarms = new Double(); + +checkHardLimitAlarms = 1.0; +configurationParameters.GeneralParameters.Add(checkHardLimitAlarms); + +/*2*/ +Double checkCurrentAlarms = new Double(); +checkCurrentAlarms = 0.0; +configurationParameters.GeneralParameters.Add(checkCurrentAlarms); +//check the tamper alarms + +/*3*/ +Double checkTamperAlarms = new Double(); +checkTamperAlarms = 1.0; +configurationParameters.GeneralParameters.Add(checkTamperAlarms); + +/*4*/ +Double checkMotorAlarms = new Double(); +checkMotorAlarms = 1.0; +configurationParameters.GeneralParameters.Add(checkMotorAlarms); + +/*5*/ +Double WinderBackToBaseTime = new Double(); +WinderBackToBaseTime = 820.0; +configurationParameters.GeneralParameters.Add(WinderBackToBaseTime); + +/*6*/ +Double DispenserInitialPressureSpeed = new Double(); +DispenserInitialPressureSpeed = 1050.0; +configurationParameters.GeneralParameters.Add(DispenserInitialPressureSpeed); + +/*7*/ +Double SetDiagnosticMode = new Double(); +SetDiagnosticMode = 3.0; +configurationParameters.GeneralParameters.Add(SetDiagnosticMode); + +/*8*/ +Double SetAutoFill = new Double(); +SetAutoFill = 3.0; +configurationParameters.GeneralParameters.Add(SetAutoFill); + +File.WriteAllBytes("C:/temp/EmbParam.cfg",configurationParameters.ToBytes()); + +byte[] fileBytes = File.ReadAllBytes("C:/temp/EmbParam.cfg"); + + +var config = ConfigurationParameters.Parser.ParseFrom(fileBytes); + +stubManager.Write( config); +Thread.Sleep(1000); + + +stubManager.Write("\n\n Deleting old file"); + +DeleteRequest deleteRequest = new DeleteRequest(); +deleteRequest.Path = "SYSINFO//EmbParam.cfg"; +deleteRequest.Attribute = Tango.PMR.IO.FileAttribute.Unspecified; +DeleteResponse response5 = stubManager.Run(deleteRequest); + + +Thread.Sleep(1000); +stubManager.Write("\n\n Loading new file file"); + +FileUploadRequest fileUploadRequest = new FileUploadRequest(); +fileUploadRequest.Path = "SYSINFO//EmbParam.cfg"; +fileUploadRequest.Length = (int)fileBytes.Length; +FileUploadResponse response2 = stubManager.Run(fileUploadRequest); +Thread.Sleep(1000); +long chunk_size = response2.MaxChunkLength; + +FileStream fs = new FileStream("C:/temp/EmbParam.cfg",FileMode.Open); + +while (fs.Position < fs.Length) +{ + stubManager.Write("Position "+ fs.Position+ " Length "+ fs.Length +"\n\n"); + FileChunkUploadRequest fileChunkUploadRequest = new FileChunkUploadRequest(); + fileChunkUploadRequest.UploadID = response2.UploadID; + byte[] chunk = new byte[Math.Min(chunk_size,fs.Length - fs.Position)]; + fs.Read(chunk,0,chunk.Length); + fileChunkUploadRequest.Buffer = ByteString.CopyFrom(chunk); + var response3 = stubManager.Run(fileChunkUploadRequest); + Thread.Sleep(2000); + +} + +// activating the new file +ProgressRequest progressRequest = new ProgressRequest(); +progressRequest.Amount = 0xCD; +progressRequest.Delay = 0xCD; +var response1 = stubManager.Run(progressRequest); + + +/* +13:46:42.38: Executing script 'embeddedparametersbuild.cs'... +{ "BreakSensorLimit": 10, "DiagnosticCollectionLimit": 1, "OverHeatCountLimit": 3, "UnderHeatCountLimit": 3, "CloseValveTimeout": 255, "OpenValveTimeout": 255, "InitialDispenserPressure": 1.5, "InitialDispenserTimeout": 60000, "InitialDispenserTimeLag": 100, "DispenserBuildPressureSpeed": 800, "DispenserBuildPressureLimit": 0.9, "DispenserBuildPressureTimeout": 80000, "DispenserBuildPressureLag": 50, "ACHeatersLowerOperationLimit": 995, "ACHeatersUpperOperationLimit": 1005, "DCHeatersLowerOperationLimit": 978, "DCHeatersUpperOperationLimit": 1005, "DispenserPresegmentWFCF": 80, "StartHeatingOnInitSequence": true, "GeneralParameters": [ 1, 1, 1, 1, 800, 1000 ], "CurrentAlarmLowLimit": 0.8, "CurrentAlarmHighLimit": 1.07, "IDSSegmentRefillTimeout": 5000, "IDSPreSegmentBuildupTime": 5000, "IDSCleaningSpeed": 50, "IDSCleaningStopBeforeSegmentTime": 3000, "IDSCleaningStartSprayPreSegmentTime": 1000, "IDSLeftCleaningMotorSpeed": 30, "IDSRightCleaningMotorSpeed": 23, "SwitchToIdleTimeinSeconds": 3600, "IdleDrierTemperature": 80, "IdleHeadTemperature": 80, "PowerOffTemperatureLimit": 50, "IDSPreSegmentWFCFTimeBeforeSegment": 1500 } */ + + +} \ No newline at end of file -- cgit v1.3.1