From f937e17452d6e89b67a675cd7139d84cbd7b0ee3 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Tue, 16 Apr 2019 00:42:26 +0300 Subject: minor changes --- Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c | 4 ++-- 1 file changed, 2 insertions(+), 2 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 1f7836ea5..0b19d835a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -111,12 +111,12 @@ uint32_t Winder_Prepare(void) }*/ if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) { - //REPORT_MSG(LIMIT, "Winder_Prepare at limit"); + REPORT_MSG(LIMIT, "Winder_Prepare at limit"); Winder_PrepareStage2(0,0); } else { - //REPORT_MSG(ScrewSpeed, "Winder_Prepare"); + REPORT_MSG(ScrewSpeed, "Winder_Prepare"); Winder_ScrewHoming = true; //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit"); status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2,2000); -- cgit v1.3.1 From f3a7578c8c53e50c95ed62eba4dcab80e4408b12 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 17 Apr 2019 14:38:45 +0300 Subject: version 1.3.8.51: bug fix in winder; many fixes in heaters --- .../Embedded_SW/Embedded/Common/SW_Info/SW_Info.c | 2 +- Software/Embedded_SW/Embedded/Main.c | 2 +- .../Embedded/Modules/Heaters/Heaters_print.c | 71 ++++++++++++++++------ .../Embedded/Modules/Thread/Thread_Winder.c | 12 ++-- 4 files changed, 62 insertions(+), 25 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread') 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 075f0c5d9..07fbf3ddd 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 = {1,3,8,5}; +TangoVersion_t _gTangoVersion = {1,3,8,51}; #define BUILD_DATE __DATE__ char Dat[50] = BUILD_DATE; char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c index 1c368e180..a125ef10c 100644 --- a/Software/Embedded_SW/Embedded/Main.c +++ b/Software/Embedded_SW/Embedded/Main.c @@ -177,7 +177,7 @@ int main(void) #endif #ifdef WATCHDOG - InitWatchdog(ui32SysClock*2); + InitWatchdog(ui32SysClock); #endif CommunicationTaskInit(); diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c index 93048681d..75ed06b05 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -218,7 +218,7 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState) HeaterState->heatertype = HeaterType; HeaterState->has_setpoint = true; HeaterState->setpoint = HeaterCmd[HeaterId].targettemperatue/100; - // HeaterState->setpoint = DCTimeSliceAllocation[HeaterId]*100/NumberOFSlicesInUse; + //HeaterState->setpoint = DCTimeSliceAllocation[HeaterId]*100/NumberOFSlicesInUse; HeaterState->has_currentvalue = true; HeaterState->currentvalue = temp/100;//MillisecGetTemperatures(HeaterId2PT100Id[HeaterId])/100; HeaterState->has_isactive = true; @@ -227,11 +227,16 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState) HeaterState->isrampingup = 1-HeaterReady[HeaterId]; HeaterState->has_isinsetpoint = true; HeaterState->isinsetpoint = HeaterReady[HeaterId]; - /*if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature) + if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain) { HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].outputproportionalpowerlimit; //HeaterState->isrampingup = InitialHeating; - }*/ + } + if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary) + { + HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary].outputproportionalpowerlimit; + //HeaterState->isrampingup = InitialHeating; + } return; } uint32_t HeatersSingleHeaterEnd(HardwarePidControlType HeaterId) @@ -667,10 +672,10 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue) LOG_ERROR (MaxreadValue/100, "Heater Over the max temperature, turned off"); } DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain); - HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain] = true; + HeaterMaxTempFlag[index] = true; //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0); DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary); - HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary] = true; + //HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary] = true; //HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0); return OK; } @@ -842,17 +847,18 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) return OK; } // if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) - if (readValue < (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000)) + if (readValue < (/*HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000*/HeaterCmd[index].targettemperatue-1000)) { ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary); ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain); return OK; } - 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-1000)/*(HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000)*/)&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target { ////////////////// //InitialHeating = false; + Report("AC PID Activating",__FILE__,__LINE__,readValue,RpWarning,(HeaterCmd[index].targettemperatue-1000), 0); DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary); HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary, 0); HeatersControlStart(); @@ -891,15 +897,30 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) } else //PID active { - if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0) + if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))) { - 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); + //disable PID outside band + HeaterPIDConfig[index].m_calculatedError = 0; + HeaterPIDConfig[index].m_integral = 0; + } + else if ((readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100))) + { + //disable PID outside band + HeaterPIDConfig[index].m_calculatedError = 10000; + HeaterPIDConfig[index].m_integral = 0; } else { - HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam, - &HeaterPIDConfig[index].m_params, &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral); + if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0) + { + 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); + } + else + { + HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(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); // Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index, Counter[index]); @@ -1015,15 +1036,31 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue) { //check only for the proportional band limits HeaterPIDConfig[index].m_mesuredParam = readValue; - if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0) + if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))) { - 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); + //disable PID outside band + HeaterPIDConfig[index].m_calculatedError = 0; + HeaterPIDConfig[index].m_integral = 0; + } + else if ((readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100))) + { + //disable PID outside band + HeaterPIDConfig[index].m_calculatedError = 10000; + HeaterPIDConfig[index].m_integral = 0; } else { - HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam, - &HeaterPIDConfig[index].m_params, &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral); + if (HeaterPIDConfig[index].m_params.IntegralErrorMultiplier == 0) + { + 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); + } + else + { + HeaterPIDConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam, + &HeaterPIDConfig[index].m_params, &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral); + } + } // error[index][Counter[index]] = HeaterPIDConfig[index].m_preError; // integral[index][Counter[index]] = HeaterPIDConfig[index].m_integral; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index 0b19d835a..70f32ce6d 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -111,12 +111,12 @@ uint32_t Winder_Prepare(void) }*/ if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) { - REPORT_MSG(LIMIT, "Winder_Prepare at limit"); + //REPORT_MSG(LIMIT, "Winder_Prepare at limit"); Winder_PrepareStage2(0,0); } else { - REPORT_MSG(ScrewSpeed, "Winder_Prepare"); + //REPORT_MSG(ScrewSpeed, "Winder_Prepare"); Winder_ScrewHoming = true; //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit"); status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2,2000); @@ -322,7 +322,9 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId) // * calculate // * 1. calculate speed according to JobTicket->processparameters->dyeingspeed // * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation. - screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses / InternalWinderCfg.NumberOfRotationPerPassage; + ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; + ScrewNumberOfSteps -= 100; + screw_horizontal_speed = ScrewNumberOfSteps / InternalWinderCfg.NumberOfRotationPerPassage; // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second. //RotationsPerSecond = dyeingspeed / (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulleyradius * PI); RotationsPerSecond = OriginalMotorSpd_2PPS[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; @@ -343,10 +345,8 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId) // * 3. calculate cart travel length from winding parameters // * 4. start move of travel length // * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed - ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; - ScrewNumberOfSteps -= 100; temp = SYS_CLK_FREQ; - temp *= InternalWinderCfg.segmentoffsetpulses; + temp *= ScrewNumberOfSteps; temp /= ScrewSpeed; ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed; REPORT_MSG(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps"); -- cgit v1.3.1