From f952ee0e6e7ca0633d49ad1da9e209a0a3aa4621 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 1 Aug 2018 18:03:18 +0300 Subject: handle heater off command, improves screw speed, improve diagnostics --- .../Embedded/Modules/Control/MillisecTask.c | 18 +- .../Embedded/Modules/Diagnostics/Diagnostics.c | 172 +++++++-------- .../Modules/Diagnostics/DiagnosticsHoming.c | 16 +- .../Embedded_SW/Embedded/Modules/General/process.c | 243 ++++++--------------- .../Embedded/Modules/Heaters/Heaters_print.c | 4 +- .../Embedded_SW/Embedded/Modules/IDS/IDS_print.c | 2 +- .../Embedded_SW/Embedded/Modules/Thread/Thread.h | 1 + .../Embedded/Modules/Thread/Thread_Winder.c | 32 ++- .../Embedded/Modules/Thread/Thread_print.c | 7 +- 9 files changed, 220 insertions(+), 275 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules') diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 83c20f769..28cdc3702 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -12,7 +12,7 @@ ////////////////////////////////State machine operation//////////////////////////////////// //the state machine operation is used to operate in runtime correct profile flow execution -//by recieved esign flow of the user from the UI +//by recieved design flow of the user from the UI /////////////////////////////////////////////////////////////////////////////////////////// #include "include.h" #include "Modules/General/GeneralHardware.h" @@ -269,11 +269,12 @@ uint32_t MillisecLoop(uint32_t tick) //call all modules Millisec functions //test dancers and speed encoders //check all callback units (state machine waiting for completion of a change) - bool Ten_msTick, Hundred_msTick, Onesecond_Tick,O900Millisecond_Tick; + bool Ten_msTick, Hundred_msTick, Onesecond_Tick,O900Millisecond_Tick,Tick98; Ten_msTick = (tick%eTenMillisecond == 0) ?true:false; Hundred_msTick = (tick%eHundredMillisecond == 0) ?true:false; O900Millisecond_Tick = (tick%eOneSecond == 900) ?true:false; Onesecond_Tick = (tick%eOneSecond == 0) ?true:false; + Tick98 = (tick%eHundredMillisecond == 99) ?true:false; //gather Motor data from FPGA //ROM_IntMasterDisable(); @@ -386,10 +387,23 @@ uint32_t MillisecLoop(uint32_t tick) { Speed_Data = Read_Speed_Sensor(); } + if (Tick98) + { + //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING); + //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING); + //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING); + //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_WINDER); + //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW); + } if (Hundred_msTick) { for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++) MillisecReadFromTempSensor(Sensor_i, NULL); + //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING); + //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING); + //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING); + //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_WINDER); + //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW); } if (O900Millisecond_Tick) diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index 49be765cc..ead95388a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -37,6 +37,7 @@ #include #include "PMR/debugging/DebugLogCategory.pb-c.h" +#include "StateMachines/Printing/PrintingSTM.h" char DiagnosticsToken[36+1] = {0}; bool DiagnosticsActive = false; @@ -77,10 +78,10 @@ double dryerzone2temperature[DIAGNOSTICS_LIMIT]; double dryerzone3temperature[DIAGNOSTICS_LIMIT]; -double dispensermotorfrequency[DIAGNOSTICS_LIMIT][MAX_SYSTEM_DISPENSERS]; -double dispenserspressure[DIAGNOSTICS_LIMIT][MAX_SYSTEM_DISPENSERS]; +double dispensermotorfrequency[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT]; +double dispenserspressure[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT]; -double dispenser1motorfrequency[DIAGNOSTICS_LIMIT]; +/*double dispenser1motorfrequency[DIAGNOSTICS_LIMIT]; double dispenser2motorfrequency[DIAGNOSTICS_LIMIT]; double dispenser3motorfrequency[DIAGNOSTICS_LIMIT]; double dispenser4motorfrequency[DIAGNOSTICS_LIMIT]; @@ -88,7 +89,7 @@ double dispenser5motorfrequency[DIAGNOSTICS_LIMIT]; double dispenser6motorfrequency[DIAGNOSTICS_LIMIT]; double dispenser7motorfrequency[DIAGNOSTICS_LIMIT]; double dispenser8motorfrequency[DIAGNOSTICS_LIMIT]; - +*/ Task_Handle Diagnostics_Task_Handle; Mailbox_Handle DiagnosticsMsgQ = NULL; @@ -122,13 +123,13 @@ void DiagnosticsInit(void) return; } uint8_t HeaterCounterIndex[MAX_HEATERS_NUM]= {0,0,0,0,0,0,0,0,0,0}; -Double HeaterTemperature[MAX_HEATERS_NUM][DIAGNOSTICS_LIMIT]; +double HeaterTemperature[MAX_HEATERS_NUM][DIAGNOSTICS_LIMIT]; uint8_t DancerCounterIndex[NUM_OF_DANCERS]= {0,0,0}; -uint16_t DancerValue[NUM_OF_DANCERS][DIAGNOSTICS_DANCER_LIMIT]; +double DancerValue[NUM_OF_DANCERS][DIAGNOSTICS_DANCER_LIMIT]; uint8_t MotorCounterIndex[MAX_THREAD_MOTORS_NUM]= {0,0,0}; -uint16_t MotorValue[MAX_THREAD_MOTORS_NUM][DIAGNOSTICS_LIMIT]; +double MotorValue[MAX_THREAD_MOTORS_NUM][DIAGNOSTICS_LIMIT]; uint8_t SpeedCounterIndex= 0; -uint32_t SpeedValue[DIAGNOSTICS_DANCER_LIMIT]; +double SpeedValue[DIAGNOSTICS_DANCER_LIMIT]; void DiagnosticLoadMotor(int MotorId, int frequency) { @@ -180,7 +181,8 @@ void DiagnosticTenMsecCollection(void) { if (DiagnosticsActive == false) return; - + if (JobIsActive()== false) + return; DiagnosticLoadDancer(WINDER_DANCER,Control_Read_Dancer_Position(WINDER_DANCER, 0,0)); DiagnosticLoadDancer(POOLER_DANCER,Control_Read_Dancer_Position(POOLER_DANCER, 0,0)); DiagnosticLoadDancer(FEEDER_DANCER,Control_Read_Dancer_Position(FEEDER_DANCER, 0,0)); @@ -197,11 +199,14 @@ void Diagnostic100msecCollection(void) // dancer2angle[DiagnosticsIndex] = Control_Read_Dancer_Position(POOLER_DANCER, 0,0); // dancer3angle[DiagnosticsIndex] = Control_Read_Dancer_Position(FEEDER_DANCER, 0,0); - DiagnosticLoadMotor(FEEDER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING)); - DiagnosticLoadMotor(DRYER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING)); - DiagnosticLoadMotor(POOLER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)); - DiagnosticLoadMotor(WINDER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_WINDER)); - DiagnosticLoadMotor(SCREW_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW)); + if (JobIsActive()) + { + DiagnosticLoadMotor(FEEDER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING)); + DiagnosticLoadMotor(DRYER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING)); + DiagnosticLoadMotor(POOLER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)); + DiagnosticLoadMotor(WINDER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_WINDER)); + DiagnosticLoadMotor(SCREW_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW)); + } /* feedermotorfrequency[DiagnosticsIndex] = MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING); dryermotor[DiagnosticsIndex] = MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING); @@ -233,10 +238,10 @@ void Diagnostic100msecCollection(void) */ for (i=0;ihas_direction)&&(request->has_speed)) + if (request->has_direction) { + switch (request->direction) + { + case MOTOR_DIRECTION__Forward: + Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer + break; + case MOTOR_DIRECTION__Backward: + Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer + break; + } MotorSetDirection(MotorId,request->direction); MotorSetSpeed(MotorId, /*request->speed*/150); } - /*else - { - status = ERROR; - }*/ } else { @@ -366,6 +371,7 @@ uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer) TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1; MotorStop(MotorId,Hard_Hiz); + Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortJoggingResponse, requestContainer->token, false, &response, &dispenser_abort_jogging_response__pack, &dispenser_abort_jogging_response__get_packed_size); responseContainer.continuous = false; diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c index dd2c6b17c..e254c9ff1 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/process.c +++ b/Software/Embedded_SW/Embedded/Modules/General/process.c @@ -35,199 +35,96 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams) { ProcessParametersKeep = ProcessParams; } - if (ProcessParams->has_mixertemp) - { - if (ProcessParams->mixertemp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__MixerHeater, true, - ProcessParams->mixertemp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__MixerHeater, false, - ProcessParams->mixertemp); - } + if (ProcessParams->mixertemp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__MixerHeater, true, + ProcessParams->mixertemp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__MixerHeater, false,0); - } - if (ProcessParams->has_headzone1temp) - { - if (ProcessParams->headzone1temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, true, - ProcessParams->headzone1temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false, - ProcessParams->headzone1temp); - } + HARDWARE_PID_CONTROL_TYPE__MixerHeater, false, + ProcessParams->mixertemp); + if (ProcessParams->headzone1temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, true, + ProcessParams->headzone1temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false,0); - } - if (ProcessParams->has_headzone2temp) - { - if (ProcessParams->headzone2temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, true, - ProcessParams->headzone2temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false, - ProcessParams->headzone2temp); - } + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false, + ProcessParams->headzone1temp); + if (ProcessParams->headzone2temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, true, + ProcessParams->headzone2temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false,0); - } - if (ProcessParams->has_headzone3temp) - { - if (ProcessParams->headzone3temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, true, - ProcessParams->headzone3temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false, - ProcessParams->headzone3temp); - } + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false, + ProcessParams->headzone2temp); + if (ProcessParams->headzone3temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, true, + ProcessParams->headzone3temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false,0); - } - if (ProcessParams->has_headzone4temp) - { - if (ProcessParams->headzone4temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, true, - ProcessParams->headzone4temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, false, - ProcessParams->headzone4temp); - } + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false, + ProcessParams->headzone3temp); + if (ProcessParams->headzone4temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, true, + ProcessParams->headzone4temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, false,0); - } - if (ProcessParams->has_headzone5temp) - { - if (ProcessParams->headzone5temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, true, - ProcessParams->headzone5temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, false, - ProcessParams->headzone5temp); - } + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, false, + ProcessParams->headzone4temp); + if (ProcessParams->headzone5temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, true, + ProcessParams->headzone5temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, false,0); - } - if (ProcessParams->has_headzone6temp) - { - if (ProcessParams->headzone6temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, true, - ProcessParams->headzone6temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, false, - ProcessParams->headzone6temp); - } + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, false, + ProcessParams->headzone5temp); + if (ProcessParams->headzone6temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, true, + ProcessParams->headzone6temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, false,0); - } - if (ProcessParams->has_dryerzone1temp) - { - if (ProcessParams->dryerzone1temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, true, - ProcessParams->dryerzone1temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, false, - ProcessParams->dryerzone1temp); - } + HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, false, + ProcessParams->headzone6temp); + if (ProcessParams->dryerzone1temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, true, + ProcessParams->dryerzone1temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, false,0); - } - if (ProcessParams->has_dryerzone2temp) - { - if (ProcessParams->dryerzone2temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, true, - ProcessParams->dryerzone2temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, false, - ProcessParams->dryerzone2temp); - } + HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, false, + ProcessParams->dryerzone1temp); + if (ProcessParams->dryerzone2temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, true, + ProcessParams->dryerzone2temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, false,0); - } - if (ProcessParams->has_dryerzone3temp) - { - if (ProcessParams->dryerzone3temp) - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, true, - ProcessParams->dryerzone3temp); - else - status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, false, - ProcessParams->dryerzone3temp); - } + HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, false, + ProcessParams->dryerzone2temp); + if (ProcessParams->dryerzone3temp) + status |= HeaterCommandRequestMessage( + HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, true, + ProcessParams->dryerzone3temp); else - { status |= HeaterCommandRequestMessage( - HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, false,0); - } - if (ProcessParams->has_dyeingspeed) - { - dyeingspeed = ProcessParams->dyeingspeed; - } - if (ProcessParams->has_dryerbufferlength) - { - dryerbufferlength = ProcessParams->dryerbufferlength; - } - if (ProcessParams->has_mininkuptake) - { - mininkuptake = ProcessParams->mininkuptake; - } - if (ProcessParams->has_feedertension) - { - feedertension = ProcessParams->feedertension; - } - if (ProcessParams->has_pullertension) - { - pullertension = ProcessParams->pullertension; - } - if (ProcessParams->has_windertension) - { - windertension = ProcessParams->windertension; - } - if (ProcessParams->has_headairflow) - { - headairflow = ProcessParams->headairflow; - } - if (ProcessParams->has_dryerairflow) - { - dryerairflow = ProcessParams->dryerairflow; - } - return OK;//status; + HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, false, + ProcessParams->dryerzone3temp); + dyeingspeed = ProcessParams->dyeingspeed; + dryerbufferlength = ProcessParams->dryerbufferlength; + mininkuptake = ProcessParams->mininkuptake; + feedertension = ProcessParams->feedertension; + pullertension = ProcessParams->pullertension; + windertension = ProcessParams->windertension; + headairflow = ProcessParams->headairflow; + dryerairflow = ProcessParams->dryerairflow; + + return OK;//status; } void ProcessRequestFunc(MessageContainer* requestContainer) diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c index c0f0fae1f..d8cfdb846 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -238,11 +238,11 @@ uint32_t HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature) //stop the control HeaterPIDConfig[HeaterId].m_SetParam = 0; } - else + /*else { LOG_ERROR (OnOff, "unsupported command id"); return ERROR; - } + }*/ return OK; } diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c index bfdb7b5d7..d1e23b657 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -299,7 +299,7 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId) //******************************************************************************************************************** uint32_t IDSDistanceToSpoolState(void) { - int Dispenser_i,DispenserId; + int Dispenser_i; TimerMotors_t HW_Motor_Id; for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++) diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h index 5084114c6..3a0b25ba8 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h @@ -40,6 +40,7 @@ extern HardwareMotor MotorsCfg[NUM_OF_MOTORS]; extern HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM]; //extern InternalWinderConfigStruc InternalWinderCfg; extern HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS]; +extern uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM]; #define MAX_CONTROL_SAMPLES 10 extern int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index 0680e97a4..30cbd4db3 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -168,6 +168,8 @@ numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction) { uint32_t NumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; + float screw_speed = 0; + float RotationsPerSecond; if (Counter) { @@ -176,6 +178,15 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction) NumberOfSteps -= (Counter/InternalWinderCfg.spoolbackingrate); REPORT_MSG(ScrewNumberOfSteps, "Head Backing"); ScrewNumberOfSteps--; + screw_speed = InternalWinderCfg.segmentoffsetpulses / 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 / (InternalWinderCfg.diameter * PI); + RotationsPerSecond = CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; + // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. + ScrewSpeed = screw_speed*RotationsPerSecond; + + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); + } if ((Counter%InternalWinderCfg.SpoolBottomBackingRate == 0)||(Counter%InternalWinderCfg.SpoolBottomBackingRate == 1)) { @@ -193,6 +204,9 @@ uint32_t CalculateNumberOfSteps (uint32_t Counter, bool direction) } uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) { + uint32_t Steps; + + if (BusyfirstCall) { BusyfirstCall = false; @@ -202,6 +216,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) if (BusyFlag == NOTBUSY) { CalculateNumberOfSteps (DirectionChangeCounter++, ScrewCurrentDirection); + Steps = ScrewNumberOfSteps; if (ScrewCurrentDirection == false) { ScrewCurrentDirection = true; @@ -210,7 +225,18 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) { ScrewCurrentDirection = false; } - MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back. + if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) + { + ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); + Steps += InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; + REPORT_MSG(LIMIT, "Winder at right limit"); + } + else if (FPGA_Read_limit_Switches(GPI_LS_SCREW_LEFT)==LIMIT) + { + ScrewCurrentDirection = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); + REPORT_MSG(LIMIT, "Winder at left limit"); + } + MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,Steps); //process: set point 0, set max speed, move to the specified length, return back. } /* * calculate new ScrewSpeed and call MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); @@ -234,7 +260,6 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) float screw_speed = 0; float RotationsPerSecond; - int process_speed = dyeingspeed; if (dyeingspeed == 0) { LOG_ERROR (dyeingspeed," job speed zero"); @@ -251,7 +276,8 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId) // * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation. screw_speed = InternalWinderCfg.segmentoffsetpulses / 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 = process_speed / (InternalWinderCfg.diameter * PI); + RotationsPerSecond = dyeingspeed / (InternalWinderCfg.diameter * PI); + RotationsPerSecond = CurrentControlledSpeed[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround; // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm. ScrewSpeed = screw_speed*RotationsPerSecond; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index b6c1fea57..75d54ef02 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -360,7 +360,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) if (ReadBreakSensor()==ERROR) { //LOG_ERROR(index, "ReadBreakSensor Error"); - JobEndReason = JOB_DANCER_FAIL; + JobEndReason = JOB_THREAD_BREAK; //SendJobProgress(0.0,0,false, "ReadBreakSensor Error"); EndState(CurrentJob,"ReadBreakSensor Error" ); } @@ -372,7 +372,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint); JobAbortedByUser = true; - JobEndReason = JOB_THREAD_BREAK; + JobEndReason = JOB_DANCER_FAIL; EndState(CurrentJob,Message ); } NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index]; @@ -404,7 +404,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) KeepReadValue = TranslatedReadValue; } }*/ - if (abs(calculated_speed-CurrentControlledSpeed[index])>5) + if (abs(calculated_speed-CurrentControlledSpeed[index])>2) { CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); @@ -533,6 +533,7 @@ void SetOriginMotorSpeed(float process_speed) / (2 * PI * MotorsCfg[HW_Motor_Id].pulleyradius); //MotorControlConfig[Motor_i].m_SetParam = motor_speed; OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed; + CurrentControlledSpeed[Motor_i] = (int) motor_speed; } } -- cgit v1.3.1 From 4bbece442e2699e88a090de1df07e2295d4fdad8 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 1 Aug 2018 18:48:10 +0300 Subject: fix heaters off command. fix memory leak --- .../Embedded/Modules/Control/MillisecTask.c | 24 +++++++++++----------- .../Embedded/Modules/Heaters/Heaters_print.c | 10 +++++---- .../Embedded/Modules/Thread/Thread_Winder.c | 3 ++- .../Embedded/Modules/Thread/Thread_print.c | 6 +++--- 4 files changed, 23 insertions(+), 20 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules') diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 28cdc3702..8243c5faa 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -226,7 +226,7 @@ int32_t MillisecWriteToMotor(TimerMotors_t MotorId, unsigned long Data, int Leng MSBacklog[MsecLogindex]=Data; Motor_Id[MsecLogindex]=MotorId; MsecLogindex++; - if (MsecLogindex>=999) + if (MsecLogindex>=199) MsecLogindex = 0; //========================== if (MotorId >= NUM_OF_MOTORS) return -1; @@ -247,7 +247,7 @@ int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Len MSBacklog[MsecLogindex]=Data; Motor_Id[MsecLogindex]=MotorId; MsecLogindex++; - if (MsecLogindex>=999) + if (MsecLogindex>=199) MsecLogindex = 0; //========================== MotorActivity++; @@ -389,21 +389,21 @@ uint32_t MillisecLoop(uint32_t tick) } if (Tick98) { - //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING); - //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING); - //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING); - //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_WINDER); - //MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW); + MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING); + MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING); + MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING); + MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_WINDER); + MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW); } if (Hundred_msTick) { for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++) MillisecReadFromTempSensor(Sensor_i, NULL); - //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING); - //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING); - //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING); - //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_WINDER); - //MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW); + MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING); + MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING); + MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING); + MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_WINDER); + MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW); } if (O900Millisecond_Tick) diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c index d8cfdb846..ff033dbda 100644 --- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -231,17 +231,19 @@ uint32_t HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature) //set the target operation temperature //set the heater operation mode to fast heating - depended on the current temperature } - else if ((HeaterState == HEATER_ON)&& (OnOff == HEATER_OFF)) //stop heating + else if (OnOff == HEATER_OFF)//((HeaterState == HEATER_ON)&& (OnOff == HEATER_OFF)) //stop heating { //turn off the heater HeatersSingleHeaterEnd(HeaterId); //stop the control HeaterPIDConfig[HeaterId].m_SetParam = 0; } - /*else + /*else //heater off, and the heater is not ready yet { - LOG_ERROR (OnOff, "unsupported command id"); - return ERROR; + //turn off the heater + HeatersSingleHeaterEnd(HeaterId); + //stop the control + HeaterPIDConfig[HeaterId].m_SetParam = 0; }*/ return OK; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index 30cbd4db3..794559d57 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -225,7 +225,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) { ScrewCurrentDirection = false; } - if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) +/* if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT) { ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); Steps += InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; @@ -236,6 +236,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag) ScrewCurrentDirection = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize); REPORT_MSG(LIMIT, "Winder at left limit"); } +*/ MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,Steps); //process: set point 0, set max speed, move to the specified length, return back. } /* diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 75d54ef02..8d1ea20fa 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -127,8 +127,8 @@ void ThreadUpdateProcessLength (double length, void *Funcptr) ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr; initialpos = 0xFFFF; } -double MotorSentData[100] = {0}; -uint32_t PosDif[100] = {0}; +double MotorSentData[102] = {0}; +uint32_t PosDif[102] = {0}; int MotorDataIndex = 0; @@ -181,7 +181,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) //PosDif[MotorDataIndex] = positionDiff; MotorSentData[MotorDataIndex] = length; MotorDataIndex+=1; - if (MotorDataIndex == 99) MotorDataIndex = 0; + if (MotorDataIndex >= 97) MotorDataIndex = 0; static int pooler_counter = 0; pooler_counter++; TotalProcessedLength+= (length/100); -- cgit v1.3.1