/* * ThreadLoad.c * * Created on: Jan 16, 2019 * Author: shlomo */ #include #include "include.h" #include "thread_ex.h" #include "Common/SWUpdate/FileSystem.h" #include "StateMachines/Printing/PrintingSTM.h" #include "Modules/thread/thread.h" #include "Modules/Control/control.h" #include "Modules/General/process.h" #include "Modules/control/pidalgo.h" #include "PMR/Hardware/HardwareMotor.pb-c.h" #include "PMR/Hardware/HardwareMotorType.pb-c.h" #include "PMR/Hardware/HardwareDancerType.pb-c.h" #include "PMR/Printing/ProcessParameters.pb-c.h" #include "drivers/Flash_Memory/fatfs/ff.h" #include "drivers/I2C_Communication/DAC/Blower.h" #include "drivers/SSI_Comm/Dancer/Dancer.h" #include "drivers/motors/motor.h" #include "PMR/Stubs/StubHeatingTestRequest.pb-c.h" #include "PMR/Stubs/StubHeatingTestResponse.pb-c.h" #include "PMR/Stubs/StubHeatingTestPollRequest.pb-c.h" #include "PMR/Stubs/StubHeatingTestPollResponse.pb-c.h" //#include //#include /* typedef enum { 0 THREAD_LOAD_INIT, 1 THREAD_LOAD_REDUCE_HEAT, //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW, 2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION, //USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY 3 THREAD_LOAD_CENTER_HEAD_ROCKERS, //puthead cleaning rockers to middle position 4 THREAD_LOAD_OPEN_COVERS, //OPEN DYEING HEAD COVER AND DRYER LID 5 THREAD_LOAD_LIFT_DANCERS, 6 THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE 7 THREAD_LOAD_INITIAL_TENSION, //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND 8 THREAD_LOAD_CLOSE_ROCKERS, 9 THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD 10 THREAD_LOAD_CLOSE_LIDS, 11 THREAD_LOAD_RESUME_HEATING, 12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT, //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION 13 THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40 //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER 14 THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING 15 THREAD_LOAD_END }THREAD_LOAD_STAGES_ENUM;*/ THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT; ProcessParameters ProcessParametersClear,ProcessParametersRecover; uint8_t NumberOfDrierLoaderCycles = 0; uint32_t status = OK; uint32_t ControlId = 0xFF; uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM LoadStages); uint32_t ThreadLoadControlCBFunction(uint32_t index, uint32_t ReadValue); typedef struct { uint32_t LoadArmRounds; uint32_t LoadArmBackLash; }LoadArmInfoStruc; LoadArmInfoStruc LoadArmInfo; char LoadArmPath[50] = "0://SysInfo//LoadArm.cfg"; //RUN MOTOR TO SWITCH WITH TIMEOUT //RUN MOTOR TO BREAK SENSOR //RUN MOTOR TO DANCER LOCATION (POOLER GOES TO THE OTHER DIRECTION) //RUN MOTOR A FULL CYCLE //RUN A MOTOR NUMBER OF STEPS //RUN CONTROL FOR A SINGLE DANCER uint32_t Thread_Load_Init(void) { void* buffer = NULL; uint32_t Bytes = 0; FRESULT Fresult = FR_OK; REPORT_MSG(LoadStages, "Thread Load State Machine step"); LoadArmInfo.LoadArmBackLash = 10; LoadArmInfo.LoadArmRounds = 0xFF; Fresult = f_mkdir(SW_INFO_DIR); if ((Fresult == FR_OK)||(Fresult == FR_EXIST)) { Fresult = FileRead(LoadArmPath, &Bytes, &buffer); if (Fresult == FR_OK) { if (Bytes>=sizeof(LoadArmInfo)) memcpy (&LoadArmInfo,buffer,sizeof(LoadArmInfo)); free (buffer); } } Report("Thread_Load_Init",__FILE__,__LINE__,LoadArmInfo.LoadArmBackLash,RpMessage,LoadArmInfo.LoadArmRounds,0); memcpy (&ProcessParametersRecover,&ProcessParametersKeep,sizeof(ProcessParameters)); //NumberOfDrierLoaderCycles = loadLoadArmParameters(); LoadStages++; ThreadLoadStateMachine(LoadStages); return OK; } uint32_t Thread_Load_Reduce_Heat(void) { //Heaters Off, Dryer Blower Off, Blower Low, REPORT_MSG(LoadStages, "Thread Load State Machine step "); memcpy (&ProcessParametersClear,&ProcessParametersKeep,sizeof(ProcessParameters)); ProcessParametersClear.dryerzone1temp = 0; ProcessParametersClear.dryerzone2temp = 0; ProcessParametersClear.dryerzone3temp = 0; ProcessParametersClear.mixertemp = 0; ProcessParametersClear.headzone1temp = 0; ProcessParametersClear.headzone2temp = 0; ProcessParametersClear.headzone3temp = 0; ProcessParametersClear.headzone4temp = 0; ProcessParametersClear.headzone5temp = 0; ProcessParametersClear.headzone6temp = 0; ProcessParametersClear.dyeingspeed = 40; if (HandleProcessParameters(&ProcessParametersClear)!= OK) { LOG_ERROR (LoadStages, "Thread_Load_Init failed"); } else { Turn_the_Blower_On();//Turn on with the Default_Voltage if (BlowerCfg.heatingvoltage) Control_Voltage_To_Blower(BlowerCfg.heatingvoltage); else Control_Voltage_To_Blower(BlowerCfg.voltage-500); Control_Dryer_Fan(STOP,75);//use START or STOP, 0 - 100% LoadStages++; //ThreadLoadStateMachine(LoadStages); } return OK; } uint32_t Thread_Load_Set_Load_Arm_To_Start_Position_Callback(uint32_t deviceID, uint32_t BusyFlag) { // Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); /*NumberOfDrierLoaderCycles--; if (NumberOfDrierLoaderCycles) { Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize), MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround, Thread_Load_Set_Load_Arm_To_Start_Position_Callback,1000); } else*/ { Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); //storeLoadArmParameters(); SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM); //set this point as the spool home LoadStages++; //ThreadLoadStateMachine(LoadStages); } return OK; } uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag) { // 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; //storeLoadArmParameters(); LoadStages++; SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM); //set this point as the spool home //ThreadLoadStateMachine(LoadStages); return OK; } uint32_t Thread_Load_Set_Load_Arm_To_Start_Position(void) { uint32_t numberOfSteps = 0; REPORT_MSG(LoadStages, "Thread Load State Machine step"); if (LoadArmInfo.LoadArmRounds != 0xFF) { //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40 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_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,numberOfSteps,RpMessage,NumberOfDrierLoaderCycles,0); NumberOfDrierLoaderCycles = LoadArmInfo.LoadArmRounds; status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize), numberOfSteps, Thread_Load_Set_Load_Arm_To_Start_Position_Callback,1000); } else //number of circles is not known - compare to position of the motor to verify location at the stopper { 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); } //Use Notation How Many Rotations In The Drier, Or Check Against Stopper. Move Slowly return OK; } uint8_t CallbackCounter = 0; uint8_t TimeoutsCounter = 0; uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue) { Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); REPORT_MSG(MotorId, "Thread_Load_HomingCallback Motor Id"); if (CallbackCounter) { CallbackCounter--; if (ReadValue != LIMIT) { //returned with a timeout TimeoutsCounter++; } if (CallbackCounter == 0) { if (TimeoutsCounter) { LOG_ERROR(LoadStages,"Load sequence timeout"); TimeoutsCounter = 0; } else { LoadStages++; if (LoadStages == THREAD_LOAD_LIFT_ROCKERS) { MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep); MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep); MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep); MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep); } if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call { //ThreadLoadStateMachine(LoadStages); } } } } else LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0"); return OK; } uint32_t Thread_Load_Center_Head_Rockers(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], Thread_Load_HomingCallback,10000); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000); return OK; } uint32_t Thread_Load_Open_Covers(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); //Open Dyeing Head Cover And Dryer Lid //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2, //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4, DeActivateHeadMagnet(); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000); CallbackCounter++; //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 0, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,4000); return OK; } uint32_t Thread_Load_Lift_Dancers(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,15000); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,20000); return OK; } uint32_t Thread_Load_Lift_Rockers(void) //Machine Is Ready. Send Message, Start Timer To Close Lids, Wait For Operator Response { REPORT_MSG(LoadStages, "Thread Load State Machine step"); MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1); MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1); MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 35); MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 35); Task_sleep(10); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 50, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,25000); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 50, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,25000); return OK; } uint32_t Thread_Load_Initial_Tension(void) //Check Spool Presence, run Winder Until Break Sensor Is Identifieing Movement For A Second { REPORT_MSG(LoadStages, "Thread Load State Machine step"); if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT) { REPORT_MSG(LIMIT, "No cone in winder"); return ERROR; } CallbackCounter++; MotorMovetoBreakSensor (HARDWARE_MOTOR_TYPE__MOTO_WINDER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].directionthreadwize, 500, Thread_Load_HomingCallback,10000); return OK; } uint32_t Thread_Load_Close_Rockers(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 300, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,12000); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 300, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,12000); return OK; } uint32_t Thread_Load_Close_Dancers(void) //Send Dancer Motors To Preset Location, Check That The Dancers Are On The Thread { REPORT_MSG(LoadStages, "Thread Load State Machine step"); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,4000); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,10000); return OK; } uint32_t Thread_Load_Close_Lids(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); //Close Dyeing Head Cover And Dryer Lid //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2, //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4, CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000); CallbackCounter++; // MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 2, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,4000); return OK; } uint32_t Thread_Load_Resume_Heating(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); ActivateHeadMagnet(); if (HandleProcessParameters(&ProcessParametersRecover)!= OK) { LOG_ERROR (LoadStages, "Thread_Load_Resume_Heating failed"); } else { Control_Dryer_Fan(START,75);//use START or STOP, 0 - 100% LoadStages++; //ThreadLoadStateMachine(LoadStages); } return OK; } uint32_t Thread_Load_Jog_Feeder_To_Middle_Point(void) //Jog The Feeder Motor Until The Feeder Dancer Is At Middle Position { REPORT_MSG(LoadStages, "Thread Load State Machine step"); CallbackCounter++; MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 200, FEEDER_DANCER ,true, Thread_Load_HomingCallback,10000); return OK; } 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,0,0); if(ControlId != 0xFF) { MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz); RemoveControlCallback(ControlId, ThreadLoadControlCBFunction ); ControlId = 0xFF; } if (CallbackCounter) { CallbackCounter--; if (CallbackCounter == 0) { LoadStages++; if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call { //ThreadLoadStateMachine(LoadStages); } } } else LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0"); return OK; } uint32_t Thread_Load_Dryer_Loading(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); LoadArmInfo.LoadArmRounds = 20; uint32_t numberOfSteps = 0; //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40 SetOriginMotorSpeed(19); // OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000; // 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; 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; MotorControlConfig[FEEDER_MOTOR].m_params.Kp = MotorsControl[FEEDER_MOTOR].proportionalgain; MotorControlConfig[FEEDER_MOTOR].m_params.Ki = MotorsControl[FEEDER_MOTOR].integraltime; MotorControlConfig[FEEDER_MOTOR].m_params.IntegralErrorMultiplier = MotorsControl[FEEDER_MOTOR].setpointramprateorsoftstartramp; MotorControlConfig[FEEDER_MOTOR].m_params.ProportionalErrorMultiplier = MotorsControl[FEEDER_MOTOR].outputonoffhysteresisvalue; MotorControlConfig[FEEDER_MOTOR].m_params.epsilon = MotorsControl[FEEDER_MOTOR].epsilon; MotorControlConfig[FEEDER_MOTOR].m_params.dt = MotorsControl[FEEDER_MOTOR].controloutputtype; MotorControlConfig[FEEDER_MOTOR].m_ingnoreValue = MotorsControl[FEEDER_MOTOR].sensorcorrectionadjustment; // the minimal change required to change the motor speed in pulses MotorControlConfig[FEEDER_MOTOR].m_calculatedError = 0; MotorControlConfig[FEEDER_MOTOR].m_integral = 0; MotorControlConfig[FEEDER_MOTOR].m_isEnabled = true; MotorControlConfig[FEEDER_MOTOR].m_isReady = true; MotorControlConfig[FEEDER_MOTOR].m_mesuredParam = 0; MotorControlConfig[FEEDER_MOTOR].m_preError = 0; 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); 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, numberOfSteps, Thread_Load_Dryer_Loading_Callback, 100000); //Keep Notation How Many Rotations In The Dryer //LoadArmInfo.LoadArmBackLash = 0; LoadArmInfo.LoadArmRounds = 0xFF; FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath); return OK; } uint32_t Thread_Load_Jog_ThreadStop(uint32_t index, uint32_t ReadValue) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); SafeRemoveControlCallback(ControlId, Thread_Load_Jog_ThreadStop ); ControlId = 0xFF; ThreadAbortJoggingFunc(); LoadStages++; //ThreadLoadStateMachine(LoadStages); return OK; } uint32_t Thread_Load_Jog_Thread(void) //Jog Thread Shortly To Make Sure Spool Is Running. Report End Of Loading { REPORT_MSG(LoadStages, "Thread Load State Machine step"); ThreadJoggingFunc(20); ControlId = AddControlCallback(Thread_Load_Jog_ThreadStop, eOneSecond*5,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR); return OK; } uint32_t Thread_Load_End(void) { REPORT_MSG(LoadStages,"Loading Ended"); return OK; } uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue) { REPORT_MSG(ReadValue,"ThreadLoadStateMachine"); switch (ReadValue) { case THREAD_LOAD_INIT: //LoadStages++; Thread_Load_Init(); break; case THREAD_LOAD_REDUCE_HEAT: //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW, //LoadStages++; Thread_Load_Reduce_Heat(); break; case THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION://USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINS STOPPER. MOVE SLOWLY //LoadStages++; Thread_Load_Set_Load_Arm_To_Start_Position(); break; case THREAD_LOAD_CENTER_HEAD_ROCKERS: //LoadStages++; Thread_Load_Center_Head_Rockers(); break; case THREAD_LOAD_OPEN_COVERS: //OPEN DYEING HEAD COVER AND DRYER LID //LoadStages++; Thread_Load_Open_Covers(); break; case THREAD_LOAD_LIFT_DANCERS: //LoadStages++; Thread_Load_Lift_Dancers(); break; case THREAD_LOAD_LIFT_ROCKERS: //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE //LoadStages++; Thread_Load_Lift_Rockers(); break; case THREAD_LOAD_INITIAL_TENSION://CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND //LoadStages++; Thread_Load_Initial_Tension(); break; case THREAD_LOAD_CLOSE_ROCKERS: //LoadStages++; Thread_Load_Close_Rockers(); break; case THREAD_LOAD_CLOSE_DANCERS: //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD //LoadStages++; Thread_Load_Close_Dancers(); break; case THREAD_LOAD_CLOSE_LIDS: //LoadStages++; Thread_Load_Close_Lids(); break; case THREAD_LOAD_RESUME_HEATING: //LoadStages++; Thread_Load_Resume_Heating(); break; case THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT://JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION //LoadStages++; Thread_Load_Jog_Feeder_To_Middle_Point(); break; case THREAD_LOAD_DRYER_LOADING: //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40 //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER //LoadStages++; Thread_Load_Dryer_Loading(); break; case THREAD_LOAD_JOG_THREAD: //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING //LoadStages++; Thread_Load_Jog_Thread(); break; case THREAD_LOAD_END: Thread_Load_End(); break; default: LOG_ERROR(LoadStages,"ERROR IN LOAD STATE MACHINE"); break; } return OK; } uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { //read value is the dancer angle int i; int DancerId; int32_t TranslatedReadValue, avreageSampleValue = 0; int index=MAX_THREAD_MOTORS_NUM; //double tempcalcspeed = 0; uint32_t calculated_speed; double NormalizedError; DancerId = FEEDER_DANCER;//ThreadMotorIdToDancerId[index]; if (ReadValue < 10) { Report("Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0); return OK; } if (ReadValue == 0x3FFF) { 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 TranslatedReadValue = (-1*TranslatedReadValue); }*/ //TranslatedReadValue = 0;//test MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue); MotorSamplePointer[index]++; if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0; for (i=0;i MotorControlConfig[index].m_ingnoreValue) { CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); } return OK; } void ThreadLoadRequest(MessageContainer* requestContainer) { //#ifdef DEBUG_TEST_FUNCTIONS MessageContainer responseContainer; uint8_t* container_buffer; //uint32_t status = OK; StubHeatingTestRequest* request = stub_heating_test_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); StubHeatingTestResponse response = STUB_HEATING_TEST_RESPONSE__INIT; responseContainer = createContainer(MESSAGE_TYPE__StubHeatingTestResponse, requestContainer->token, false, &response, &stub_heating_test_response__pack, &stub_heating_test_response__get_packed_size); container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); int LoadStage = (int)request->dryerzone1temp; LoadStages = LoadStage; ThreadLoadStateMachine(LoadStage); /*if (status) { responseContainer.has_error = true; responseContainer.error = ERROR_CODE__JOB_UNSPECIFIED_ERROR; }*/ size_t container_size = message_container__pack(&responseContainer, container_buffer); my_free(responseContainer.data.data); //USBCDCD_sendData(container_buffer, container_size,10); SendChars(container_buffer, container_size); stub_heating_test_request__free_unpacked(request,NULL); //#else // LOG_ERROR (-1, "Heating Control not on debug"); // return ERROR; //#endif } void ThreadLoadPollRequest(MessageContainer* requestContainer) { uint8_t* container_buffer; StubHeatingTestPollRequest* request = stub_heating_test_poll_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); StubHeatingTestPollResponse response = STUB_HEATING_TEST_POLL_RESPONSE__INIT; MessageContainer responseContainer; response.has_heater1percentage = true; response.heater1percentage = LoadStages; responseContainer = createContainer(MESSAGE_TYPE__StubHeatingTestPollResponse, requestContainer->token, false, &response, &stub_heating_test_poll_response__pack, &stub_heating_test_poll_response__get_packed_size); container_buffer = my_malloc(message_container__get_packed_size(&responseContainer)); /* { responseContainer.has_error = true; responseContainer.error = ERROR_CODE__JOB_UNSPECIFIED_ERROR; }*/ size_t container_size = message_container__pack(&responseContainer, container_buffer); my_free(responseContainer.data.data); SendChars(container_buffer, container_size); stub_heating_test_poll_request__free_unpacked(request,NULL); }