/************************************************************************************************************************ * Thread_print.c * Printing module is responsible for : * operating diffrent winding algorithms with predefined parameters from the UI * operating the dispensers according to predefined dispensing rate from the UI **************************************************************************************************************************/ #include "include.h" #include "thread.h" #include "thread_ex.h" #include "../control/control.h" #include "../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/JobSegment.pb-c.h" #include "PMR/Printing/JobTicket.pb-c.h" #include #include #include "StateMachines/Printing/PrintingSTM.h" #include "drivers/Motors/Motor.h" //#include "drivers/SSI_Comm/ssi_comm.h" #include "drivers/SSI_Comm/Dancer/Dancer.h" #include "drivers/Heater/TemperatureSensor.h" #include "drivers/Heater/Heater.h" #include "drivers/Motors/Motor.h" #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h" #include "modules/heaters/heaters.h" #include "modules/General/process.h" #include "Modules/AlarmHandling/AlarmHandling.h" #include "Control/MillisecTask.h" ////////////////////////////////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 /////////////////////////////////////////////////////////////////////////////////////////// uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0}; TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW}; HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS}; uint32_t ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF}; uint32_t SpeedControlId=0xFF; uint32_t PoolerSpeedControlId=0xFF; double DancerError[NUM_OF_DANCERS] = {0.0}; int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0}; uint32_t JobCounter = 0; typedef struct { bool m_isEnabled; int32_t m_SetParam; float m_mesuredParam; float m_preError; float m_integral; float m_calculatedError; bool m_isReady; PID_Config_Params m_params; }MotorControlConfig_t; MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM]; uint32_t DeviceId2Motor[MAX_THREAD_MOTORS_NUM]; uint32_t PreviousPosition = 0, CurrentPosition = 0; double CurrentRequestedLength = 0.0; double CurrentProcessedLength = 0.0; double TotalProcessedLength = 0.0; double LengthCalculationMultiplier; uint32_t PoolerPreviousPosition = 0, PoolerCurrentPosition = 0; double PoolerCurrentProcessedLength = 0.0; double PoolerTotalProcessedLength = 0.0; double PoolerLengthCalculationMultiplier; bool PrepareState = false; int CurrentSegmentId = 0; typedef void (* ProcessedLengthFunc)(void); ProcessedLengthFunc ProcessedLengthFuncPtr = NULL; // segment/intersegment/distance to spool finished void ThreadSegmentEnded(void); void ThreadInterSegmentEnded(void); void ThreadDistanceToSpoolEnded(void); uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue); void SetOriginMotorSpeed(float process_speed); double KeepNormalizedError = 0; bool ThreadControlActive = false; ////////////////////////Slow Motor State//////////////////////////////////// //uint32_t ThreadPreSegmentState(void *JobDetails); //////////////////////////////////////////////////////////////////////////// /******************************************************************** * * Name : GTIME_Delta_Time_Pass * * Parameters : start_time. * * Return : time pass from start time * * Description : * *********************************************************************/ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read) { uint32_t Time_Pass; // #define MAX_COUNTER 0x3FFF //14 bits #define MAX_COUNTER 0x3FFFFF //22 bits if (Current_Read < Previous_Read) Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1; else Time_Pass = Current_Read - Previous_Read; return (Time_Pass); } /***************************************************************************************** * * * * * * * **************************************************************************************/ uint32_t initialpos = 0xFFFF; uint32_t Poolerinitialpos = 0xFFFF; void ThreadUpdateProcessLength (double length, void *Funcptr) { CurrentRequestedLength = length*100;//Centimetres CurrentProcessedLength = 0; PoolerCurrentProcessedLength = 0; ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr; initialpos = 0xFFFF; Poolerinitialpos = 0xFFFF; } uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) { uint32_t positionDiff = 0; double length = 0.0; char str[150]; int index = MAX_THREAD_MOTORS_NUM; if (ThreadControlActive == false) return OK; if (PrepareState == true) return OK; if (IfIndex>>8 != IfTypeThread) { LOG_ERROR (IfIndex, "Wrong Interface type"); return 0xFFFFFFFF; } index = IfIndex&0xFF; // if (CurrentRequestedLength == 0.0) // return OK; if (index != FEEDER_MOTOR) { LOG_ERROR (IfIndex, "Wrong Motor"); return 0xFFFFFFFF; } CurrentPosition = MotorGetPosition(ThreadMotorIdToMotorId[index]); // if (CurrentPosition == 0) // return OK; //unusable data if (initialpos == 0xFFFF) { PreviousPosition = CurrentPosition; initialpos = 0; } positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition); //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep; PreviousPosition = CurrentPosition; // total length = (position diff / full cycle) * pulley perimeter //(positionDiff/pulseperround)*((2*PI*motor_Radius) //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep; length = (double)(positionDiff)*LengthCalculationMultiplier; CurrentProcessedLength+=length; static int pooler_counter = 0; pooler_counter++; TotalProcessedLength+= (length/100); if (pooler_counter%10 == 0) { if (PrepareState == true) { //later - add temperatures TemperatureListString(str); SendJobProgress(0.0,0,false, str); } else { SendJobProgress(TotalProcessedLength,0,false, NULL); } } if (CurrentProcessedLength>=CurrentRequestedLength ) { usnprintf(str, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); SendJobProgress(0.0,0,false, str); Report(str,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0); // segment/intersegment/distance to spool finished if (ProcessedLengthFuncPtr) ProcessedLengthFuncPtr(); } return OK; } uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) { uint32_t positionDiff = 0; double length = 0.0; int index = MAX_THREAD_MOTORS_NUM; if (ThreadControlActive == false) return OK; if (PrepareState == true) return OK; if (IfIndex>>8 != IfTypeThread) { LOG_ERROR (IfIndex, "Wrong Interface type"); return 0xFFFFFFFF; } index = IfIndex&0xFF; // if (CurrentRequestedLength == 0.0) // return OK; if (index != POOLER_MOTOR) { LOG_ERROR (IfIndex, "Wrong Motor"); return 0xFFFFFFFF; } PoolerCurrentPosition = MotorGetPosition(ThreadMotorIdToMotorId[index]); // if (CurrentPosition == 0) // return OK; //unusable data if (Poolerinitialpos == 0xFFFF) { PoolerPreviousPosition = PoolerCurrentPosition; Poolerinitialpos = 0; } positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition); //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep; PoolerPreviousPosition = PoolerCurrentPosition; length = (double)(positionDiff)*PoolerLengthCalculationMultiplier; PoolerCurrentProcessedLength+=length; return OK; } float SpeedSamples[MAX_CONTROL_SAMPLES] = {0}; uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { //read value is the dancer angle int index=MAX_THREAD_MOTORS_NUM; int32_t i, avreageSampleValue = 0; //double tempcalcspeed = 0; uint32_t calculated_speed; float speed = getSensorSpeedData(); if (IfIndex>>8 != IfTypeThread) { LOG_ERROR (IfIndex, "Wrong Interface type"); return 0xFFFFFFFF; } index = IfIndex&0xFF; SpeedSamples[MotorSamplePointer[index]] = speed;//(-1 * TranslatedReadValue); MotorSamplePointer[index]++; if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0; for (i=0;i2) { CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); } } return OK; } uint32_t _speed; uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue) { int index; if (IfIndex>>8 != IfTypeThread) { LOG_ERROR (IfIndex, "Wrong Interface type"); return 0xFFFFFFFF; } index = IfIndex&0xFF; if(MotorControlConfig[index].m_isEnabled ) { int MotorId = ThreadMotorIdToMotorId[index]; _speed = MotorGetSpeedFromFPGA_Res ((TimerMotors_t)MotorId); } return OK; } double calculatedError[200]; //double eNormalizedError[100]; int MotorId[200]; int readValue[200]; //int TranslatedreadValue[100]; int AveragereadValue[200]; int calculatedspeed[200]; int controlIndex = 0; /*int32_t KeepReadValue = 0; void testDancersControl() { int mm20,mm10,mm5,mm2,mm1; mm20 = (20*DancerStopActivityLimit[FEEDER_MOTOR])/(DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].maximalmovementmm*2); mm2 = mm20/10; mm5 = mm20/4; mm10 = mm20/2; mm1 = mm20/20; ThreadControlActive = true; SetOriginMotorSpeed(30.0); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm20); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm10); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm5); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm2); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint - mm1); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm1); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm2); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm5); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm10); ThreadControlCBFunction(IfTypeThread*0x100+FEEDER_MOTOR, DancersCfg[HARDWARE_DANCER_TYPE__RightDancer].zeropoint + mm20); ThreadControlActive = false; }*/ bool dancerinvalid = false; uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { //#define MAX_CONTROL_SAMPLES 6 //extern uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; //extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM]; //read value is the dancer angle int i,index=MAX_THREAD_MOTORS_NUM; int DancerId; int32_t TranslatedReadValue, avreageSampleValue = 0; //double tempcalcspeed = 0; uint32_t calculated_speed; double NormalizedError; char Message[60]; if (ThreadControlActive == false) return OK; if (PrepareState == true) return OK; if (IfIndex>>8 != IfTypeThread) { LOG_ERROR (IfIndex, "Wrong Interface type"); return 0xFFFFFFFF; } index = IfIndex&0xFF; if(MotorControlConfig[index].m_isEnabled ) { DancerId = ThreadMotorIdToDancerId[index]; if (ReadValue < 10) { REPORT_MSG(ReadValue, "Dancer value read too small."); return OK; } if (ReadValue == 0x3FFF) { if (dancerinvalid == false) { dancerinvalid = true; LOG_ERROR(index, "Dancer value invalid."); } return OK; } TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint; if (index == POOLER_MOTOR) { //pooler dancer is right sided: data is opposite TranslatedReadValue = (-1*TranslatedReadValue); JobCounter++; } //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 eOneSecond) { if (ReadBreakSensor()==ERROR) { //consider applying the debouce parameters later //BreakSensordebouncetimemilli JobEndReason = JOB_THREAD_BREAK; ThreadControlActive = false; SendJobProgress(0.0,0,false, "ReadBreakSensor Error"); SegmentReady(Module_Thread,ModuleFail); AlarmHandlingSetAlarm(EVENT_TYPE__ThreadBreak,true); //EndState(CurrentJob,"ReadBreakSensor Error" ); LOG_ERROR(index, "ReadBreakSensor Error"); return OK; } } } } //Stop Execution if the dancer moves too much if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond)) { usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint); //JobAbortedByUser = true; ThreadControlActive = false; JobEndReason = JOB_WINDER_DANCER_FAIL+index; SendJobProgress(0.0,0,false, Message); //EndState(CurrentJob,Message ); SegmentReady(Module_Thread,ModuleFail); AlarmHandlingSetAlarm(EVENT_TYPE__ThreadTensionControlFailure,true); LOG_ERROR (index, "Dancer Failure"); return OK; } NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index]; MotorControlConfig[index].m_mesuredParam = NormalizedError; DancerError[DancerId] = NormalizedError; MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam, &MotorControlConfig[index].m_params, &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral); if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit { MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError); } else { //KeepNormalizedError = NormalizedError; } calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; /*if (index == FEEDER_MOTOR) { if (KeepReadValue != TranslatedReadValue) { eNormalizedError[controlIndex] = NormalizedError; calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError; readValue[controlIndex] = ReadValue; TranslatedreadValue[controlIndex] = TranslatedReadValue; AveragereadValue[controlIndex] = avreageSampleValue; calculatedspeed[controlIndex] = calculated_speed; controlIndex++; if (controlIndex >= 99) controlIndex = 0; KeepReadValue = TranslatedReadValue; } }*/ if (abs(calculated_speed-CurrentControlledSpeed[index])>2) { calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError; //double eNormalizedError[100]; MotorId[controlIndex] = index; readValue[controlIndex] = ReadValue; //int TranslatedreadValue[100]; AveragereadValue[controlIndex] = avreageSampleValue; calculatedspeed[controlIndex] = calculated_speed; if (controlIndex++>=199) controlIndex = 0; CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); } } return OK; } //******************************************************************************************************************** uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId) { return CurrentControlledSpeed[MotorId]; } //******************************************************************************************************************** uint32_t ThreadInitialTestStub(HardwareMotor * request) { //MotorsConfigMessage(request); ThreadPrepareState(request); ThreadPreSegmentState(request); return OK; } bool InitialProcess = false; uint32_t ThreadEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue) { return OK; } //******************************************************************************************************************** uint32_t ThreadPrepareState(void *JobDetails) { int Motor_i, HW_Motor_Id, Pid_Id; CurrentSegmentId = 0; JobCounter = 0; TotalProcessedLength = 0.0; PoolerTotalProcessedLength = 0.0; PrepareState = true; AlarmHandlingSetAlarm(EVENT_TYPE__ThreadBreak,false); AlarmHandlingSetAlarm(EVENT_TYPE__ThreadTensionControlFailure,false); //start thread control for all motors for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) { 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.epsilon = 0.1; MotorControlConfig[Motor_i].m_params.dt = 1000; 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 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 (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(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 { if (PoolerSpeedControlId != 0xFF) { RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction); PoolerSpeedControlId = 0xFF; } //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); PoolerSpeedControlId = AddControlCallback(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) { RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); ControlIdtoMotorId[Motor_i] = 0xFF; CurrentControlledSpeed[Motor_i] = 0; } ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); //AddControlCallback(ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(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 n//ot be controlled { if (ControlIdtoMotorId[Motor_i] != 0xFF) { RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); CurrentControlledSpeed[Motor_i] = 0; ControlIdtoMotorId[Motor_i] = 0xFF; } ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); } if (Motor_i == WINDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled { if (ControlIdtoMotorId[Motor_i] != 0xFF) { RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); CurrentControlledSpeed[Motor_i] = 0; ControlIdtoMotorId[Motor_i] = 0xFF; } ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); } // 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,ThreadEmptyCBFunction,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0); if (Motor_i == 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 continue; } //testDancersControl(); PrepareReady(Module_Thread,ModuleDone); //set 3 dancers to the profile positions InitialProcess = true; return OK; } void SetOriginMotorSpeed(float process_speed) { int Motor_i, HW_Motor_Id; for (Motor_i = 0; Motor_i <= WINDER_MOTOR; Motor_i++) { HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i]; //(Speed*uStep*PPR)/((2*PI*motor_Radius) // double motor_speed = (process_speed * MotorsCfg[HW_Motor_Id].pulseperround * MotorsCfg[HW_Motor_Id].microstep)/(2*PI* MotorsCfg[HW_Motor_Id].pulleyradius); double motor_speed = (process_speed * MotorsCfg[HW_Motor_Id].pulseperround) / (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; } } //******************************************************************************************************************** uint32_t ThreadPreSegmentState(void *JobDetails) { //set the speed only before the first segment, speed is constant across all job segments and intersegments JobTicket* JobTicket = JobDetails; float process_speed = dyeingspeed; if (dyeingspeed == 0) { LOG_ERROR (dyeingspeed," job speed zero"); return ERROR; } LOG_ERROR (dyeingspeed," ThreadPreSegmentState"); SetOriginMotorSpeed(process_speed); ThreadControlActive = true; PrepareState = false; // set the new speed in the dryer motor to the speed of the new segment MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]); //only for testing - when control works, these motors will take their speed from the dryer //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING, OriginalMotorSpd_2PPS[POOLER_MOTOR]); //only for testing - when control works, these motors will take their speed from the dryer //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]); //#warning rocker disabled if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].maxfrequency > 0) { MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize); MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2); } if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].maxfrequency > 0) { MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize); MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2); } //#warning rocker disabled // MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO // activate control fr all motors //set speed for both rocker motors //wait for all motors to get to the required speed (set the target speed for the control to check) //call the job state machine when the thread system is ready if ((InitialProcess==false) && JobTicket->enableintersegment == true) { ThreadUpdateProcessLength (JobTicket->intersegmentlength,(void *)ThreadInterSegmentEnded); } else { ThreadUpdateProcessLength (0,(void *)NULL); PreSegmentReady(Module_Thread,ModuleDone); JobCounter = 0; InitialProcess = false; } return OK; } void ThreadInterSegmentEnded(void) { PreSegmentReady(Module_Thread,ModuleDone); } void ThreadSegmentEnded(void) { SegmentReady(Module_Thread,ModuleDone); } void ThreadDistanceToSpoolEnded(void) { DistanceToSpoolReady(Module_Thread,ModuleDone); } double seglength = 0.0; //******************************************************************************************************************** uint32_t ThreadSegmentState(void *JobDetails, int SegmentId) { JobTicket* JobTicket = JobDetails; seglength = JobTicket->segments[SegmentId]->length; CurrentSegmentId = SegmentId; ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded); return OK; } //******************************************************************************************************************** uint32_t ThreadDistanceToSpoolState(void ) { seglength = dryerbufferlength; ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded); return OK; } //******************************************************************************************************************** uint32_t ThreadEndState(void *JobDetails) { int Motor_i; ThreadControlActive = false; ThreadUpdateProcessLength (0.0,(void *)NULL); SetOriginMotorSpeed(0); if (SpeedControlId != 0xFF) { RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction); SpeedControlId = 0xFF; } if (PoolerSpeedControlId != 0xFF) { RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction); PoolerSpeedControlId = 0xFF; } for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) { if (ControlIdtoMotorId[Motor_i] != 0xFF) { RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); } MotorStop(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz); } MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz); MotorStop(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz); return OK; } //******************************************************************************************************************** void ThreadStartPrinting(void) { //PrintingIterate(); } //******************************************************************************************************************** //******************************************************************************************************************** void ThreadStopPrinting(void) { //PrintingIterate(); }