1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
|
/*
* DiagnosticsHoming.c
*
* Created on: July 29 2018
* Author: shlomo
*/
#include <DataDef.h>
#include "include.h"
#include <inc/hw_ints.h>
#include <Container.h>
#include "diagnostics.h"
#include "drivers/Motors/Motor.h"
#include <PMR/Diagnostics/DispenserHomingRequest.pb-c.h>
#include <PMR/Diagnostics/DispenserHomingResponse.pb-c.h>
#include <PMR/Diagnostics/DispenserAbortHomingRequest.pb-c.h>
#include <PMR/Diagnostics/DispenserAbortHomingResponse.pb-c.h>
#include <PMR/Diagnostics/MotorHomingRequest.pb-c.h>
#include <PMR/Diagnostics/MotorHomingResponse.pb-c.h>
#include <PMR/Diagnostics/MotorAbortHomingRequest.pb-c.h>
#include <PMR/Diagnostics/MotorAbortHomingResponse.pb-c.h>
#include "drivers/Motors/Motor.h"
#include "drivers/Valves/Valve.h"
#include "Drivers/I2C_Communication/DAC/blower.h"
#include "drivers/Flash_ram/MCU_E2Prom.h"
#include "ids/ids_ex.h"
#include "General/process.h"
#include "StateMachines/Printing/PrintingSTM.h"
char HomingToken[NUM_OF_MOTORS][36+1]={0};
/********************************************************************************
* Motor Homing
********************************************************************************/
uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
{
MessageContainer responseContainer;
MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
responseContainer.continuous = true;
uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
size_t container_size = message_container__pack(&responseContainer, container_buffer);
my_free(responseContainer.data.data);
SendChars(container_buffer, container_size);
HomingToken[deviceID][0] = 0;
return OK;
}
uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
{
uint32_t numberOfSteps = 0;
uint32_t LoadArmRounds = 0;
MessageContainer responseContainer;
MotorHomingRequest* request = motor_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
if (dryerbufferlength)
LoadArmRounds = (int)dryerbufferlength;
else
MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
if (LoadArmRounds <= 2)
LoadArmRounds = 20;
int speed = request->speed;
if (speed == 0) speed = 150;
if (MotorId <= NUM_OF_MOTORS)
{
if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
{
ustrncpy (HomingToken[MotorId], requestContainer->token,36);
if (request->direction == MOTOR_DIRECTION__Backward) //opening the loading system
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID)
{
MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, DRIER_LID_OPEN, GPI_LS_DRYER_LID_OPEN, MotorHomingRequestCallback,4000);
return OK;
}
else
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
{
numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,numberOfSteps,RpMessage,LoadArmRounds,0);
MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
numberOfSteps, MotorHomingRequestCallback,1000);
return OK;
}
if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI)
{
MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback,10000);
return OK;
}
}
}
else // closing the system into normal work
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID)
{
MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, DRIER_LID_CLOSE, GPI_LS_DRYER_LID_CLOSED, MotorHomingRequestCallback,4000);
return OK;
}
else
{
if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
{
if (LoadArmRounds <= 2)
LoadArmRounds = 20;
numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
numberOfSteps -= 100;
Report("MotorHomingRequestFunc Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,numberOfSteps,RpMessage,LoadArmRounds,0);
MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4);
MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
numberOfSteps, MotorHomingRequestCallback, 100000);
return OK;
}
if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI)
{
MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback,10000);
return OK;
}
}
}
}
}
responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
responseContainer.errormessage = "Job Active or incorrect motor ID";
responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, requestContainer->token, true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
responseContainer.continuous = true;
uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
size_t container_size = message_container__pack(&responseContainer, container_buffer);
my_free(responseContainer.data.data);
SendChars(container_buffer, container_size);
return OK;
}
uint32_t MotorAbortHomingRequestFunc(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
MotorAbortHomingRequest* request = motor_abort_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
MotorAbortHomingResponse response = MOTOR_ABORT_HOMING_RESPONSE__INIT;
TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
MotorAbortMovetoLimitSwitch(MotorId);
responseContainer = createContainer(MESSAGE_TYPE__MotorAbortHomingResponse, requestContainer->token, false, &response, &motor_abort_homing_response__pack, &motor_abort_homing_response__get_packed_size);
responseContainer.continuous = false;
uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
size_t container_size = message_container__pack(&responseContainer, container_buffer);
my_free(responseContainer.data.data);
SendChars(container_buffer, container_size);
return OK;
}
/********************************************************************************
* Dispenser Homing
********************************************************************************/
uint32_t DispenserHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
{
MessageContainer responseContainer;
MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
uint8_t MotorId = deviceID+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
//close dry air valve in the dispenser
//Valve_Set((Valves_t) (DispenserId+VALVE_2W_MID_AIR_8), Atm_MidTank_OFF);
//MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, HomingToken[MotorId], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
responseContainer.continuous = true;
uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
size_t container_size = message_container__pack(&responseContainer, container_buffer);
my_free(responseContainer.data.data);
SendChars(container_buffer, container_size);
HomingToken[MotorId][0] = 0;
return OK;
}
uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
DispenserHomingRequest* request = dispenser_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
DispenserHomingResponse response = DISPENSER_HOMING_RESPONSE__INIT;
TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
ustrncpy (HomingToken[MotorId], requestContainer->token,36);
int speed = request->speed;
if (speed == 0) speed = 150;
responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, requestContainer->token, false, &response, &dispenser_homing_response__pack, &dispenser_homing_response__get_packed_size);
responseContainer.continuous = true;
uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
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);
if (MotorId <= NUM_OF_MOTORS)
{
//if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
if (isMotorConfigured(MotorId) == true)
{
if (request->direction == MOTOR_DIRECTION__Backward) //dispenser homing
IDS_HomeDispenser(request->index,speed,DispenserHomingRequestCallback);
else //empty dispenser -
IDS_EmptyDispenser(request->index,speed,DispenserHomingRequestCallback);//return ERROR;
}
}
return OK;
}
uint32_t DispenserAbortHomingRequestFunc(MessageContainer* requestContainer)
{
MessageContainer responseContainer;
DispenserAbortHomingRequest* request = dispenser_abort_homing_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
DispenserAbortHomingResponse response = DISPENSER_ABORT_HOMING_RESPONSE__INIT;
IDS_StopHomeDispenser(request->index);
/*
TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
MotorAbortMovetoLimitSwitch(MotorId);
//close dry air valve in the dispenser
Valve_Set((Valves_t) ((request->index)+VALVE_2W_MID_AIR_8), Atm_MidTank_OFF);
*/
responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortHomingResponse, requestContainer->token, false, &response, &dispenser_abort_homing_response__pack, &dispenser_abort_homing_response__get_packed_size);
responseContainer.continuous = false;
uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
size_t container_size = message_container__pack(&responseContainer, container_buffer);
my_free(responseContainer.data.data);
SendChars(container_buffer, container_size);
return OK;
}
|
