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/************************************************************************************************************************
* Ids_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 "ids.h"
#include "ids_ex.h"
#include "../control/control.h"
#include "../control/pidalgo.h"
#include "../thread/thread.h"
#include "PMR/Hardware/Hardwaremotor.pb-c.h"
#include "PMR/Hardware/HardwareDispenser.pb-c.h"
#include "StateMachines/Printing/printingSTM.h"
#include "drivers/motors/motor.h"
#include "drivers/valves/valve.h"
typedef struct
{
bool m_isEnabled;
float m_SetParam;
float m_mesuredParam;
float m_preError;
float m_integral;
float m_calculatedError;
bool m_isReady;
PID_Config_Params m_params;
}DispenserControlConfig_t;
HardwarePidControl DispensersControl[MAX_SYSTEM_DISPENSERS] = {0};
int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
HardwarePidControlType ThreadDispenserIdToControlId[MAX_SYSTEM_DISPENSERS] = { HARDWARE_PID_CONTROL_TYPE__Dispenser1,HARDWARE_PID_CONTROL_TYPE__Dispenser2,HARDWARE_PID_CONTROL_TYPE__Dispenser3,HARDWARE_PID_CONTROL_TYPE__Dispenser4,HARDWARE_PID_CONTROL_TYPE__Dispenser5,HARDWARE_PID_CONTROL_TYPE__Dispenser6,HARDWARE_PID_CONTROL_TYPE__Dispenser7,HARDWARE_PID_CONTROL_TYPE__Dispenser8};
bool DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
/******************** STRUCTURES AND ENUMs ********************************************/
/******************** GLOBAL PARAMETERS ********************************************/
DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
uint32_t ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF};
int OriginalDispenserSpd_2PPS[MAX_SYSTEM_DISPENSERS] = {0};
bool DispenserPreSegmentReady[MAX_SYSTEM_DISPENSERS] = {false};
int JobBrushStopId = 0;
uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
{
int Dispenser_i,i;
int temp;
for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
{
if (ThreadDispenserIdToControlId[i] == request->hardwarepidcontroltype)
{
Dispenser_i = i;
break;
}
}
memcpy (&DispensersControl[Dispenser_i],request,sizeof(HardwarePidControl));
if (DispensersControl[Dispenser_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
DispensersControl[Dispenser_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
for (i = 0;i < DispensersControl[Dispenser_i].pvinputfilterfactormode; i++)
DispenserSamples[Dispenser_i][i] = 0; //reset the samples value for control beginning
/*DispenserNormalizedErrorCoEfficient[Dispenser_i] = (2*PI*DancersCfg[ThreadDispenserIdToDancerId[Dispenser_i]].armlength);
temp = 1<<(DancersCfg[ThreadDispenserIdToDancerId[Dispenser_i]].resolutionbits);
temp=(100*(temp-1)*DancersCfg[ThreadDispenserIdToDancerId[Dispenser_i]].maximalmovementmm);
DispenserNormalizedErrorCoEfficient[Dispenser_i] = DispenserNormalizedErrorCoEfficient[Dispenser_i] / temp;*/
return OK;
}
/*
* IDS Printing support
* Prepare: build pressure in all participating dispensers
* Print - dispense ink to the printing head
* stop - stop dispensing
*
* control processes:
* on prepare stage - each 10msec against the pressure sensors
* on print stage - every 10/100 msec against the speed sensor
*
* */
//Dispenser Pressure control
//callback - calls printing stm with the result
// registration - 10 msec, dispenser pressure sensor
// AddControlCallback(DeviceId2Dispenser[DispenserId], DispenserControlCBFunction, eHundredMillisecond);
// start the dispenser pressure building - move up in a TBD speed, valve closed
//Dispenser Speed control
//callback - handles speed
// registration - 10msec, dispenser speed senseo
// start the dispensing - move up according to the segment defined speed and microstepping, valve opened
//
//********************************************************************************************************************
uint32_t IDSPrepareState(void *JobDetails)
{
int Motor_i, HW_Motor_Id, Pid_Id,i;
//start IDS control for all motors
for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
{
HW_Motor_Id = DispenserIdToMotorId[Motor_i];
Pid_Id = Motor_i;/*IDSMotorIdToControlId[Motor_i];*/
DispenserControlConfig[Motor_i].m_params.MAX = 1;
DispenserControlConfig[Motor_i].m_params.MIN = DispensersControl[Pid_Id].outputproportionalpowerlimit*-1;
DispenserControlConfig[Motor_i].m_params.Kd = DispensersControl[Pid_Id].derivativetime;
DispenserControlConfig[Motor_i].m_params.Kp = DispensersControl[Pid_Id].proportionalgain;
DispenserControlConfig[Motor_i].m_params.Ki = DispensersControl[Pid_Id].integraltime;
DispenserControlConfig[Motor_i].m_params.epsilon = 0.01;
DispenserControlConfig[Motor_i].m_params.dt = eHundredMillisecond;
DispenserControlConfig[Motor_i].m_calculatedError = 0;
DispenserControlConfig[Motor_i].m_integral = 0;
DispenserControlConfig[Motor_i].m_isEnabled = true;
DispenserControlConfig[Motor_i].m_isReady = true;
DispenserControlConfig[Motor_i].m_mesuredParam = 0;
DispenserControlConfig[Motor_i].m_preError = 0;
DispenserControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); //set the dispenser to the
#warning activate valve
/*Start the dispensers to build initial pressure
* check different handling for dispensers that participate in the first segment and idle dispensers
* start control for initial pressure
*
*/
//ValveCommand (Enable,MixerDirection);
#ifdef DEBUG_TEST_FUNCTIONS
// add control here
#else
#endif
}
//set 3 dancers to the profile positions
for (i = 0; i < MAX_SYSTEM_DISPENSERS; i++)
{
DispenserReady[i] = true;
}
return OK;
}
void DispenserPrepareReady(void)
{
int i;
for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
{
if (DispenserReady[i] == false)
{
return; //not all configured Dispensers are ready
}
}
PrepareReady(Module_IDS,ModuleDone);
}
//********************************************************************************************************************
uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue)
{
int i;
DispenserPreSegmentReady[deviceID] = true;
for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
{
if (DispenserPreSegmentReady[i] == false)
{
return; //not all configured heaters are ready
}
}
PreSegmentReady(Module_IDS,ModuleDone);
}
uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
{
//set the speed only before the first segment, speed is constant accros job
JobTicket* JobTicket = JobDetails;
int Dispenser_i;
TimerMotors_t HW_Motor_Id;
int segmentfirst_speed;
int CurrentSegment = 0;
JobBrushStopId = 0;
// activate control fr all motors
/* wait for all dispensers to get to the required pressure
* move the presegment ready when all dispensers are ready.
*/
for (Dispenser_i = 0;Dispenser_i <= MAX_SYSTEM_DISPENSERS;Dispenser_i++)
{
HW_Motor_Id = DispenserIdToMotorId[Dispenser_i];
Control3WayValvesWithCallback (Dispenser_i, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer
MotorStop(HW_Motor_Id,Hard_Stop);
if (JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->has_dispenserstepdivision)
MotorSetMicroStep(HW_Motor_Id,JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
else
MotorSetMicroStep(HW_Motor_Id,MotorsCfg[HW_Motor_Id].microstep);
DispenserPreSegmentReady[Dispenser_i] = false;
}
//call the job state machine when the thread system is ready
//PreSegmentReady(Module_IDS,ModuleDone);
return OK;
}
//********************************************************************************************************************
uint32_t IDSSegmentState(void *JobDetails, int SegmentId)
{
JobTicket* JobTicket = JobDetails;
int Dispenser_i;
TimerMotors_t HW_Motor_Id;
double segmentfirst_speed;
int CurrentSegment = 0;
for (Dispenser_i = 0;Dispenser_i <= MAX_SYSTEM_DISPENSERS;Dispenser_i++)
{
HW_Motor_Id = DispenserIdToMotorId[Dispenser_i];
//(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
segmentfirst_speed = JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanolitterpersecond/JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse;
// double Dispenser_speed = (segmentfirst_speed * MotorsCfg[HW_Motor_Id].pulseperround)/(2*PI* MotorsCfg[HW_Motor_Id].pulleyradius);
//DispenserControlConfig[Dispenser_i].m_SetParam = Dispenser_speed;
// OriginalDispenserSpd_2PPS[Dispenser_i] = (int)Dispenser_speed;
if ((int)segmentfirst_speed > 0)
{
Control3WayValvesWithCallback (Dispenser_i, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
}
}
return OK;
}
//********************************************************************************************************************
uint32_t IDSEndState(void *JobDetails)
{
int Dispenser_i;
for ( Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
{
MotorStop(DispenserIdToMotorId[Dispenser_i],Hard_Hiz);
Control3WayValvesWithCallback (Dispenser_i, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
}
return OK;
}
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