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/************************************************************************************************************************
**************************************************************************************************************************/
#include <DataDef.h>
#include "include.h"
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareDancer.pb-c.h"
#include "PMR/Hardware/HardwareWinder.pb-c.h"
#include "PMR/Printing/JobSpool.pb-c.h"
#include "PMR/common/MessageContainer.pb-c.h"
#include "thread.h"
HardwareMotor MotorsCfg[NUM_OF_MOTORS]={0};
HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
InternalWinderConfigStruc InternalWinderCfg = {0};
HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0};
HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0};
uint32_t InternalWinderConfigMessage(HardwareWinder* request)
{
uint32_t status = PASSED;
InternalWinderCfg.milimetersperrotation = request->millimeterperrotation;
return status;
}
uint32_t InternalWindingConfigMessage(JobSpool* request)
{
uint32_t status = PASSED;
InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses;
InternalWinderCfg.spoolbackingrate = request->backingrate;
InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
InternalWinderCfg.SpoolBottomBackingRate = request->bottombackingrate;
InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
InternalWinderCfg.diameter = request->diameter;
return status;
}
//********************************************************************************************************************
uint32_t MotorsConfigMessage(HardwareMotor * request)
{
uint32_t status = PASSED;
int Motor_i;
MotorDriverConfigStruc MotorDriverConfig;
Motor_i = request->hardwaremotortype;
/*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
{
if (ThreadMotorIdToControlId[i] == request->hardwarepidcontroltype)
{
Motor_i = i;
break;
}
}
if (Motor_i == 0)
{
LOG_ERROR(request->hardwarepidcontroltype,"ERROR Control Id");
return ERROR;
}*/
//if (Motor_i< MAX_THREAD_MOTORS_NUM)
//{
memcpy (&MotorsCfg[Motor_i],request,sizeof(HardwareMotor));
MotorDriverConfig.ACC = MotorsCfg[Motor_i].maxchangeslope;
MotorDriverConfig.DEC = MotorsCfg[Motor_i].maxchangeslope;
MotorDriverConfig.MaxSpeed = MotorsCfg[Motor_i].maxfrequency;
MotorDriverConfig.HasMicroStep = MotorsCfg[Motor_i].has_microstep;
MotorDriverConfig.Microstep = MotorsCfg[Motor_i].microstep;
MotorDriverConfig.HasConfigWord = MotorsCfg[Motor_i].has_configword;
MotorDriverConfig.ConfigWord = MotorsCfg[Motor_i].configword;
// status = MotorConfig( Motor_i, &MotorDriverConfig);
// if (Motor_i == MOTOR_RDRIVING)
// ThreadInitialTestStub(request);
return status;
// }
// else return Motor_i;
}
uint32_t MotorPidRequestMessage(HardwarePidControl* request)
{
int Motor_i,i;
int temp;
for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
{
if (ThreadMotorIdToControlId[i] == request->hardwarepidcontroltype)
{
Motor_i = i;
break;
}
}
memcpy (&MotorsControl[Motor_i],request,sizeof(HardwarePidControl));
if (MotorsControl[Motor_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
MotorsControl[Motor_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++)
MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning
NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
temp=(100*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp;
// uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
return OK;
}
uint32_t DancerConfigMessage(HardwareDancer * request)
{
uint32_t status = PASSED;
int Dancer_i;
Dancer_i = request->hardwaredancertype;
if (Dancer_i<MAX_SYSTEM_DANCERS )
{
memcpy (&DancersCfg[Dancer_i],request,sizeof(HardwareDancer));
return status;
}
else
return Dancer_i;
}
uint32_t thread_init(void)
{
//memset (MotorsCfg,0,sizeof(MotorsCfg));
//memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc));
return OK;
}
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