path: root/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c

/************************************************************************************************************************
 * 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 "StateMachines/Printing/PrintingSTM.h"

#include "drivers/Motors/Motor.h"
#include "drivers/Danser_SSI/ssi_comm.h"
#include "drivers/Heater/TemperatureSensor.h"
#include "drivers/Heater/Heater.h"
#include "drivers/Motors/Motor.h"
#include "modules/heaters/heaters.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;

int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {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 totalLength = 0.0;
double CurrentRequestedLength = 0.0;
double CurrentProcessedLength = 0.0;

typedef  void (* ProcessedLengthFunc)(void);
ProcessedLengthFunc ProcessedLengthFuncPtr = NULL;
// segment/intersegment/distance to spool finished
void ThreadSegmentEnded(void);
void ThreadInterSegmentEnded(void);
void ThreadDistanceToSpoolEnded(void);
////////////////////////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);
}
/*****************************************************************************************
 *
 *
 *
 *
 *
 *
 * **************************************************************************************/

void ThreadUpdateProcessLength (double length, void *Funcptr)
{
    CurrentRequestedLength = length*100;//Centimetres
    CurrentProcessedLength = 0;
    PreviousPosition = 0;
    CurrentPosition = 0;
    ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
}
uint32_t MotorSentData[1000] = {0};
uint32_t PosDif[1000] = {0};
uint32_t tick[1000] = {0};
uint32_t initialpos = 0xFFFF;


int MotorDataIndex = 0;

uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
    uint32_t positionDiff = 0;
    double length = 0.0;
    int index = MAX_THREAD_MOTORS_NUM;
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;
    if (index != FEEDER_MOTOR)
    {
        LOG_ERROR (IfIndex, "Wrong Motor");
        return 0xFFFFFFFF;
    }
    CurrentPosition = MotorGetPositionFromFPGA_Res(ThreadMotorIdToMotorId[index]);
    if (initialpos == 0xFFFF)
        initialpos = CurrentPosition;
    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)

    length = (positionDiff/MotorsCfg[ThreadMotorIdToMotorId[index]].pulseperround)*(2*PI*MotorsCfg[ThreadMotorIdToMotorId[index]].pulleyradius);
    totalLength+=length;
    CurrentProcessedLength+=length;
    PosDif[MotorDataIndex] = positionDiff;
    MotorSentData[MotorDataIndex] = length;
    tick[MotorDataIndex] = UsersysTickGet();
    MotorDataIndex+=1;
    if (MotorDataIndex == 999) MotorDataIndex = 0;
    if (CurrentProcessedLength>=CurrentRequestedLength )
    {
        // segment/intersegment/distance to spool finished
        if (ProcessedLengthFuncPtr)
            ProcessedLengthFuncPtr();
    }
return OK;
}
uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
{
    //read value is the dancer angle
    int index=MAX_THREAD_MOTORS_NUM;
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;
/*    for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
        if (ControlIdtoMotorId[i] == deviceID)
        {
            index = i;
            break;
        }
    if (index==MAX_THREAD_MOTORS_NUM)
    {
        LOG_ERROR (deviceID, "No motor  for device");
        return 0xFFFFFFFF;
    }
    */
    if(MotorControlConfig[index].m_isEnabled && (MotorControlConfig[index].m_SetParam != 0))
    {
        MotorControlConfig[index].m_mesuredParam = ReadValue;
        MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation(MotorControlConfig[index].m_SetParam , MotorControlConfig[index].m_mesuredParam,
                                                                              &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
/*        if (MotorControlConfig[index].m_calculatedError >= MotorControlConfig[index].m_params.MAX)
        {
            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MAX;
        }
        if (MotorControlConfig[index].m_calculatedError < MotorControlConfig[index].m_params.MIN)
        {
            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MIN;
        }
*/
        //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError);
    }
 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 (MotorId);
    }
    return OK;
}
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;
    static int pooler_counter = 0;
    int32_t TranslatedReadValue, avreageSampleValue = 0;
    uint32_t calculated_speed;
    double NormalizedError;
    if (IfIndex>>8 != IfTypeThread)
    {
        LOG_ERROR (IfIndex, "Wrong  Interface type");
        return 0xFFFFFFFF;
    }
    index = IfIndex&0xFF;

    /*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
        if (ControlIdtoMotorId[i] == MotorId)
        {
            index = i;
            break;
        }
    if (index==MAX_THREAD_MOTORS_NUM)
    {
        LOG_ERROR (MotorId, "No motor  for device");
        return 0xFFFFFFFF;
    }*/

    if(MotorControlConfig[index].m_isEnabled )
    {
        DancerId = ThreadMotorIdToDancerId[index];
        TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
        if (index == POOLER_MOTOR)
            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<MotorsControl[index].pvinputfilterfactormode;i++)
            avreageSampleValue += MotorSamples[index][i];
        avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
        NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
        MotorControlConfig[index].m_mesuredParam = 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 (MotorControlConfig[index].m_calculatedError >= MotorControlConfig[index].m_params.MAX)
        {
            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MAX;
        }
        if (MotorControlConfig[index].m_calculatedError < MotorControlConfig[index].m_params.MIN)
        {
            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MIN;
        }*/
        calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
        if (abs(calculated_speed-CurrentControlledSpeed[index])>5)
        {
            CurrentControlledSpeed[index] = calculated_speed;
            MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed,  MotorsCfg[ThreadMotorIdToMotorId[index]].microstep);
        }
    }
    if (index == FEEDER_MOTOR)
    {
        pooler_counter++;
        if (pooler_counter>=1000)
        {
            float error_integered = MotorControlConfig[index].m_calculatedError*1000;
            //HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,(int)error_integered,calculated_speed,ReadValue, "FeederSpeed");
                pooler_counter = 0;
        }
    }

 return OK;
}

//********************************************************************************************************************

//********************************************************************************************************************
uint32_t ThreadInitialTestStub(HardwareMotor * request)
{


    //MotorsConfigMessage(request);
     ThreadPrepareState(request);
     ThreadPreSegmentState(request);
    return OK;
}
bool InitialProcess = false;
//********************************************************************************************************************
 uint32_t ThreadPrepareState(void *JobDetails)
{
    int Motor_i, HW_Motor_Id, Pid_Id;
    //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 = 50;
            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);
                }
                SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
                SpeedControlId = AddControlCallback(ThreadLengthCBFunction, 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] = 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);
                }
                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);
                }
                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,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0);
    //            continue;
                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
            else if ((HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);*/
            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;
                //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
//            else if ((Motor_i == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
//                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
    }
    PrepareReady(Module_Thread,ModuleDone);
    //set 3 dancers to the profile positions
    InitialProcess = true;
    return OK;
}

//********************************************************************************************************************
uint32_t ThreadPreSegmentState(void *JobDetails)
{
//set the speed only before the first segment, speed is constant accros job
    JobTicket* JobTicket = JobDetails;
    int Motor_i, HW_Motor_Id;

    float process_speed = JobTicket->processparameters->dyeingspeed;

    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);
        //MotorControlConfig[Motor_i].m_SetParam = motor_speed;
        OriginalMotorSpd_2PPS[Motor_i] = (int)motor_speed;
    }
    //ControlStart();
    // 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],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING].microstep);
 //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],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].microstep);
 //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],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].microstep);

    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 20, 1);
    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 20,1);


    // 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
    {
        PreSegmentReady(Module_Thread,ModuleDone);
        InitialProcess = false;
    }

    return OK;
}
void ThreadInterSegmentEnded(void)
{
    PreSegmentReady(Module_Thread,ModuleDone);
}
void ThreadSegmentEnded(void)
{
    SegmentReady(Module_Thread,ModuleDone);
}
void ThreadDistanceToSpoolEnded(void)
{

}
//********************************************************************************************************************
uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
{
    JobTicket* JobTicket = JobDetails;
    ThreadUpdateProcessLength (JobTicket->segments[SegmentId]->length,(void *)ThreadSegmentEnded);
    return OK;
}

//********************************************************************************************************************
 uint32_t ThreadEndState(void *JobDetails)
{
     int Motor_i;
     if (SpeedControlId != 0xFF)
     {
         RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
     }
     for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
         if (ControlIdtoMotorId[Motor_i] != 0xFF)
         {
             RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction);
         }
        StopMotor(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
     }
     StopMotor(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
     StopMotor(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz);

    return OK;
}



//********************************************************************************************************************

void ThreadStartPrinting(void)
{
    //PrintingIterate();
}

//********************************************************************************************************************
//********************************************************************************************************************

void ThreadStopPrinting(void)
{
    //PrintingIterate();
}