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/************************************************************************************************************************
* 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 "../control/control.h"
#include "../control/pidalgo.h"
#include "PMR/Hardware/HardwareMotor.pb-c.h"
#include "PMR/Hardware/HardwareMotorType.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"
////////////////////////////////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
///////////////////////////////////////////////////////////////////////////////////////////
TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {MOTOR_RDRIVING,MOTOR_DRYER_DRIVING,MOTOR_LDRIVING,MOTOR_WINDER,MOTOR_SCREW};
DANCER_ENUM 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};
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];
////////////////////////Slow Motor State////////////////////////////////////
uint32_t ThreadPreSegmentState(void *JobDetails);
////////////////////////////////////////////////////////////////////////////
uint32_t ThreadSpeedControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
{
//read value is the dancer angle
int i,index=MAX_THREAD_MOTORS_NUM;
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 ThreadControlCBFunction(uint32_t MotorId, 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 Pid_Id,DancerId;
int32_t TranslatedReadValue, avreageSampleValue = 0;
double NormalizedError;
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 )
{
Pid_Id = ThreadMotorIdToControlId[index];
DancerId = ThreadMotorIdToDancerId[index];
TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
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];
if (index != 0) return OK;
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;
}*/
MotorSetSpeed(ThreadMotorIdToMotorId[index], (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index], MotorsCfg[ThreadMotorIdToMotorId[index]].microstep);
//SetMotorFreq (index, MotorControlConfig[index].m_calculatedError);
}
return OK;
}
//********************************************************************************************************************
//********************************************************************************************************************
/*#ifdef DEBUG_TEST_FUNCTIONS
uint32_t Debug_Get_Dancer_Read(uint32_t DancerId, uint32_t Parameter1, uint32_t Parameter2)
{
return (rand() % (103 + 1 + 103) - 103);
}
#endif*/
uint32_t ThreadInitialTestStub(HardwareMotor * request)
{
//MotorsConfigMessage(request);
ThreadPrepareState(request);
ThreadPreSegmentState(request);
return OK;
}
//********************************************************************************************************************
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 = 0.01;
MotorControlConfig[Motor_i].m_params.dt = eOneMillisecond;
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(HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
#ifdef DEBUG_TEST_FUNCTIONS
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
ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,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,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,ThreadMotorIdToDancerId[Motor_i],Motor_i);*/
#else
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,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,ThreadMotorIdToDancerId[Motor_i],Motor_i);
#endif
}
Winder_Prepare();
//set 3 dancers to the profile positions
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;
int process_speed = JobTicket->processparameters->dyeingspeed;
process_speed = 10; //debug
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(MOTOR_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR], MotorsCfg[MOTOR_DRYER_DRIVING].microstep);
MotorSetSpeed(MOTOR_RLOADING, 1, 1);
MotorSetSpeed(MOTOR_LLOADING, 1,1);
// 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
PreSegmentReady(Module_Thread,OK);
return OK;
}
//********************************************************************************************************************
uint32_t ThreadSegmentState(void *JobDetails)
{
return OK;
}
//********************************************************************************************************************
uint32_t ThreadEndState(void *JobDetails)
{
int Motor_i;
for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
{
StopMotor(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
}
StopMotor(MOTOR_RLOADING,Hard_Hiz);
StopMotor(MOTOR_LLOADING,Hard_Hiz);
return OK;
}
//********************************************************************************************************************
void ThreadStartPrinting(void)
{
//PrintingIterate();
}
//********************************************************************************************************************
//********************************************************************************************************************
void ThreadStopPrinting(void)
{
//PrintingIterate();
}
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