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/************************************************************************************************************************
* Printing.c
* High managment logical unit of slow motors in the system ( 6 dispensers and the screw motor)
* profile run up begins from screw homing to begin position and only then from fast motors activation.
* when every slow motor tuches the limit switch (no matter whether its screw or dispenser)
* an interrupt occures in the system and as long as its pushing the limit switch all the system is prevented from operation.
* because of that the work flow with interrupts must be :
* design a function handle (what to do in the moment the interrupt arrives)
* configure the wanted interrupt in the cfg file (according to the defined port and pin and its interrupt number and the handler)
* enable interupt for predefined gpio in the application
* when the interrupt arrives the handle will be automatically called
* in case of the limit switches since the operation is continuess the interrupt must be disabled in order to continue the application running.
* then the operation is not continues (like butten pushing) there is no need in disabling the interrupts
* 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 "./printingSTM.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
///////////////////////////////////////////////////////////////////////////////////////////
typedef enum
{
NextState = 0,
Repeat,
Inter,
Home,
Stop
} ReturnCode;
/********************************************************************************************
* functions describes motor operation flow and movement state during profile execution
* used to operate in runtime correct profileflow execution
*********************************************************************************************/
static ReturnCode EntryState(void *JobDetails);
static ReturnCode PrepareState(void *JobDetails);
static ReturnCode PreSegmentState(void *JobDetails);
static ReturnCode SegmentState(void *JobDetails);
static ReturnCode EndState(void *JobDetails);
static ReturnCode ExitState(void *JobDetails);
/**********************************************************************
* the array and enum of PrintingState_t below must be in sync order
***********************************************************************/
static ReturnCode (* state[])(void *JobDetails) = { EntryState, PrepareState, PreSegmentState, SegmentState, EndState, ExitState};
typedef enum
{
PrintRequest,
PreSegmentResultsOk,
PreSegmentResultsFail,
SegmentResultsOk,
SegmentResultsFail,
FinishResultsOk,
FinishResultsFail,
PrintSystemFailure
}PrintSTMEventsEnum;
typedef struct
{
PrintingState_t m_sourceState;
ReturnCode m_returnCode;
PrintingState_t m_destinationState;
} Transition_t;
//*************************************************************
/* transitions from end state aren't needed */
//*************************************************************
#define NUM_OF_TRANSITION 17
#define ENTRY_STATE Entry
/*************************************************************
* table which describes fast motors transitions states
* during p_profile / segments execution
*************************************************************/
static Transition_t stateTransitionTable[NUM_OF_TRANSITION] = {};
/*{
{Entry, NextState, HomingStart},
{Entry, Repeat, Entry}, //for homing of dispensers
{HomingStart, NextState, Start},
{HomingStart, Repeat, HomingStart},
{Start, NextState, Segment},
{Start, Repeat, Start},
{Segment, Inter, Intersegment},
{Segment, Repeat, Segment},
{Segment, Home, HomingEnd},
{Intersegment, NextState, Segment},
{Intersegment, Repeat, Intersegment},
{Intersegment, Home, HomingEnd},
{HomingEnd, NextState, End},
{HomingEnd, Repeat, HomingEnd},
{End, NextState, Entry},
{End, Repeat, Entry},
{Exit, Stop, Exit} //for stoping the machine iteration in case of error
};*/
////////////////////////Slow Motor State////////////////////////////////////
static PrintingState_t gPrintingState;
////////////////////////////////////////////////////////////////////////////
//********************************************************************************************************************
/********************************************************************************************************************
*function describes entry point of motor in profile execution - accelerate from stop position
*function described above used to operate motor operation flow and movement state during profile execution
*********************************************************************************************************************/
static ReturnCode EntryState(void *JobDetails)
{
return NextState;
}
//********************************************************************************************************************
static ReturnCode PrepareState(void *JobDetails)
{
return NextState;
}
//********************************************************************************************************************
static ReturnCode PreSegmentState(void *JobDetails)
{
return NextState;
}
//********************************************************************************************************************
static ReturnCode SegmentState(void *JobDetails)
{
return Repeat;
}
//********************************************************************************************************************
static ReturnCode EndState(void *JobDetails)
{
return NextState;
}
//********************************************************************************************************************
static ReturnCode ExitState(void *JobDetails)
{
return Stop;
}
//***********************************************************************************************************************
//this function is responsible for operating and transitioning between the diffrent motor state executions of the profile
//the lower managment level
//***********************************************************************************************************************
static PrintingState_t LookupTransitions(PrintingState_t state,ReturnCode returnCode)
{
char str[80];
uint8_t len = 0;
uint8_t indexInTransitionTable;
for (indexInTransitionTable = 0; indexInTransitionTable < NUM_OF_TRANSITION; ++indexInTransitionTable)
{
if ((stateTransitionTable[indexInTransitionTable].m_sourceState == state) && (stateTransitionTable[indexInTransitionTable].m_returnCode == returnCode))
{
//len = usnprintf(str, 60, "\r\n tick %d state %d return code %d",tick,state, returnCode );
//cb_push_back (str, len);
//in normal execution flow function should not arrive here
//in case it did the meaning is that the entery point was wrong and a bug should be corrected
return stateTransitionTable[indexInTransitionTable].m_destinationState;
}
}
//int tick = UsersysTickGet();
//len = usnprintf(str, 60, "\r\n tick %d state %d return code %d",tick,state, returnCode );
//cb_push_back (str, len);
//in normal execution flow function should not arrive here
//in case it did the meaning is that the entery point was wrong and a bug should be corrected
len = usnprintf(str, 80, "Internal: invalid slow motor transition state %d return code %d",state, returnCode );
return EXIT_STATE;
}
//********************************************************************************
//this function is used to manage and operate the motor managmant state mashine
//the highest managment level
//********************************************************************************
bool PrintingIterate(void *JobDetails)
{
uint32_t tick = 0;
char str[60];
uint8_t len = 0;
PrintingState_t keepstate = gPrintingState;
//
// Disable all interrupts.
//
ROM_IntMasterDisable();
ReturnCode (* state_fun)(void *JobDetails) = state[gPrintingState];
//if (_motorId == SCREW_MOTOR)
// screw_movement[gPrintingState]++;
ReturnCode returnCode = state_fun(JobDetails);
/*if ((_motorId == SCREW_MOTOR)&&(pause_active))
{
tick = UsersysTickGet();
len = usnprintf(str, 60, "\r\n PrintingIterate tick %d state %d retcode %d ",tick, gPrintingState,returnCode);
cb_push_back (str, len);
//SendInterruptMessageToHost(10+gPrintingState,returnCode);
}*/
gPrintingState = LookupTransitions(gPrintingState, returnCode);
if (keepstate != gPrintingState){
tick = UsersysTickGet();
len = usnprintf(str, 60, "\r\n changed state tick %d state %d retcode %d ", tick, gPrintingState,returnCode);
cb_push_back (str, len);
}
//
// Enable all interrupts.
//
ROM_IntMasterEnable();
return (gPrintingState != EXIT_STATE);
}
//********************************************************************************************************************
void PrintingsInit(void)
{
}
//********************************************************************************************************************
void StartPrinting(void)
{
}
//********************************************************************************************************************
//********************************************************************************************************************
void StopPrinting(void)
{
}
void PrintSTMMsgHandler(void * msg)
{
JobMessageStruc *Message = msg;
PrintMessageStruc *PrtMessage = (PrintMessageStruc *)Message->messageData;
Report(REPORT_LINE("PrintSTMMsgHandler"),__FILE__,__LINE__, RpMessage,0x1000,Message->messageId,PrtMessage->messageId);
if (Message->messageId != PrintMessage)
{
//REPORT_ERR ...
return;
}
switch(PrtMessage->messageId)
{
case PrintRequest:
break;
case PreSegmentResultsOk:
break;
case PreSegmentResultsFail:
break;
case SegmentResultsOk:
break;
case SegmentResultsFail:
break;
case FinishResultsOk:
break;
case FinishResultsFail:
break;
case PrintSystemFailure:
break;
default:
break;
}
}
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