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<?xml version="1.0" encoding="utf-8"?>
<configuration>
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  <!-- For more information on Entity Framework configuration, visit http://go.microsoft.com/fwlink/?LinkID=237468 --></configSections>
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</configuration>
generated by cgit v1.3.1 (git 2.54.0) at 2026-07-25 23:17:19 +0000
class="w"> = {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}; 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 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; 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]->pulsepersecond; 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; } //ControlStart(); MotorSetSpeed(HW_Motor_Id, OriginalDispenserSpd_2PPS[HW_Motor_Id]); // activate control fr all motors /* wait for all dispensers to get to the required pressure * move the presegment ready when all dispensers are ready. */ //call the job state machine when the thread system is ready PreSegmentReady(Module_IDS,ModuleDone); return OK; } //******************************************************************************************************************** uint32_t IDSSegmentState(void *JobDetails, int SegmentId) { return OK; } //******************************************************************************************************************** uint32_t IDSEndState(void *JobDetails) { int Motor_i; for ( Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++) { StopMotor(DispenserIdToMotorId[Motor_i],Hard_Hiz); } return OK; }
generated by cgit v1.3.1 (git 2.54.0) at 2026-07-25 23:17:19 +0000