IDS - do not switch off valve between segments if used in the next segment. SCREW - preparations for interrupts. Alarm Handling - low temperature. Homing - bi-directional.

1 files changed, 53 insertions, 24 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index ff2294b6b..960581da7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -35,10 +35,10 @@
 
 #include "StateMachines/Printing/PrintingSTM.h"
 
-FPGA_GPI_ENUM     Motor_Id_to_LS_Id[NUM_OF_MOTORS] = {
-      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,
-      MAX_GPI, //MOTO_DH_CLEANMECH = 1,
-      MAX_GPI, //MOTO_DH_LID = 2,
+FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for normal homing into working mode
+      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,                    // closing the loading system
+      MAX_GPI, //MOTO_DH_CLEANMECH = 1,                    //dispensers down
+      GPI_LS_DH_LID_CLOSED, //MOTO_DH_LID = 2,
       MAX_GPI, //MOTO_DRYER_DRIVING = 3,
       MAX_GPI, //MOTO_DRYER_LID = 4,
       MAX_GPI, //MOTO_DRYER_LOADARM = 5,
@@ -55,12 +55,39 @@ FPGA_GPI_ENUM     Motor_Id_to_LS_Id[NUM_OF_MOTORS] = {
       GPI_LS_LDANCER1_DOWN, //MOTO_LDANCER1 = 16,
       GPI_LS_LDANCER2_DOWN, //MOTO_LDANCER2 = 17,
       MAX_GPI, //MOTO_LDRIVING = 18,
+      GPI_LS_LLOADMOTOR_DOWN, //MOTO_LLOADING = 19,
+      GPI_LS_LPIVOT_DOWN, //MOTO_LPIVOT1 = 20,
+      GPI_LS_RDANCER_DOWN, //MOTO_RDANCER = 21,
+      MAX_GPI, //MOTO_RDRIVING = 22,
+      GPI_LS_RDANCER_LONG, //MOTO_RLOADARM = 23,
+      GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
+};
+FPGA_GPI_ENUM     Motor_Id_to_LS_IdUp[NUM_OF_MOTORS] = { // limit switch for normal homing out of working mode
+      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,                    // opening the loading system
+      MAX_GPI, //MOTO_DH_CLEANMECH = 1,                    //dispensers up - empting
+      GPI_LS_DH_LID_OPEN, //MOTO_DH_LID = 2,
+      MAX_GPI, //MOTO_DRYER_DRIVING = 3,
+      MAX_GPI, //MOTO_DRYER_LID = 4,
+      MAX_GPI, //MOTO_DRYER_LOADARM = 5,
+      GPI_LS_DISPENSER_UP_1, //MOTO_DISPENSER_1 = 6,
+      GPI_LS_DISPENSER_UP_2, //MOTO_DISPENSER_2 = 7,
+      GPI_LS_DISPENSER_UP_3, //MOTO_DISPENSER_3 = 8,
+      GPI_LS_DISPENSER_UP_4, //MOTO_DISPENSER_4 = 9,
+      GPI_LS_DISPENSER_UP_5, //MOTO_DISPENSER_5 = 10,
+      GPI_LS_DISPENSER_UP_6, //MOTO_DISPENSER_6 = 11,
+      GPI_LS_DISPENSER_UP_7, //MOTO_DISPENSER_7 = 12,
+      GPI_LS_DISPENSER_UP_8, //MOTO_DISPENSER_8 = 13,
+      GPI_LS_SCREW_RIGHT, //MOTO_SCREW = 14,
+      MAX_GPI, //MOTO_WINDER = 15,
+      GPI_LS_LDANCER1_UP, //MOTO_LDANCER1 = 16,
+      GPI_LS_LDANCER2_UP, //MOTO_LDANCER2 = 17,
+      MAX_GPI, //MOTO_LDRIVING = 18,
       GPI_LS_LLOADMOTOR_UP, //MOTO_LLOADING = 19,
       GPI_LS_LPIVOT_UP, //MOTO_LPIVOT1 = 20,
-      GPI_LS_RDANCER_DOWN, //MOTO_RDANCER = 21,
+      GPI_LS_RDANCER_UP, //MOTO_RDANCER = 21,
       MAX_GPI, //MOTO_RDRIVING = 22,
       GPI_LS_RLOADRAM_UP, //MOTO_RLOADARM = 23,
-      GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
+      GPI_LS_RLOADMOTOR_UP, //MOTO_RLOADING = 24,
 };
 typedef enum {
     MotorHomingDirectionUp,
@@ -132,11 +159,23 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
     {
         if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
-            if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
+            if (request->direction == MOTOR_DIRECTION__Forward) //opening the loading system
+            {
+                if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI)
+                {
+                    MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback);
+                    ustrncpy (HomingToken[MotorId], requestContainer->token,36);
+                    return OK;
+                }
+            }
+            else // closing the system into normal work
             {
-                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_Id[MotorId], MotorHomingRequestCallback);
-                ustrncpy (HomingToken[MotorId], requestContainer->token,36);
-                return OK;
+                if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI)
+                {
+                    MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback);
+                    ustrncpy (HomingToken[MotorId], requestContainer->token,36);
+                    return OK;
+                }
             }
         }
     }
@@ -225,20 +264,10 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
     {
         if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
-            IDS_HomeDispenser(request->index,speed,DispenserHomingRequestCallback);
-            /*if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
-            {
-                //open dispenser valve dispenser to midtank direction
-                Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                //Valve_Set((Valves_t) request->index, MidTank_Dispenser);
-                //open dry air valve in the dispenser
-                Valve_Set((Valves_t) (request->index+VALVE_2W_MID_AIR_8), Atm_MidTank_ON);
-
-                MotorSetMicroStep(MotorId, 1);
-
-                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
-                return OK;
-            }*/
+            if (request->direction == MOTOR_DIRECTION__Backward) //dispenser homing
+                IDS_HomeDispenser(request->index,speed,DispenserHomingRequestCallback);
+            else //empty dispenser - support TBD
+                IDS_EmptyDispenser(request->index,speed,DispenserHomingRequestCallback);//return ERROR;
         }
     }