state machine changes, memory allocation bug

1 files changed, 10 insertions, 19 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
index f4ad58da8..899cda64a 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
@@ -7,9 +7,15 @@
 #include "ids.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
+#include "PMR/Hardware/HardwarePidControl.pb-c.h"
+#include "PMR/Printing/JobSpool.pb-c.h"
+#include "PMR/Printing/JobSpoolType.pb-c.h"
 
+#include "drivers/Motors/Motor.h"
 
-DispenserConfigStruc DispensersCfg[ MAX_SYSTEM_DISPENSERS];
+#define MAX_CONTROL_SAMPLES 10
+
+HardwareDispenser DispensersCfg[ MAX_SYSTEM_DISPENSERS];
 
 uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS] = {MOTOR_DISPENSER_1,MOTOR_DISPENSER_2,MOTOR_DISPENSER_3,MOTOR_DISPENSER_4,MOTOR_DISPENSER_5,MOTOR_DISPENSER_6,MOTOR_DISPENSER_7,MOTOR_DISPENSER_8};
 
@@ -21,27 +27,12 @@ uint32_t DispenserConfigMessage(HardwareDispenser * request)
     int Dispenser_i;
 
     Dispenser_i = request->hardwaredispensertype;
-    if ((Dispenser_i)&&(Dispenser_i< MAX_SYSTEM_DISPENSERS))
+    if (Dispenser_i< MAX_SYSTEM_DISPENSERS)
     {
-
-        DispensersCfg[Dispenser_i].id               = request->hardwaredispensertype;
-        DispensersCfg[Dispenser_i].minfrequency          = request->minfrequency;
-        DispensersCfg[Dispenser_i].maxfrequency          = request->maxfrequency;
-        DispensersCfg[Dispenser_i].minmicrostep     = request->minmicrostep;
-        DispensersCfg[Dispenser_i].maxmicrostep     = request->maxmicrostep;
-        DispensersCfg[Dispenser_i].correctiongain   = request->correctiongain;
-        DispensersCfg[Dispenser_i].ratiotodryerspeed  = request->ratiotodryerspeed;
-        DispensersCfg[Dispenser_i].kp               = request->kp;
-        DispensersCfg[Dispenser_i].ki               = request->ki;
-        DispensersCfg[Dispenser_i].kd               = request->kd;
-        DispensersCfg[Dispenser_i].changeslope      = request->changeslope;
-        DispensersCfg[Dispenser_i].highlengthmicrosecond   = request->highlengthmicrosecond;
-        DispensersCfg[Dispenser_i].dispensercapacity= request->capacity;
-//        DispensersCfg[Dispenser_i].midtankcapacity  = request->midtankcapacity;
-        DispensersCfg[Dispenser_i].nlperpulse   = request->nlperpulse;
-        DispensersCfg[Dispenser_i].controltiming    = request->controltiming;
+        memcpy (&DispensersCfg[Dispenser_i],request,sizeof(HardwareDispenser));
         return status;
     }
     else return Dispenser_i;
 
 }
+