MotorStop, improve IDS, Dispensers pressure

1 files changed, 17 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
index d53ab3d60..81efa5662 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
@@ -12,6 +12,7 @@
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
 #include "drivers/Motors/Motor.h"
+#include "drivers/ADC_Sampling/adc.h"
 
 #define MAX_CONTROL_SAMPLES 10
 
@@ -19,6 +20,22 @@ HardwareDispenser DispensersCfg[ MAX_SYSTEM_DISPENSERS];
 
 uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS] = {HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8};
 
+float DispenserPressure[MAX_SYSTEM_DISPENSERS] = {0};
+
+float CalculateDispenserPressure (int DispenserId)
+{
+    unsigned short data = 0;
+    float temp= 0.0;
+
+    data = ADC_GetReading(DispenserIdToPressureSensorId[DispenserId]);
+    temp = 4096 - data;
+    temp *= 3;
+    temp *= 1000; //move to mv
+    temp /= 4096;
+    DispenserPressure[DispenserId] = 3000 - temp;
+    return( DispenserPressure[DispenserId]);
+
+}
 
 
 uint32_t DispenserConfigMessage(HardwareDispenser * request)