initial blower value 2/3 of process value. build pressure in cleaner. stop job on waste overlow or cartridge inserted

1 files changed, 33 insertions, 8 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 5f1dfe138..a69b7fac5 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -45,6 +45,7 @@ HardwarePidControl DispensersCtrl[MAX_SYSTEM_DISPENSERS];
 #define MAX_DYE_DISPENSERS 6
 #define IDS_PRESEGMENT_TIME_STEP 50
 
+int32_t minimal_intersegment_length = 0;
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
 double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
@@ -119,15 +120,15 @@ void IDS_Dispenser_SetPreSegmentWFCFValues(double dispenserpresegmentwfcf, doubl
          LeftRockerSpeed = ids_leftcleaningmotorspeed;
      if ( ids_rightcleaningmotorspeed)
          RightRockerSpeed = ids_rightcleaningmotorspeed;
+     minimal_intersegment_length = ids_cleaningstopbeforesegmenttime+ids_cleaningstartspraypresegmenttime+2000;
      Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,RightRockerSpeed,RpWarning,(int)LeftRockerSpeed,0);
-     Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,InterSegmentStartSprayCleaner,RpWarning,(int)InterSegmentCenterRockers,0);
+     Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,minimal_intersegment_length,InterSegmentStartSprayCleaner,RpWarning,(int)InterSegmentCenterRockers,0);
      Report("IDS_Dispenser actuator times ",__FILE__,(int)LeftRockerSpeed/100*IDS_PRESEGMENT_TIME_STEP,(int)LeftRockerSpeed%100*IDS_PRESEGMENT_TIME_STEP,RpWarning,(int)RightRockerSpeed*IDS_PRESEGMENT_TIME_STEP,0);
-
  }
 
  uint32_t DispenserPreSegmentControlId = 0xFF;
  uint32_t BrushStopControlId = 0xFF;
- uint32_t PreSegmentControlId = 0xFF;
+ //uint32_t PreSegmentControlId = 0xFF;
 
 /*uint32_t IDS_DispenserControlInit()
 {
@@ -576,6 +577,13 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                  }
              }
          }
+         if (GetDispenserPressure(CLEANER_DISPENSER) > 0.02)
+         {
+             HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
+             MotorStop(HW_Motor_Id, Hard_Hiz);
+             CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
+             Report("IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+         }
 
          if ((NumofReadyDispensers)&&(DispenserBuildTimeCounter%1000 == 0))
          {
@@ -689,6 +697,13 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
      //start new stage
      if (endOfPrepareWCF == true)
      {
+         if (CurrentDispenserSpeed[CLEANER_DISPENSER])
+         {
+             HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
+             MotorStop(HW_Motor_Id, Hard_Hiz);
+             CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
+             Report("IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+         }
          SafeRemoveControlCallback(DispenserPrepareControlId, IDS_Prepare_Callback );
          DispenserPrepareControlId = 0xFF;
          Report("IDS_Prepare_Callback SafeRemoveControlCallback",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
@@ -848,6 +863,12 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                  }*/
              }
          }
+         TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
+         MotorSetSpeed((TimerMotors_t)HW_Motor_Id,400); //set the dispenser to the
+         CurrentDispenserSpeed[CLEANER_DISPENSER] = 400;
+         Report("IDS start cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+
+
      }
      DispenserBuildTimeCounter = 0;
      DispenserPrepareControlId = AddControlCallback(NULL, IDS_Prepare_Callback, PRESSURE_READ_TIME_GAP,TemplateDataReadCBFunction ,0, 0, 0 );
@@ -1259,15 +1280,19 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
         if (SegmentId>0)
         {
             lInterSegmentLength = ((IntersegmentLength*100)*1000/dyeingspeed);
+
             lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
             InterSegmentStepsCount = 0;
-            DispenserPreSegmentControlId = AddControlCallback(NULL,IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 );
-            if (DispenserPreSegmentControlId == 0xFF)
+            if (minimal_intersegment_length<((IntersegmentLength*100)*1000/dyeingspeed))
             {
-                Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
-                return ERROR;
+                DispenserPreSegmentControlId = AddControlCallback(NULL,IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 );
+                if (DispenserPreSegmentControlId == 0xFF)
+                {
+                    Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
+                    return ERROR;
+                }
+                Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)lInterSegmentLength,0);
             }
-            Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)lInterSegmentLength,0);
             /*if (EnableCleaning == true)
             {
                 InterSegmentStartSprayCleaner = 500;