prepare working with open valves

1 files changed, 40 insertions, 26 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index b52f8b908..2ad8db9d6 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -142,7 +142,7 @@ void IDS_Dispenser_SetPreSegmentWFCFValues(double dispenserpresegmentwfcf, doubl
 
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 {
-    int Dispenser_i,i;
+    /*int Dispenser_i,i;
     //int temp;
     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
     {
@@ -177,7 +177,7 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
     DispenserControlConfig[Dispenser_i].m_preError = 0;
     DispenserControlConfig[Dispenser_i].m_SetParam = DispensersCtrl[Dispenser_i].outputproportionalcycletime;//need to update SetParams on presegment stage
 
-
+    */
     return OK;
 }
 uint32_t DispenserPidControlId[MAX_SYSTEM_DISPENSERS] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
@@ -789,29 +789,29 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
         TimerMotors_t  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
-            /*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);
+        /*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
+        /*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);
     }
 
     if (HeaterCheckReady() == true)
@@ -865,6 +865,13 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                      ReportWithPackageFilter(IDSFilter,"Inactive dispenser already homing",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
                  }
              }
+#ifdef DISPENSER_VALVES_OPEN
+             else  // turn inactive dispenser valve toward the midtank during job
+             {
+                 if (HomingActive[i] == false)
+                     Control3WayValvesWithCallback ((Valves_t)i, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+             }
+#endif
          }
      }
      if (NumOfActiveDispensers)
@@ -1871,7 +1878,11 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
              {
                  MotorStop(DispenserIdToMotorId[Dispenser_i],Hard_Hiz);
              }
-            Control3WayValvesWithCallback (Dispenser_i, MidTank_Dispenser, IDS_Valve_EndValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+#ifdef DISPENSER_VALVES_OPEN
+             Control3WayValvesWithCallback (Dispenser_i, Dispenser_Mixer, IDS_Valve_EndValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+#else
+             Control3WayValvesWithCallback (Dispenser_i, MidTank_Dispenser, IDS_Valve_EndValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+#endif
             CurrentDispenserSpeed[Dispenser_i] = 0;
 
             //IDS_Dispenser_Close_Valve_And_Stop_Motor(Dispenser_i,IDS_Valve_EndValveReady);
@@ -1880,6 +1891,9 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          {
 //             RemoveControlCallback(ControlIdtoInactiveDispenserId[Dispenser_i], IDS_Check_Pressure_Callback );
 //             ControlIdtoInactiveDispenserId[Dispenser_i] = 0xFF;
+#ifdef DISPENSER_VALVES_OPEN
+             Control3WayValvesWithCallback (Dispenser_i, Dispenser_Mixer, IDS_Valve_EndValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+#endif
              IDS_Valve_EndValveReady(Dispenser_i,false);
          }