merge

4 files changed, 59 insertions, 12 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index abfb5f229..09f5ae108 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -123,6 +123,7 @@ uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr
     Tdelay1 = LeftRockerSpeed%100;
     Tdelay2 = RightRockerSpeed;
     status = IDS_Dispenser_Start_Motor_and_Open_Valve(CLEANER_DISPENSER, dispenserSpeed, callback);
+    Init_CleaningStageCounter();
     Report("IDS_Cleaning_Spray_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning,   dispenserSpeed, 0);
     Report("IDS_Cleaning parameters", __FILE__, Tup*100, Tdelay1*100, RpWarning,   Tdelay2*100, 0);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index 831fa18cd..9973e4c7c 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -49,6 +49,7 @@ extern bool ActuatorsCleaningSequence;
 
 extern bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS];
 extern int32_t CurrentDispenserSpeed[MAX_SYSTEM_DISPENSERS];
+extern bool DispenserLastMovementDown[MAX_SYSTEM_DISPENSERS];
 
 bool IDS_MapDispenserUsedinJob(void *JobDetails);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 8dc12e615..14bb59661 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -296,6 +296,8 @@ uint32_t IDS_HomeDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr
             Report("IDS_HomeDispenser ",__FILE__,(int)(midTankContent*1000),(int)DispenserId,RpWarning,speed,0);
         }
         CurrentDispenserSpeed[DispenserId] = (-1*CurrentDispenserSpeed[DispenserId]);
+        DispenserLastMovementDown[DispenserId] = true;
+
         return OK;
     }
     return ERROR;
@@ -531,15 +533,24 @@ uint32_t IDS_Check_Pressure_Callback(uint32_t DispenserId, uint32_t ReadValue)
 
     if (GetDispenserPressure(DispenserId)>3.0)
     {
-        Report("Pulling dispenser down to reduce pressure",__FILE__,DispenserId,(int)(GetDispenserPressure(DispenserId)*100),RpWarning,200,0);
+        //10/8/2020 pulling down 2000 steps
+        Report("Pulling dispenser down to reduce pressure",__FILE__,DispenserId,(int)(GetDispenserPressure(DispenserId)*100),RpWarning,2000,0);
         if ((HomingActive[DispenserId] == true)||(PrimingActive[DispenserId] == true))
         {
             Report("Dispenser in pressure but homing active",__FILE__,DispenserId,(int)HomingActive[DispenserId],RpWarning,PrimingActive[DispenserId],0);
             LOG_ERROR(DispenserId,"IDS_Check_Pressure_Callback homing active");
             return ERROR;
         }
-        MotorMove(HW_Motor_Id,1-MotorsCfg[HW_Motor_Id].directionthreadwize,200*MotorsCfg[HW_Motor_Id].microstep);
+        MotorMove(HW_Motor_Id,1-MotorsCfg[HW_Motor_Id].directionthreadwize,2000*MotorsCfg[HW_Motor_Id].microstep);
         AddControlCallback("IDS_ReCheck_Pressure", IDS_ReCheck_Pressure_Callback, eOneSecond*4,TemplateDataReadCBFunction ,DispenserId, 0, 0 );
+        if (GetDispenserPressure(DispenserId)>5.5)
+        {
+            //stop job on pressure rise above 5.5 bar
+            IDS_Dispenser_Alarm_On(DispenserId);
+            //open valve toward mixer on pressure rise above 5.5 bar
+            Task_sleep(100);
+            Control3WayValvesWithCallback ((Valves_t)DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+        }
     }
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 3f30e755a..9c82cb1bf 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -452,6 +452,9 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
  uint32_t DispenserPrepareControlId = 0xFF;
  int NumOfActiveDispensers = 0;
  int DispenserBuildTimeCounter = 0;
+#define DISPENSER_UP_MOVEMENT
+ int DispenserTotalPrepareSteps[MAX_SYSTEM_DISPENSERS];
+ bool DispenserLastMovementDown[MAX_SYSTEM_DISPENSERS];
 #define PRESSURE_READ_TIME_GAP 100
 uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
 {
@@ -508,6 +511,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
       return OK; // all configured heaters are ready
   }
   char IdsMessage[100];
+  char IdMessage[100];
   int SegmentPrepareWFCFCounter = 0;
   bool pressureReady = false,endOfPrepareWCF = false;
  //********************************************************************************************************************
@@ -532,6 +536,11 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
          {
              if (DispenserBuildTimeCounter<(2*eOneSecond))
              {
+                 for (i = 0; i < MAX_DYE_DISPENSERS; i++)
+                 {
+                     DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond);
+                     DispenserLastMovementDown[i] = false;
+                 }
                  //REPORT_MSG(DispenserBuildTimeCounter,"waiting 2 seconds for pressure changes");
                  return OK;
              }
@@ -541,10 +550,18 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
              //IDS_StopHomeDispenser(i);
              if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
              {
+                 DispenserTotalPrepareSteps[i]+=(CurrentDispenserSpeed[i]*PRESSURE_READ_TIME_GAP/eOneSecond);
+
                  HW_Motor_Id = DispenserIdToMotorId[i];
                  if (GetDispenserPressure(i) > DispenserPreparePressure*1.05)
                  {
-                     NumofReadyDispensers++;
+#ifdef DISPENSER_UP_MOVEMENT
+                     if (DispenserTotalPrepareSteps[i]>120000)
+#endif
+                     {
+                         NumofReadyDispensers++;
+                         Report("Dispenser total prepare steps ready",__FILE__,DispenserTotalPrepareSteps[i],(int)(DispenserPreparePressure*100),RpWarning,IDS_Dispenser_Data[i].consumedinnanolitter,0);
+                     }
                      if (Special_Dispensers == true)
                      {
                          MotorStop(HW_Motor_Id, Hard_Hiz);
@@ -582,8 +599,9 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
          {
              HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
              MotorStop(HW_Motor_Id, Hard_Hiz);
+             if (CurrentDispenserSpeed[CLEANER_DISPENSER])
+                 Report("IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
              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))
@@ -599,7 +617,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
          {
              DispenserBuildTimeCounter = 0;
              pressureReady = true;
-             Report("pressureReady = true  or timeout;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
+             Report("pressureReady = true  or timeout;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)(DispenserPreparePressure*100),0);
          }
      }
      else if (endOfPrepareWCF == false)
@@ -641,7 +659,6 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                          }
                          if (segmentfirst_speed > MINIMAL_MOTOR_SPEED)
                          {
-                             char IdMessage[100];
                              segmentfirst_speed *= (100+WFCF);
                              segmentfirst_speed /= 100;
                              DispenserSegmentReady[DispenserId] = false;
@@ -730,7 +747,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
     JobTicket* JobTicket = JobDetails;
 
     JobEndSequence = false;
-    if ((pressurebuildup>0.1)&&(pressurebuildup<2.5))
+    if ((pressurebuildup>0.1)&&(pressurebuildup<4.0))
     {
         Report("Setting pressure from RML feeder tension",__FILE__,__LINE__,(int)(pressurebuildup*100),RpWarning,(int)(DispenserPreparePressure*100),0);
         DispenserPreparePressure = pressurebuildup;
@@ -742,7 +759,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
     }
     if ((cleanerFlow>200)&&(cleanerFlow<1150))
     {
-        Report("Setting pressure from RML feeder tension",__FILE__,__LINE__,(int)(cleanerFlow),RpWarning,(int)CleaningDispenserSpeed,0);
+        Report("Setting cleanerFlow from RML cleanerFlow",__FILE__,__LINE__,(int)(cleanerFlow),RpWarning,(int)CleaningDispenserSpeed,0);
         CleaningDispenserSpeed = cleanerFlow;
     }
     else if (cleanerFlow <= 10)
@@ -813,6 +830,8 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                  Report("Stop active dispenser homing ",__FILE__,i,HomingActive[i],RpWarning,CurrentDispenserSpeed[i],0);
                  IDS_StopHomeDispenser(i);
              }
+             DispenserTotalPrepareSteps[i] = 0;
+             Report("Dispenser total prepare steps zero",__FILE__,i,DispenserTotalPrepareSteps[i],RpWarning,IDS_Dispenser_Data[i].consumedinnanolitter,0);
          }
          else
          {
@@ -1220,8 +1239,11 @@ uint32_t IDSCheckSegmentData(void *SegmentDetails, int SegmentId)
     uint32_t status = OK;
     JobDescriptionFileBrushStop * tFileBrushStop;
     int Brush_i;
+    Task_Stat statbuf;
 
 //check and close previous segment
+    RemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+    BrushStopControlId = 0xFF;
     if (PrevSegment)
     {
         if (JobBrushStopId<PrevSegment->brushstopscount) //we did not finish reading the brushstops of the previous segment
@@ -1229,7 +1251,7 @@ uint32_t IDSCheckSegmentData(void *SegmentDetails, int SegmentId)
             Report("Unhandled brushstops remained",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)PrevSegment->brushstopscount,0);
             //REPORT_MSG (Segment->brushstopscount, "Segment->brushstopscount");
             //for (Brush_i=JobBrushStopId;Brush_i<PrevSegment->brushstopscount;Brush_i++) #bug 3348 - unhandled jobstops stops too soon
-            for (Brush_i=JobBrushStopId;Brush_i<=PrevSegment->brushstopscount;Brush_i++)
+            for (Brush_i=JobBrushStopId;Brush_i<PrevSegment->brushstopscount;Brush_i++)
             {
                 if (status == ERROR)
                     break;
@@ -1241,13 +1263,19 @@ uint32_t IDSCheckSegmentData(void *SegmentDetails, int SegmentId)
                 }
                 else
                 {
+                    Task_stat(Task_self(),&statbuf);
+                    Report("Unhandled BrushStopRead Error",__FILE__,statbuf.used,(int)statbuf.stackSize,RpWarning,(int)statbuf.stackHeap,0);
+                    //JobEndReason = JOB_OUT_OF_DYE;
+                    //SegmentReady(Module_IDS,ModuleFail);
+                    Report("Unhandled brushstops ERROR",__FILE__,__LINE__,(int)tFileBrushStop,RpWarning,(int)PrevSegment->brushstopscount,0);
                     status = ERROR;
                     break;
                 }
             }//for brushstops
         }
     }
-    return status;
+    Report("Unhandled brushstops result",__FILE__,__LINE__,(int)Brush_i,RpWarning,(int)PrevSegment->brushstopscount,0);
+    return OK;
 }
 uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
 {
@@ -1525,7 +1553,7 @@ uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
     Task_Stat statbuf;
     if(BrushStopStartTime+BrushStopLength+100 < msec_millisecondCounter   )
     {
-        Report("!!!!!!!!!!!!Overtime!",__FILE__,msec_millisecondCounter,(int)BrushStopStartTime,RpWarning,(int)BrushStopLength,0);
+       Report("!!!!!!!!!!!!Overtime!",__FILE__,msec_millisecondCounter,(int)BrushStopStartTime,RpWarning,(int)BrushStopLength,0);
     }
 
     if(++BrushStopCounter <  BrushStopTime)
@@ -1535,6 +1563,11 @@ uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
     BrushStopCounter = 0;
     BrushStopStartTime = msec_millisecondCounter;
 
+    if (BrushStopControlId == 0xFF)
+    {
+        Report("!!!BrushStopControlId = 0xFF",__FILE__,msec_millisecondCounter,(int)BrushStopStartTime,RpWarning,(int)BrushStopLength,0);
+        return OK;
+    }
 
     if (JobEndSequence == true)
     {
@@ -1563,7 +1596,8 @@ uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
         }
         else
         {
-            LOG_ERROR(FileBrushStop,"BrushStopReadError");
+            Task_stat(Task_self(),&statbuf);
+            Report("BrushStopRead Error",__FILE__,statbuf.used,(int)statbuf.stackSize,RpWarning,(int)statbuf.stackHeap,0);
             JobEndReason = JOB_OUT_OF_DYE;
             SegmentReady(Module_IDS,ModuleFail);
         }