IDS - do not switch off valve between segments if used in the next segment. SCREW - preparations for interrupts. Alarm Handling - low temperature. Homing - bi-directional.

3 files changed, 65 insertions, 3 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index 06e45d1b8..2b8779207 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -41,6 +41,7 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request);
 
 uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback);
 uint32_t IDS_StopHomeDispenser (uint32_t deviceID);
+uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback);
 
 uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 2fbc90c69..b90ed3a1f 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -28,6 +28,16 @@ FPGA_GPI_ENUM     Dispenser_Id_to_LS_Id[MAX_SYSTEM_DISPENSERS] = {
       GPI_LS_DISPENSER_DOWN_7, //MOTO_DISPENSER_7 = 12,
       GPI_LS_DISPENSER_DOWN_8, //MOTO_DISPENSER_8 = 13,
 };
+FPGA_GPI_ENUM     Dispenser_Id_to_LS_Empty_Id[MAX_SYSTEM_DISPENSERS] = {
+      GPI_LS_DISPENSER_UP_1, //MOTO_DISPENSER_1 = 6,
+      GPI_LS_DISPENSER_UP_2, //MOTO_DISPENSER_2 = 7,
+      GPI_LS_DISPENSER_UP_3, //MOTO_DISPENSER_3 = 8,
+      GPI_LS_DISPENSER_UP_4, //MOTO_DISPENSER_4 = 9,
+      GPI_LS_DISPENSER_UP_5, //MOTO_DISPENSER_5 = 10,
+      GPI_LS_DISPENSER_UP_6, //MOTO_DISPENSER_6 = 11,
+      GPI_LS_DISPENSER_UP_7, //MOTO_DISPENSER_7 = 12,
+      GPI_LS_DISPENSER_UP_8, //MOTO_DISPENSER_8 = 13,
+};
 FPGA_GPI_ENUM     Dispenser_Id_to_Alarm_LS_Id[MAX_SYSTEM_DISPENSERS*2] = {
       GPI_LS_DISPENSER_UP_1, //MOTO_DISPENSER_1 = 6,
       GPI_LS_DISPENSER_UP_2, //MOTO_DISPENSER_2 = 7,
@@ -128,3 +138,31 @@ uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id)
     else
         return FPGA_Read_limit_Switches(Dispenser_Id_to_Alarm_LS_Id[LS_Id]);
 }
+
+uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback)
+{
+    assert(deviceID < MAX_SYSTEM_DISPENSERS);
+
+    if (HomingActive[deviceID] == true)
+        return ERROR;
+    else
+        HomingActive[deviceID] = true;
+
+    HomingRequestCallback[deviceID] = callback;
+
+    TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + deviceID;
+    if ( Dispenser_Id_to_LS_Empty_Id[deviceID] != MAX_GPI)
+    {
+        //open dispenser valve dispenser to midtank direction
+        Control3WayValvesWithCallback ((Valves_t)deviceID, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+        //Valve_Set((Valves_t) request->index, MidTank_Dispenser);
+        MotorSetMicroStep(deviceID, 1);
+        //open dry air valve in the dispenser
+        Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
+
+
+        MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Empty_Id[deviceID], IDS_HomeDispenserCallback);
+        return OK;
+    }
+    return ERROR;
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index acd8a8983..3a86bab44 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -151,7 +151,28 @@ void DispenserPrepareReady(void)
     DispenserPrepareReady();
     return OK;
 }
+bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId)
+{
+    JobTicket* JobTicket = JobDetails;
+    int NextSegment = SegmentId+1;
+    int Dispenser_i,n_dispensers;
+    if (JobTicket->n_segments == 0)
+        return false;
+    if (JobTicket->n_segments <= NextSegment)
+        return false;
+    if (JobTicket->segments[NextSegment]->brushstops[0]->n_dispensers)
+    {
+        n_dispensers = JobTicket->segments[NextSegment]->brushstops[0]->n_dispensers;
+        for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
+        {
+            if (DispenserId == JobTicket->segments[NextSegment]->brushstops[0]->dispensers[Dispenser_i]->index) //dispenser is in use next segment
+                return true;
+        }
+    }
+
+    return false;
 
+}
  //********************************************************************************************************************
  uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue)
  {
@@ -209,14 +230,16 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
                 continue;
             DispenserPreSegmentReady[DispenserId] = false;
-            Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-
+            if (IDS_isDispenserUsedNextSegment(JobDetails,DispenserId,SegmentId) == false)
+            {
+                Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+            }
             MotorStop(HW_Motor_Id,Hard_Hiz);
 
             /*if (JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->has_dispenserstepdivision)
                 MotorSetMicroStep(HW_Motor_Id,JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
             else*/
-                MotorSetMicroStep(HW_Motor_Id,MotorsCfg[HW_Motor_Id].microstep);
+            MotorSetMicroStep(HW_Motor_Id,MotorsCfg[HW_Motor_Id].microstep);
 
         }
     }