basic IDS with valves handling

2 files changed, 28 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index f4ddc0fbd..d999be20e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -14,6 +14,7 @@
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
 #include "StateMachines/Printing/printingSTM.h"
 #include "drivers/motors/motor.h"
+#include "drivers/valves/valve.h"
 
 
 typedef struct
@@ -42,6 +43,7 @@ bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
 uint32_t    ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF};
 int OriginalDispenserSpd_2PPS[MAX_SYSTEM_DISPENSERS] = {0};
+bool         DispenserPreSegmentReady[MAX_SYSTEM_DISPENSERS] = {false};
 int JobBrushStopId = 0;
 
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
@@ -151,6 +153,21 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
  }
 
 //********************************************************************************************************************
+
+ uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue)
+ {
+     int i;
+     DispenserPreSegmentReady[deviceID] = true;
+     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
+     {
+         if (DispenserPreSegmentReady[i] == false)
+         {
+             return; //not all configured heaters are ready
+         }
+     }
+     PreSegmentReady(Module_IDS,ModuleDone);
+
+ }
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 {
 //set the speed only before the first segment, speed is constant accros job
@@ -169,14 +186,18 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
     for (Dispenser_i = 0;Dispenser_i <= MAX_SYSTEM_DISPENSERS;Dispenser_i++)
     {
         HW_Motor_Id = DispenserIdToMotorId[Dispenser_i];
+        Control3WayValvesWithCallback (Dispenser_i, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+
         MotorStop(HW_Motor_Id,Hard_Stop);
         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);
+        DispenserPreSegmentReady[Dispenser_i] = false;
+
     }
     //call the job state machine when the thread system is ready
-    PreSegmentReady(Module_IDS,ModuleDone);
+    //PreSegmentReady(Module_IDS,ModuleDone);
 
     return OK;
 }
@@ -199,7 +220,11 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 //         double Dispenser_speed = (segmentfirst_speed *  MotorsCfg[HW_Motor_Id].pulseperround)/(2*PI* MotorsCfg[HW_Motor_Id].pulleyradius);
          //DispenserControlConfig[Dispenser_i].m_SetParam = Dispenser_speed;
 //         OriginalDispenserSpd_2PPS[Dispenser_i] = (int)Dispenser_speed;
-         MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
+         if ((int)segmentfirst_speed > 0)
+             {
+                 Control3WayValvesWithCallback (Dispenser_i, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                 MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
+             }
      }
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index ed4d44491..fbfb0ed85 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -16,6 +16,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+
 #include <PMR/Stubs/StubRealTimeUsageResponse.pb-c.h>
 #include <PMR/Stubs/StubRealTimeUsageRequest.pb-c.h>