support fast communication (multiple Rx messages from PC). set dispenser homing microstep to 1

1 files changed, 2 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index af8932872..70ede0916 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -183,6 +183,7 @@ uint32_t DispenserHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
 
     //close dry air valve in the dispenser
     Valve_Set((Valves_t) (DispenserId+VALVE_2W_MID_AIR_LF), Atm_MidTank_OFF);
+    MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
 
     responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
     responseContainer.continuous = true;
@@ -230,6 +231,7 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
                 //open dry air valve in the dispenser
                 Valve_Set((Valves_t) (request->index+VALVE_2W_MID_AIR_LF), Atm_MidTank_ON);
 
+                MotorSetMicroStep(MotorId, 1);
 
                 MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
                 return OK;