Dispenser homing functions moved to IDS. valves external interface improved

4 files changed, 108 insertions, 8 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 20466325a..261b9e049 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -104,14 +104,14 @@ AlarmHandlingItem  AlarmItem[MAX_SYSTEM_ALARMS]={
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_6,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Empty,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_7,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Empty,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_UP_8,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Empty,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_1,false,true,DEBUG_LOG_CATEGORY__Warning,0,0,0,false,EVENT_TYPE__Dispenser1LowLevel,NULL},
+/*{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_1,false,true,DEBUG_LOG_CATEGORY__Warning,0,0,0,false,EVENT_TYPE__Dispenser1LowLevel,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_2,false,true,DEBUG_LOG_CATEGORY__Warning,1,0,0,false,EVENT_TYPE__Dispenser2LowLevel,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_3,false,true,DEBUG_LOG_CATEGORY__Warning,2,0,0,false,EVENT_TYPE__Dispenser3LowLevel,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_4,false,true,DEBUG_LOG_CATEGORY__Warning,3,0,0,false,EVENT_TYPE__Dispenser4LowLevel,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_5,false,true,DEBUG_LOG_CATEGORY__Warning,4,0,0,false,EVENT_TYPE__Dispenser5LowLevel,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_6,false,true,DEBUG_LOG_CATEGORY__Warning,5,0,0,false,EVENT_TYPE__Dispenser6LowLevel,NULL},
 {100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_7,false,true,DEBUG_LOG_CATEGORY__Warning,6,0,0,false,EVENT_TYPE__Dispenser7LowLevel,NULL},
-{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_8,false,true,DEBUG_LOG_CATEGORY__Warning,7,0,0,false,EVENT_TYPE__Dispenser8LowLevel,NULL},
+{100,LimitSwitchAlarm,GPI_LS_DISPENSER_25_8,false,true,DEBUG_LOG_CATEGORY__Warning,7,0,0,false,EVENT_TYPE__Dispenser8LowLevel,NULL},*/
 {100,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL},
 {100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL},
 {100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL},
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index dfd45ec3d..0583f6caa 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -179,11 +179,11 @@ uint32_t DispenserHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
     MessageContainer responseContainer;
     MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
 
-    uint8_t DispenserId = deviceID-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+    //uint8_t DispenserId = deviceID-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
 
     //close dry air valve in the dispenser
-    Valve_Set((Valves_t) (DispenserId+VALVE_2W_MID_AIR_8), Atm_MidTank_OFF);
-    MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
+    //Valve_Set((Valves_t) (DispenserId+VALVE_2W_MID_AIR_8), 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;
@@ -223,7 +223,8 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
     {
         if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
-            if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
+            IDS_HomeDispenser(request->index,speed,DispenserHomingRequestCallback);
+            /*if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
             {
                 //open dispenser valve dispenser to midtank direction
                 Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
@@ -235,7 +236,7 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
 
                 MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
                 return OK;
-            }
+            }*/
         }
     }
 
@@ -250,11 +251,13 @@ uint32_t DispenserAbortHomingRequestFunc(MessageContainer* requestContainer)
 
     DispenserAbortHomingResponse response = DISPENSER_ABORT_HOMING_RESPONSE__INIT;
 
+    IDS_StopHomeDispenser(request->index);
+/*
     TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
     MotorAbortMovetoLimitSwitch(MotorId);
     //close dry air valve in the dispenser
     Valve_Set((Valves_t) ((request->index)+VALVE_2W_MID_AIR_8), Atm_MidTank_OFF);
-
+*/
     responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortHomingResponse,  requestContainer->token, false, &response, &dispenser_abort_homing_response__pack, &dispenser_abort_homing_response__get_packed_size);
     responseContainer.continuous = false;
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index ea5505642..75d86fdd7 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -21,6 +21,10 @@ uint32_t IDSEndState(void *JobDetails);
 
 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);
+
+
 float CalculateDispenserPressure (int DispenserId);
 float GetDispenserPressure(int DispenserId);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index e69de29bb..73d1aa2b1 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -0,0 +1,93 @@
+/************************************************************************************************************************
+ * Ids_maint.c
+ * Printing module is responsible for :
+ * operating the dispensers according to predefined dispensing rate from the UI
+ **************************************************************************************************************************/
+#include "include.h"
+#include "ids.h"
+#include "ids_ex.h"
+#include "../control/control.h"
+#include "../control/pidalgo.h"
+#include "../thread/thread.h"
+#include "PMR/Hardware/Hardwaremotor.pb-c.h"
+#include "PMR/Hardware/HardwareDispenser.pb-c.h"
+#include "StateMachines/Printing/printingSTM.h"
+
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/Valves/Valve.h"
+
+FPGA_GPI_ENUM     Dispenser_Id_to_LS_Id[MAX_SYSTEM_DISPENSERS] = {
+      GPI_LS_DISPENSER_DOWN_1, //MOTO_DISPENSER_1 = 6,
+      GPI_LS_DISPENSER_DOWN_2, //MOTO_DISPENSER_2 = 7,
+      GPI_LS_DISPENSER_DOWN_3, //MOTO_DISPENSER_3 = 8,
+      GPI_LS_DISPENSER_DOWN_4, //MOTO_DISPENSER_4 = 9,
+      GPI_LS_DISPENSER_DOWN_5, //MOTO_DISPENSER_5 = 10,
+      GPI_LS_DISPENSER_DOWN_6, //MOTO_DISPENSER_6 = 11,
+      GPI_LS_DISPENSER_DOWN_7, //MOTO_DISPENSER_7 = 12,
+      GPI_LS_DISPENSER_DOWN_8, //MOTO_DISPENSER_8 = 13,
+};
+callback_fptr HomingRequestCallback[MAX_SYSTEM_DISPENSERS]={0,0,0,0,0,0,0,0};
+bool HomingActive[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
+
+uint32_t IDS_HomeDispenserCallback(uint32_t deviceID, uint32_t ReadValue)
+{
+    uint8_t DispenserId = deviceID-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+
+    //close dry air valve in the dispenser
+    Valve_Set((Valves_t) (IDS_Id_to_AirValve[deviceID]), Atm_MidTank_OFF);
+    MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
+    if (HomingRequestCallback[deviceID])
+    {
+        HomingRequestCallback[deviceID](deviceID,0);
+        HomingRequestCallback[deviceID] = NULL;
+    }
+    HomingActive[deviceID]= false;
+
+return OK;
+
+}
+
+uint32_t IDS_HomeDispenser (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_Id[MotorId] != 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((Valves_t) (IDS_Id_to_AirValve[deviceID]), Atm_MidTank_ON);
+
+
+        MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Id[MotorId], IDS_HomeDispenserCallback);
+        return OK;
+    }
+}
+
+uint32_t IDS_StopHomeDispenser (uint32_t deviceID)
+{
+    assert(deviceID < MAX_SYSTEM_DISPENSERS);
+
+    if (HomingActive[deviceID] != true)
+        return ERROR;
+    else
+        HomingActive[deviceID] = false;
+
+    TimerMotors_t MotorId = (deviceID)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+    MotorAbortMovetoLimitSwitch(MotorId);
+    //close dry air valve in the dispenser
+    Valve_Set((Valves_t) (IDS_Id_to_AirValve[deviceID]), Atm_MidTank_OFF);
+    MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
+    return OK;
+}