Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

5 files changed, 37 insertions, 16 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index c67334625..6220405d4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -129,13 +129,13 @@ void DiagnosticCollection(void)
     pollermotor[DiagnosticsIndex] = MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDRIVING);
     windermotor[DiagnosticsIndex] = MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_WINDER);
     screwmotor[DiagnosticsIndex] = MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    mixertemperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_MIXCHIP_TEMP)/100;
+    mixertemperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_AN_ENCLOSURETEMP3)/100;
     headzone1temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DYEINGH_TEMP1)/100;
     headzone2temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DYEINGH_TEMP2)/100;
     headzone3temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DYEINGH_TEMP3)/100;
     headzone4temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DYEINGH_TEMP4)/100;
     headzone5temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DYEINGH_TEMP5)/100;
-    headzone6temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_AN_ENCLOSURETEMP3)/100;
+    headzone6temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_MIXCHIP_TEMP)/100;
     dryerzone1temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DRYER_TEMP1)/100;
     dryerzone2temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DRYER_TEMP2)/100;
     dryerzone3temperature[DiagnosticsIndex] = TemperatureSensorRead(TEMP_SENSE_ANALOG_DRYER_TEMP3)/100;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 7d5839a55..08940899e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -164,7 +164,8 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
             if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
             {
                 //open dispenser valve dispenser to midtank direction
-                Valve_Set((Valves_t) request->index, MidTank_Dispenser);
+                Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                //Valve_Set((Valves_t) request->index, MidTank_Dispenser);
                 //open dry air valve in the dispenser
                 Valve_Set((Valves_t) (request->index+VALVE_2W_MID_AIR_LF), Atm_MidTank_ON);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index a145ac1f9..c0f0fae1f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -46,7 +46,7 @@ HeaterCommand          HeaterCmd[MAX_HEATERS_NUM];
 uint32_t    ControlIdtoHeaterId [MAX_HEATERS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
 uint32_t    DryerHeaterMaxTempControl = 0xFF;
 
-uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {TEMP_SENSE_ANALOG_DRYER_TEMP1,TEMP_SENSE_ANALOG_DRYER_TEMP1,TEMP_SENSE_ANALOG_DRYER_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,TEMP_SENSE_ANALOG_MIXCHIP_TEMP};
+uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {TEMP_SENSE_ANALOG_DRYER_TEMP1,TEMP_SENSE_ANALOG_DRYER_TEMP1,TEMP_SENSE_ANALOG_DRYER_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,TEMP_SENSE_AN_ENCLOSURETEMP3};
 uint32_t    DryerInternalPT100Id = TEMP_SENSE_ANALOG_DRYER_TEMP2;
 bool HeatersRestart = false;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
index 8a51bc210..f2901ad84 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
@@ -36,29 +36,33 @@ float CalculateDispenserPressure (int DispenserId)
     DispenserPressure[DispenserId] = 3000 - temp;
     */
 
-    float Vlow = 0.004 * 130; // 4mA*130ohm (0 Pascal)
-    float VHigh = 0.020 *130; // 20mA*130ohm (1M Pascal)
+    float Vlow = 0.004 * 130; // 4mA*130ohm  = 0.52 V(0 Pascal)
+    float VHigh = 0.020 *130; // 20mA*130ohm  = 2.6V (1M Pascal)
 
-    float Bits_0Pascal = Vlow * 4096 / 3; // Vlow * 4096bit / 3Vref
-    float Bits_1MPascal = VHigh * 4096 / 3; // VHigh * 4096bit / 3Vref
+    float Bits_0Pascal = Vlow * 4096 / 3; // Vlow * 4096bit / 3Vref = 709.973328 bits
+    float Bits_1MPascal = VHigh * 4096 / 3; // VHigh * 4096bit / 3Vref = 3549.86646 bits
 
-    float a = (1 - 0) / (Bits_1MPascal - Bits_0Pascal);// Mpascal/Bits
+    float a = (1 - 0) / (Bits_1MPascal - Bits_0Pascal);// Mpascal/Bits = 0.000352125
+
+    float b = 0 - (a * Bits_0Pascal );
 
     data = ADC_GetReading(DispenserIdToPressureSensorId[DispenserId]);
 
-    temp = Bits_1MPascal - data;
+    if(data<Bits_0Pascal)
+        data = Bits_0Pascal;//40mA 0Bar
 
-    temp = a * temp;
+    temp = a * data + b;
 
-    DispenserPressure[DispenserId] = 1 - temp; // [Mpascal] ( 1 Mpascal = 10 Bar )
+    DispenserPressure[DispenserId] = temp; // [Mpascal] ( 1 Mpascal = 10 Bar )
 
     //unmark one of them to convert from Mpascal to :
     //-----------------------------------
-    //DispenserPressure[DispenserId] / = 1000000; //Pascal
+    //DispenserPressure[DispenserId] /= 1000000; //Pascal
     //DispenserPressure[DispenserId] *=10;        //Bar;
+    DispenserPressure[DispenserId] *=10000000;        //uBar;
     //DispenserPressure[DispenserId] *=145.0377;  //PSI;
 
-    return( DispenserPressure[DispenserId]);
+    return(DispenserPressure[DispenserId]);
 }
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
index 32f3a9b16..e18435554 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -12,6 +12,7 @@
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Stub_Status.h"
+#include <math.h>
 
 void Stub_DispenserRequest(MessageContainer* requestContainer)
 {
@@ -20,7 +21,19 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
 
     StubDispenserRequest* request = stub_dispenser_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-	//request->dispenserid
+    ADCAcquireInit();
+    SysCtlDelay(10000);
+    ADCAcquireStart(0,1);
+    SysCtlDelay(10000);
+    ADC_TriggerCollection();
+    SysCtlDelay(10000);
+
+    ADC0SS0Handler();
+    SysCtlDelay(100000);
+
+
+
+    //request->dispenserid
 	//request->start
 	//request->setdirection
 	//request->setmicrostepdivision
@@ -39,8 +52,11 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
     writeFloat(request->setspeed);
 
     StubDispenserResponse response =   STUB_DISPENSER_RESPONSE__INIT;
+
+    response.dispenserid = (uint32_t)((round)(CalculateDispenserPressure(0x00000004)));//CHAN_DISPENSE_PRESSURE_6);
+
 	
-	response.dispenserid = request->dispenserid;
+	//response.dispenserid = request->dispenserid;
 	response.has_dispenserid = true;
 	
 	//response.dispenserposition