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

7 files changed, 71 insertions, 36 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 0ca336d58..f0c271cbf 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -143,7 +143,7 @@ enum
 
 #define DOUBLE_BUFFER 2
 
-#define STOPED 0
+#define STOPPED 0
 #define MOVING 1
 
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
index 44ee2edd0..45da809af 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
@@ -329,6 +329,17 @@ uint8_t Init_Dispensers_IO_Registers(/*TCA9534Regs* Regs*/)
         return status;
 }
 
+//first read the registers (to read every X msec…)
+uint8_t Read_SingleDispenser_IO_Registers(uint8_t Dispenser_ID/*,TCA9534Regs* Regs*/)
+{
+        uint8_t status = PASSED;
+
+        status |= TCA9534SetReadInputReg(Dispenser_ID);
+        status |= TCA9534ReadInputReg(Dispenser_ID);
+
+        return status;
+}
+
 uint8_t Read_Dispensers_IO_Registers(/*TCA9534Regs* Regs*/)
 {
         uint8_t status = PASSED;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h
index 85e03a9ba..4ade979ea 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h
@@ -67,6 +67,7 @@ bool Get_Notification_Bypass(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/);
 uint8_t test_IO();
 uint8_t Init_Dispensers_IO_Registers(/*TCA9534Regs* Regs*/);
 uint8_t Read_Dispensers_IO_Registers(/*TCA9534Regs* Regs*/);
+uint8_t Read_SingleDispenser_IO_Registers(uint8_t Dispenser_ID/*,TCA9534Regs* Regs*/);
 uint8_t Control_TCA9534ByPass(uint8_t Dispenser_ID, bool EnableByPass);
 
 #endif /* DRIVERS_I2C_COMMUNICATION_DISPENSERS_IO_PORT_IO_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
index e1adc98ce..b7087b453 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
@@ -435,7 +435,7 @@ uint32_t HeadCard_Actuators_Control(ACTUATORS Act_ID, bool Active_Low_Pwr, bool
 
 uint32_t HeadCard_Actuators_Status(ACTUATORS Act_ID)//
 {
-    uint32_t Motioin_Status = STOPED;
+    uint32_t Motioin_Status = STOPPED;
 
     Head_Read_IO_Reg(0x46);
 
@@ -448,7 +448,7 @@ uint32_t HeadCard_Actuators_Status(ACTUATORS Act_ID)//
         Motioin_Status = Head_I2C_EXP4_0x46.bits.INPUT_ACTOT_EN;
     }
 
-    return Motioin_Status;//Active High STOPED/MOVEING
+    return Motioin_Status;//Active High STOPPED/MOVING
 }
 
 uint32_t HeadCard_Mixer_Over_Current_Safety_Indication()//Active low
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 6570ea8e0..3d230ff5a 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -223,23 +223,23 @@ AlarmHandlingItemStruc  HardCodedAlarmItem[MAX_SYSTEM_ALARMS]={
 /*	8005	*/     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_6_LOW_LEVEL},
 /*	8006	*/     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_7_LOW_LEVEL},
 /*	8007	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_8_LOW_LEVEL},
-/*	8008	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,200/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_1_EMPTY},
-/*	8009	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,200/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_2_EMPTY},
-/*	8010	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,200/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_3_EMPTY},
-/*	8011	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,200/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_4_EMPTY},
-/*	8012	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,200/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_5_EMPTY},
-/*	8013	*/     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_6_EMPTY},
-/*	8014	*/     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_7_EMPTY},
-/*	8015	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,200/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_8_EMPTY},
+/*	8008	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_1_EMPTY},
+/*	8009	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_2_EMPTY},
+/*	8010	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_3_EMPTY},
+/*	8011	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_4_EMPTY},
+/*	8012	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_5_EMPTY},
+/*	8013	*/     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_6_EMPTY},
+/*	8014	*/     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_7_EMPTY},
+/*	8015	*/     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_8_EMPTY},
 
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_1_OVERFLOW},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_2_OVERFLOW},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_3_OVERFLOW},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_4_OVERFLOW},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_5_OVERFLOW},
-     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_6_OVERFLOW},
-     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_7_OVERFLOW},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_8_OVERFLOW},
+/*  8016    */          {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_1_OVERFLOW},
+/*  8017    */          {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_2_OVERFLOW},
+/*  8018    */          {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_3_OVERFLOW},
+/*  8019    */          {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_4_OVERFLOW},
+/*  8020    */          {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_5_OVERFLOW},
+/*  8021    */          //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_6_OVERFLOW},
+/*  8022    */          //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_7_OVERFLOW},
+/*  8023    */          {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_8_OVERFLOW},
 
 
 /*	4000	*/     {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_OVERCURRENT  },
diff --git a/Software/Embedded_SW/Embedded/Modules/General/Safety.c b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
index ea2cc2e6b..73736f8d4 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/Safety.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
@@ -104,7 +104,8 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
            {
                if (Check_Disp_Safety_Stop_Indication(Disp_i) == true)
                {
-                   DispenserBypass = Get_Notification_Bypass(Disp_i);
+                   Read_SingleDispenser_IO_Registers(Disp_i);
+                   //DispenserBypass = Get_Notification_Bypass(Disp_i);
                    if(Get_Notification_Over_Press(Disp_i) == false)
                    {
                        //report dispenser over pressure
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index f3528d4c8..db6184fdb 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -136,7 +136,7 @@ uint32_t IDS_HomeDispenserWaitForHomingEnd(uint32_t DispenserId,  uint32_t timeo
         DispenserBacklashControlId[DispenserId] = 0xFF;
         //return ERROR;
     }
-    DispenserBacklashControlId[DispenserId] = AddControlCallback(NULL, IDS_HomeDispenserWaitForHomingEnd,eOneSecond , TemplateDataReadCBFunction,DispenserId,0, 0 );
+    DispenserBacklashControlId[DispenserId] = AddControlCallback("Wait for Homing", IDS_HomeDispenserWaitForHomingEnd,eOneSecond , TemplateDataReadCBFunction,DispenserId,0, 0 );
     if ( DispenserBacklashControlId[DispenserId] == 0xFF)
         return ERROR;
 
@@ -180,11 +180,18 @@ uint32_t IDS_HomeDispenserCallback(uint32_t motorId, uint32_t ReadValue)
 {
     uint8_t DispenserId = motorId-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
 
+    MotorStop(motorId,Hard_Hiz);
+    CurrentDispenserSpeed[DispenserId] = 0;
+    if (Extended_Motor_Param == true)
+        Power_Step_01_Dispenser_Mode(DispenserId,Voltage);
     Read_MidTank_Pressure_Sensor(DispenserId);
     //close dry air valve in the dispenser
-    //Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
-    //Disable_MidTank_Pressure_Reading(DispenserId);
-    //    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
+    Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
+    Disable_MidTank_Pressure_Reading(DispenserId);
+    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
+    HomingActive[DispenserId]= false;
+    PrimingActive[DispenserId]= false;
+    Control_TCA9534ByPass(DispenserId,DISABLE);// use ENABLE or DISABLE
     if (HomingRequestCallback[DispenserId])
     {
         HomingRequestCallback[DispenserId](DispenserId,0);
@@ -192,12 +199,13 @@ uint32_t IDS_HomeDispenserCallback(uint32_t motorId, uint32_t ReadValue)
     }
 //    HomingActive[DispenserId]= false;
     IDS_Dispenser_RefillEnded ( DispenserId, MotorsCfg[motorId].microstep);
-    Report("Start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
-    DispenserHomingControlId[DispenserId] = AddControlCallback(NULL, IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
+    Report("End homing no backlash backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
+    /*Report("Start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
+    DispenserHomingControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
     MotorSetDirection(motorId,MotorsCfg[motorId].directionthreadwize);
     Task_sleep(10);
     MotorSetSpeed(motorId, InitialDispenserSpeed);
-    CurrentDispenserSpeed[DispenserId] = InitialDispenserSpeed;
+    CurrentDispenserSpeed[DispenserId] = InitialDispenserSpeed;*/
     return OK;
 }
 
@@ -357,21 +365,35 @@ uint32_t IDS_StopHomeDispenserBuildPressure (uint32_t DispenserId)
     //close dry air valve in the dispenser
     Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
     Disable_MidTank_Pressure_Reading(DispenserId);
-    //    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
+    CurrentDispenserSpeed[DispenserId] = 0;
+    if (Extended_Motor_Param == true)
+        Power_Step_01_Dispenser_Mode(DispenserId,Voltage);
+    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
+
     if (HomingRequestCallback[DispenserId])
     {
         HomingRequestCallback[DispenserId](DispenserId,0);
         HomingRequestCallback[DispenserId] = NULL;
     }
 //    HomingActive[DispenserId]= false;
-    Report("Start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
-    DispenserHomingControlId[DispenserId] = AddControlCallback("DispenserBackLash", IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
-    Task_sleep(10);
-    MotorSetDirection(motorId,MotorsCfg[motorId].directionthreadwize);
-    Task_sleep(10);
-    MotorSetSpeed(motorId, 1000);
-    CurrentDispenserSpeed[DispenserId] = 1000;
-    //IDS_Dispenser_RefillEnded ( DispenserId, MotorsCfg[motorId].microstep);
+    JobStartStopBackLash[DispenserId] = false;
+    Report("End homing no backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
+    /*if (JobStartStopBackLash[DispenserId] == true)
+    {
+            JobStartStopBackLash[DispenserId] = false;
+            Report("End homing for job start",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
+    }
+    else
+    {
+        Report("homing aborted,start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
+        DispenserHomingControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
+        Task_sleep(10);
+        MotorSetDirection(motorId,MotorsCfg[motorId].directionthreadwize);
+        Task_sleep(10);
+        MotorSetSpeed(motorId, 1000);
+        CurrentDispenserSpeed[DispenserId] = 1000;
+    }*/
+    IDS_Dispenser_RefillEnded ( DispenserId, MotorsCfg[motorId].microstep);
 
     return OK;
 }