Add Valve module

5 files changed, 179 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 1e5149c2f..834296a44 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -89,6 +89,8 @@ enum
 #define MIDTANK_DIRECTION 0
 #define MIXER_DIRECTION   1
 
+//#define BITLENGTH_16 16
+
 //SPI
 typedef struct //S_SPI
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
index 488144ac0..209861ca9 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
@@ -999,6 +999,7 @@ typedef union
 {
     struct
     {
+        //Dry air Valves
         bool MIDTANK2MANIF4_VALVE_2 : 1; //0
         bool MIDTANK2MANIF4_VALVE_1 : 1; //1
         bool MIDTANK2MANIF3_VALVE_2 : 1; //2
@@ -1007,6 +1008,7 @@ typedef union
         bool MIDTANK2MANIF2_VALVE_1 : 1; //5
         bool MIDTANK2MANIF1_VALVE_2 : 1; //6
         bool MIDTANK2MANIF1_VALVE_1 : 1; //7
+        //Dispenser Valves
         bool CART2MIDTANK4_VALVE_2  : 1; //8
         bool CART2MIDTANK4_VALVE_1  : 1; //9
         bool CART2MIDTANK3_VALVE_2  : 1; //10
@@ -1037,6 +1039,58 @@ typedef union
     unsigned short ushort;
 }F1_GPO_REG;
 
+F2_DISPENSER_VALVE_OUT
+typedef union
+{
+    struct
+    {
+        bool F2_DISPENSER_VALVE_C1_1_C2_1 : 1;//0
+        bool F2_DISPENSER_VALVE_C1_2_C2_2 : 1;//1
+        bool F2_DISPENSER_VALVE_C1_3_C2_3 : 1;//2
+        bool F2_DISPENSER_VALVE_C1_4_C2_4 : 1;//3
+        bool F2_DISPENSER_VALVE_C1_5_C2_5 : 1;//4
+        bool F2_DISPENSER_VALVE_C1_6_C2_6 : 1;//5
+        bool F2_DISPENSER_VALVE_C1_7_C2_7 : 1;//6
+        bool F2_DISPENSER_VALVE_C1_8_C2_8 : 1;//7
+        bool F2_DISPENSER_VALVE_EN_1      : 1;//8
+        bool F2_DISPENSER_VALVE_EN_2      : 1;//9
+        bool F2_DISPENSER_VALVE_EN_3      : 1;//10
+        bool F2_DISPENSER_VALVE_EN_4      : 1;//11
+        bool F2_DISPENSER_VALVE_EN_5      : 1;//12
+        bool F2_DISPENSER_VALVE_EN_6      : 1;//13
+        bool F2_DISPENSER_VALVE_EN_7      : 1;//14
+        bool F2_DISPENSER_VALVE_EN_8      : 1;//15
+    }bits;
+    unsigned short ushort;
+}DISPENSER_VALVE_GPO_REG;
+
+
+//F2_DISPENSER_VALVE_IN_Direct
+typedef union
+{
+    struct
+    {
+        //Dispenser Valves
+        bool F2_DISPENSER_VALVE_OCD_8 : 1; //0
+        bool F2_DISPENSER_VALVE_OCD_7 : 1; //1
+        bool F2_DISPENSER_VALVE_OCD_6 : 1; //2
+        bool F2_DISPENSER_VALVE_OCD_5 : 1; //3
+        bool F2_DISPENSER_VALVE_OCD_4 : 1; //4
+        bool F2_DISPENSER_VALVE_OCD_3 : 1; //5
+        bool F2_DISPENSER_VALVE_OCD_2 : 1; //6
+        bool F2_DISPENSER_VALVE_OCD_1 : 1; //7
+        //Dry air Valves  TODO ????
+        bool Valve_busy_7  : 1; //8
+        bool Valve_busy_6  : 1; //9
+        bool Valve_busy_5  : 1; //10
+        bool Valve_busy_4  : 1; //11
+        bool Valve_busy_3  : 1; //12
+        bool Valve_busy_2  : 1; //13
+        bool Valve_busy_1  : 1; //14
+        bool Valve_busy_0  : 1; //15
+    }bits;
+    unsigned short ushort;
+}VALVE_BUSY_REG;
 //------------------------------ MOTOR DRIVER L_6470 ------------------------------
 
 typedef union
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 09ce1e735..81e0e11bd 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -11,32 +11,43 @@
  */
 
 #include <DataDef.h>
-#include <Drivers/Valves/Valve.h>
 #include "include.h"
 #include <stdint.h>
 #include <stdbool.h>
 
 #include "drivers/FPGA/FPGA_Comm.h"
-
+#include <Drivers/Valves/Valve.h>
 
 VALVE_GPO_REG Valve_GPO_Reg;
 F1_GPO_REG F1_GPO_Reg;
+DISPENSER_VALVE_GPO_REG Dispenser_Valve_GPO_Reg;
 
 typedef struct
 {
-    bool Enable;
+    bool Enable; //TODO - to check if needed
     bool Direction;
+    bool Busy;
 
 }ValveRequestStruct;
 
+typedef struct
+{
+  bool Direction;//TODO - to check if needed
+  bool Busy;
+  bool OCD; //Over Current Detection
+
+}ValveResponseStruct;
+
 ValveRequestStruct ValveRequest[NUM_OF_VALVES];
+ValveResponseStruct ValveRsponse[NUM_OF_VALVES];
 
-Void Valve_Command(Valves_t Valve_Id)
+void Valve_Command(Valves_t Valve_Id)
 {
 
     switch(Valve_Id)
     {
-        case VALVE_MIDTANK_To_MANIF_4_2:
+    //Dry air Valves
+    case VALVE_MIDTANK_To_MANIF_4_2:
                 Valve_GPO_Reg.bits.MIDTANK2MANIF4_VALVE_2 = ValveRequest[Valve_Id].Direction;
             break;
         case VALVE_MIDTANK_To_MANIF_4_1:
@@ -61,7 +72,7 @@ Void Valve_Command(Valves_t Valve_Id)
                 Valve_GPO_Reg.bits.MIDTANK2MANIF1_VALVE_1 = ValveRequest[Valve_Id].Direction;
             break;
 
-
+        //Dispenser Valves
         case VALVE_CART_To_MIDTANK_4_2:
                 Valve_GPO_Reg.bits.CART2MIDTANK4_VALVE_2 = ValveRequest[Valve_Id].Direction;
             break;
@@ -87,6 +98,7 @@ Void Valve_Command(Valves_t Valve_Id)
                 Valve_GPO_Reg.bits.CART2MIDTANK1_VALVE_1 = ValveRequest[Valve_Id].Direction;
             break;
 
+        // Waste Valves
         case VALVE_WASTE_TANK:
                 F1_GPO_Reg.bits.F1_VALVE_WASTE_TANK = ValveRequest[Valve_Id].Direction;
             break;
@@ -94,12 +106,43 @@ Void Valve_Command(Valves_t Valve_Id)
                 F1_GPO_Reg.bits.F1_VALVE_MIXCHIP_WASTECH = ValveRequest[Valve_Id].Direction;
             break;
 
+        case VALVE_DISPENSER_1:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_1_C2_1 = ValveRequest[Valve_Id].Direction;
+            break;
+        case VALVE_DISPENSER_2:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_2_C2_2= ValveRequest[Valve_Id].Direction;
+            break;
+        case VALVE_DISPENSER_3:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_3_C2_3= ValveRequest[Valve_Id].Direction;
+            break;
+        case VALVE_DISPENSER_4:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_4_C2_4= ValveRequest[Valve_Id].Direction;
+            break;
+        case VALVE_DISPENSER_5:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_5_C2_5= ValveRequest[Valve_Id].Direction;
+            break;
+        case VALVE_DISPENSER_6:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_6_C2_6= ValveRequest[Valve_Id].Direction;
+            break;
+        case VALVE_DISPENSER_7:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_7_C2_7= ValveRequest[Valve_Id].Direction;
+            break;
+        case VALVE_DISPENSER_8:
+            Dispenser_Valve_GPO_Reg.bits.F2_DISPENSER_VALVE_C1_8_C2_8= ValveRequest[Valve_Id].Direction;
+            break;
+
         default:
             break;
     }
 
-    if ((Valve_Id == VALVE_WASTE_TANK) | (Valve_Id == VALVE_MIXCHIP_WASTECH))
+    if ((Valve_Id == VALVE_WASTE_TANK) | (Valve_Id == VALVE_MIXCHIP_WASTECH)) // Waste Valves
+    {
         F1_gpo_01 |= F1_GPO_Reg.ushort;
+    }
+    else if((Valve_Id >= VALVE_DISPENSER_1) | (Valve_Id <= VALVE_DISPENSER_8))
+    {
+        F2_DISPENSER_VALVE_OUT |= Dispenser_Valve_GPO_Reg.ushort;
+    }
     else
         F3_VALVE_OUT |= Valve_GPO_Reg.ushort;
 
@@ -109,10 +152,64 @@ void SetAllDispensersValves(bool Direction)
 {
     if(Direction == MIDTANK_DIRECTION)
     {
-        F3_VALVE_OUT = 0;
+        //F3_VALVE_OUT = 0;
+        F2_DISPENSER_VALVE_OUT &= ~0x00FF;
     }
     else // MIXER_DIRECTION
-        F3_VALVE_OUT = 0xFFFF;
+    {
+        //F3_VALVE_OUT = 0xFFFF;
+        F2_DISPENSER_VALVE_OUT |= 0x00FF;
+    }
 }
 
+void FPGA_GetDispenserValveBusyOCD() //TODO which busy and OCD belong to each Valve ???????????????????????????????????????
+{
+    uint8_t i;
+
+    VALVE_BUSY_REG Valve_Busy_Reg;
+
+    Valve_Busy_Reg.ushort = F2_DISPENSER_VALVE_IN_Direct;
+
+    for(i = VALVE_DISPENSER_1; i <= VALVE_DISPENSER_8 ;i++)
+    {
+        switch(i)
+        {
+            //Dispenser Valves
+            case VALVE_DISPENSER_1:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_1;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_0;
+                break;
+            case VALVE_DISPENSER_2:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_2;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_1;
+                break;
+            case VALVE_DISPENSER_3:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_3;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_2;
+                break;
+            case VALVE_DISPENSER_4:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_4;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_3;
+                break;
+            case VALVE_DISPENSER_5:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_5;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_4;
+                break;
+            case VALVE_DISPENSER_6:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_6;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_5;
+                break;
+            case VALVE_DISPENSER_7:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_7;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_6;
+                break;
+            case VALVE_DISPENSER_8:
+                    ValveRsponse[i].OCD = Valve_Busy_Reg.bits.F2_DISPENSER_VALVE_OCD_8;
+                    ValveRsponse[i].Busy = Valve_Busy_Reg.bits.Valve_busy_7;
+                break;
+            default:
+                 break;
+         }
+     }
+}
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
index f78b4a9b3..ff27b3d65 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
@@ -11,6 +11,7 @@
 
 typedef enum
 {
+    //Dry air Valves
     VALVE_MIDTANK_To_MANIF_4_2,
     VALVE_MIDTANK_To_MANIF_4_1,
     VALVE_MIDTANK_To_MANIF_3_2,
@@ -20,6 +21,7 @@ typedef enum
     VALVE_MIDTANK_To_MANIF_1_2,
     VALVE_MIDTANK_To_MANIF_1_1,
 
+    //
     VALVE_CART_To_MIDTANK_4_2,
     VALVE_CART_To_MIDTANK_4_1,
     VALVE_CART_To_MIDTANK_3_2,
@@ -29,11 +31,25 @@ typedef enum
     VALVE_CART_To_MIDTANK_1_2,
     VALVE_CART_To_MIDTANK_1_1,
 
+    // Waste Valves
     VALVE_WASTE_TANK,
     VALVE_MIXCHIP_WASTECH,
 
+    //Dispenser Valves
+    VALVE_DISPENSER_1,
+    VALVE_DISPENSER_2,
+    VALVE_DISPENSER_3,
+    VALVE_DISPENSER_4,
+    VALVE_DISPENSER_5,
+    VALVE_DISPENSER_6,
+    VALVE_DISPENSER_7,
+    VALVE_DISPENSER_8,
+
     NUM_OF_VALVES,
 } Valves_t;
 
+void Valve_Command(Valves_t Valve_Id);
+void SetAllDispensersValves(bool Direction);
+void FPGA_GetDispenserValveBusyOCD();// OCD - Over Current Detection
 
 #endif /* DRIVERS_VALVES_VALVE_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 1727c650a..6c97c2e8f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -77,7 +77,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
         MotorDriverConfig.HasConfigWord = MotorsCfg[Motor_i].has_configword;
         MotorDriverConfig.ConfigWord = MotorsCfg[Motor_i].configword;
 
-//        status = MotorConfig( Motor_i,  &MotorDriverConfig);
+        status = MotorConfig( Motor_i,  &MotorDriverConfig);
 //        if (Motor_i == MOTOR_RDRIVING)
 //            ThreadInitialTestStub(request);