basic IDS with valves handling

5 files changed, 33 insertions, 6 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index cec8b74af..ef16e472f 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -13,7 +13,6 @@
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 
 extern TempSensorResponseStruct TempSensorResponse[MAX_TEMPERATURE_SENSOR_ID];
-void FPGA_SetMotStop(TimerMotors_t _motorId);
 #include <drivers/FPGA/FPGA_SSI_Comm.h>
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -301,6 +300,7 @@ typedef enum
     MOTOR_CONFIG_HARD_HIZ,
     MOTOR_CONFIG_ACC,
     MOTOR_CONFIG_DEC,
+    MOTOR_CONFIG_MIN_SPEED,
     MOTOR_CONFIG_MAX_SPEED,
     MOTOR_CONFIG_STEP_MODE,
     MOTOR_CONFIG_CONFIG,
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 8b375b311..4056f0175 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -311,7 +311,8 @@ uint32_t Valve3WayCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
            RemoveControlCallback(Valve3WayControlId[ValveId], Valve3WayCallBackFunction );
 
            //call the module callback
-           Valve3WayModuleCallback[ValveId](ValveId,BusyFlag);
+           if (Valve3WayModuleCallback[ValveId])
+               Valve3WayModuleCallback[ValveId](ValveId,BusyFlag);
 
        }
    return OK;
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
index 7af24aed7..fc118f683 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
@@ -12,7 +12,7 @@
 typedef enum
 {
     //Dispenser Valves
-    // must be from ubdex 0-7 in order to use Valve3WayModuleCallback and Valve3WayControlId as array of 8 !
+    // must be from index 0-7 in order to use Valve3WayModuleCallback and Valve3WayControlId as array of 8 !
     VALVE_DISPENSER_1,
     VALVE_DISPENSER_2,
     VALVE_DISPENSER_3,
@@ -53,5 +53,5 @@ void Valve_Command(Valves_t Valve_Id);
 void Valve_Set(Valves_t Valve_Id, bool Direction);
 void SetAllDispensersValves(bool Direction);
 void FPGA_GetDispenserValveBusyOCD();// OCD - Over Current Detection
-
+uint32_t Control3WayValvesWithCallback (Valves_t _ValveId, bool direction, callback_fptr callback); //direction: MidTank_Dispenser or Dispenser_Mixer
 #endif /* DRIVERS_VALVES_VALVE_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index f4ddc0fbd..d999be20e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -14,6 +14,7 @@
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
 #include "StateMachines/Printing/printingSTM.h"
 #include "drivers/motors/motor.h"
+#include "drivers/valves/valve.h"
 
 
 typedef struct
@@ -42,6 +43,7 @@ bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
 uint32_t    ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF};
 int OriginalDispenserSpd_2PPS[MAX_SYSTEM_DISPENSERS] = {0};
+bool         DispenserPreSegmentReady[MAX_SYSTEM_DISPENSERS] = {false};
 int JobBrushStopId = 0;
 
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
@@ -151,6 +153,21 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
  }
 
 //********************************************************************************************************************
+
+ uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue)
+ {
+     int i;
+     DispenserPreSegmentReady[deviceID] = true;
+     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
+     {
+         if (DispenserPreSegmentReady[i] == false)
+         {
+             return; //not all configured heaters are ready
+         }
+     }
+     PreSegmentReady(Module_IDS,ModuleDone);
+
+ }
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 {
 //set the speed only before the first segment, speed is constant accros job
@@ -169,14 +186,18 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
     for (Dispenser_i = 0;Dispenser_i <= MAX_SYSTEM_DISPENSERS;Dispenser_i++)
     {
         HW_Motor_Id = DispenserIdToMotorId[Dispenser_i];
+        Control3WayValvesWithCallback (Dispenser_i, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+
         MotorStop(HW_Motor_Id,Hard_Stop);
         if (JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->has_dispenserstepdivision)
             MotorSetMicroStep(HW_Motor_Id,JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
         else
             MotorSetMicroStep(HW_Motor_Id,MotorsCfg[HW_Motor_Id].microstep);
+        DispenserPreSegmentReady[Dispenser_i] = false;
+
     }
     //call the job state machine when the thread system is ready
-    PreSegmentReady(Module_IDS,ModuleDone);
+    //PreSegmentReady(Module_IDS,ModuleDone);
 
     return OK;
 }
@@ -199,7 +220,11 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 //         double Dispenser_speed = (segmentfirst_speed *  MotorsCfg[HW_Motor_Id].pulseperround)/(2*PI* MotorsCfg[HW_Motor_Id].pulleyradius);
          //DispenserControlConfig[Dispenser_i].m_SetParam = Dispenser_speed;
 //         OriginalDispenserSpd_2PPS[Dispenser_i] = (int)Dispenser_speed;
-         MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
+         if ((int)segmentfirst_speed > 0)
+             {
+                 Control3WayValvesWithCallback (Dispenser_i, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                 MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
+             }
      }
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index ed4d44491..fbfb0ed85 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -16,6 +16,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+
 #include <PMR/Stubs/StubRealTimeUsageResponse.pb-c.h>
 #include <PMR/Stubs/StubRealTimeUsageRequest.pb-c.h>