Dispenser homing functions moved to IDS. valves external interface improved

8 files changed, 154 insertions, 74 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index 0b539b276..b01750529 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -64,11 +64,11 @@ void ConnectionRequest(MessageContainer* requestContainer)
 
     FPGA_ReadVersion(1, &Major, &Year, &Month, &Day);
     usnprintf(FPGA2Version, 20, "%d.%d.%d.%d",Major,Year, Month, Day);
-    DevInfo.fpga2version = FPGA1Version;
+    DevInfo.fpga2version = FPGA2Version;
 
     FPGA_ReadVersion(2, &Major, &Year, &Month, &Day);
     usnprintf(FPGA3Version, 20, "%d.%d.%d.%d",Major,Year, Month, Day);
-    DevInfo.fpga3version = FPGA1Version;
+    DevInfo.fpga3version = FPGA3Version;
 
     Read_HW_Version(BoardVersion, AssyVersion);
 
@@ -76,6 +76,7 @@ void ConnectionRequest(MessageContainer* requestContainer)
     DevInfo.assemblyversion = AssyVersion;
 
 
+
     responseContainer = createContainer(MESSAGE_TYPE__ConnectResponse, requestContainer->token, true, &response, &connect_response__pack, &connect_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
index ede5df6a4..bc740449e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
@@ -1030,29 +1030,29 @@ typedef union
 
 //F3_VALVE_OUT
 typedef union
-{                                                                    //--------------------------//
-    struct                                                           //        A - Air           //
-    {                                                                //        C - Cartridge     //
-        //Dry air Valves                                             //        L - Left          //
+{                                                                   //--------------------------//
+    struct                                                          //        A - Air           //
+    {                                                               //        C - Cartridge     //
+        //Dry air Valves                                            //        L - Left          //
         bool VALVE_2W_MID_AIR_8   : 1; //0 MIDTANK2MANIF4_VALVE_2   //        R - Right         //
         bool VALVE_2W_MID_AIR_4   : 1; //1 MIDTANK2MANIF4_VALVE_1   //        F - Front         //
-        bool VALVE_2W_MID_AIR_7  : 1; //2 MIDTANK2MANIF3_VALVE_2   //        B - Back          //
-        bool VALVE_2W_MID_AIR_3  : 1; //3 MIDTANK2MANIF3_VALVE_1   //        M - Middle        //
-        bool VALVE_2W_MID_AIR_6  : 1; //4 MIDTANK2MANIF2_VALVE_2   //   --------------------   //
-        bool VALVE_2W_MID_AIR_2  : 1; //5 MIDTANK2MANIF2_VALVE_1   //     A   [7]    A [8]   //
-        bool VALVE_2W_MID_AIR_5   : 1; //6 MIDTANK2MANIF1_VALVE_2   //     C   [7]    C [8]   //
+        bool VALVE_2W_MID_AIR_7   : 1; //2 MIDTANK2MANIF3_VALVE_2   //        B - Back          //
+        bool VALVE_2W_MID_AIR_3   : 1; //3 MIDTANK2MANIF3_VALVE_1   //        M - Middle        //
+        bool VALVE_2W_MID_AIR_6   : 1; //4 MIDTANK2MANIF2_VALVE_2   //   --------------------   //
+        bool VALVE_2W_MID_AIR_2   : 1; //5 MIDTANK2MANIF2_VALVE_1   //     A   [7]    A [8]     //
+        bool VALVE_2W_MID_AIR_5   : 1; //6 MIDTANK2MANIF1_VALVE_2   //     C   [7]    C [8]     //
         bool VALVE_2W_MID_AIR_1   : 1; //7 MIDTANK2MANIF1_VALVE_1   //                          //
-                                                                     //     A   [5]   A [6]  //
-        bool VALVE_2W_CART_MID_8  : 1; //8  CART2MIDTANK4_VALVE_2   //     C   [5]   C [6]  //
+                                                                    //     A   [5]   A [6]      //
+        bool VALVE_2W_CART_MID_8  : 1; //8  CART2MIDTANK4_VALVE_2   //     C   [5]   C [6]      //
         bool VALVE_2W_CART_MID_4  : 1; //9  CART2MIDTANK4_VALVE_1   //                          //
-        bool VALVE_2W_CART_MID_7 : 1; //10 CART2MIDTANK3_VALVE_2   //     A   [3]   A [4]  //
-        bool VALVE_2W_CART_MID_3 : 1; //11 CART2MIDTANK3_VALVE_1   //     C   [3]   C [4]  //
-        bool VALVE_2W_CART_MID_6 : 1; //12 CART2MIDTANK2_VALVE_2   //                          //
-        bool VALVE_2W_CART_MID_2 : 1; //13 CART2MIDTANK2_VALVE_1   //     A   [1]    A [2]   //
-        bool VALVE_2W_CART_MID_5  : 1; //14 CART2MIDTANK1_VALVE_2   //     C   [1]    C [2]   //
+        bool VALVE_2W_CART_MID_7  : 1; //10 CART2MIDTANK3_VALVE_2   //     A   [3]   A [4]      //
+        bool VALVE_2W_CART_MID_3  : 1; //11 CART2MIDTANK3_VALVE_1   //     C   [3]   C [4]      //
+        bool VALVE_2W_CART_MID_6  : 1; //12 CART2MIDTANK2_VALVE_2   //                          //
+        bool VALVE_2W_CART_MID_2  : 1; //13 CART2MIDTANK2_VALVE_1   //     A   [1]    A [2]     //
+        bool VALVE_2W_CART_MID_5  : 1; //14 CART2MIDTANK1_VALVE_2   //     C   [1]    C [2]     //
         bool VALVE_2W_CART_MID_1  : 1; //15 CART2MIDTANK1_VALVE_1   //                          //
-    }bits;                                                           //            FRONT         //
-    unsigned short ushort;                                           //--------------------------//
+    }bits;                                                          //            FRONT         //
+    unsigned short ushort;                                          //--------------------------//
 }VALVE_GPO_REG;
 
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 66d6c457b..51446df69 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -24,6 +24,9 @@ VALVE_GPO_REG Valve_GPO_Reg;
 F1_GPO_REG F1_GPO_Reg;
 DISPENSER_VALVE_GPO_REG Dispenser_Valve_GPO_Reg;
 
+Valves_t IDS_Id_to_AirValve[MAX_IDS_UNITS] = {VALVE_2W_MID_AIR_1,VALVE_2W_MID_AIR_2,VALVE_2W_MID_AIR_3,VALVE_2W_MID_AIR_4,VALVE_2W_MID_AIR_5,VALVE_2W_MID_AIR_6,VALVE_2W_MID_AIR_7,VALVE_2W_MID_AIR_8};
+Valves_t IDS_Id_to_CartrideValve[MAX_IDS_UNITS] = {VALVE_2W_CART_MID_1,VALVE_2W_CART_MID_2,VALVE_2W_CART_MID_3,VALVE_2W_CART_MID_4,VALVE_2W_CART_MID_5,VALVE_2W_CART_MID_6,VALVE_2W_CART_MID_7,VALVE_2W_CART_MID_8};
+
 typedef struct
 {
     //bool EnableDisable; //TODO - to check if needed
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
index ec6de35e1..df20d05ff 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
@@ -8,7 +8,7 @@
 #ifndef DRIVERS_VALVES_VALVE_H_
 #define DRIVERS_VALVES_VALVE_H_
 
-
+#define MAX_IDS_UNITS 8
 typedef enum
 {
     //Dispenser Valves
@@ -21,54 +21,28 @@ typedef enum
     VALVE_DISPENSER_6,
     VALVE_DISPENSER_7,
     VALVE_DISPENSER_8,
-/* new
-    //---------------------------------------------------------------------------//
-    //Dry Air - Middle Tank                          //        A - Air           //
-    VALVE_2W_MID_AIR_RB,   //MIDTANK2MANIF4_VALVE_2  //        C - Cartridge     //
-    VALVE_2W_MID_AIR_RMB,   //MIDTANK2MANIF4_VALVE_1  //        L - Left          //
-    VALVE_2W_MID_AIR_RMF,  //MIDTANK2MANIF3_VALVE_2  //        R - Right         //
-    VALVE_2W_MID_AIR_RF,  //MIDTANK2MANIF3_VALVE_1  //        F - Front         //
-    VALVE_2W_MID_AIR_LB,  //MIDTANK2MANIF2_VALVE_2  //        B - Back          //
-    VALVE_2W_MID_AIR_LMB,  //MIDTANK2MANIF2_VALVE_1  //        M - Middle        //
-    VALVE_2W_MID_AIR_LMF,   //MIDTANK2MANIF1_VALVE_2  //   --------------------   //
-    VALVE_2W_MID_AIR_LF,   //MIDTANK2MANIF1_VALVE_1  //     A   [LB]    A [RB]   //
-                                                     //     C   [LB]    C [RB]   //
-                                                     //                          //
-                                                     //     A   [LMB]   A [RMB]  //
-    //Cartridge - Middle Tank                        //     C   [LMB]   C [RMB]  //
-    VALVE_2W_CART_MID_RB,  //CART2MIDTANK4_VALVE_2   //                          //
-    VALVE_2W_CART_MID_RMB,  //CART2MIDTANK4_VALVE_1   //     A   [LMF]   A [RMF]  //
-    VALVE_2W_CART_MID_RMF, //CART2MIDTANK3_VALVE_2   //     C   [LMF]   C [RMF]  //
-    VALVE_2W_CART_MID_RF, //CART2MIDTANK3_VALVE_1   //                          //
-    VALVE_2W_CART_MID_LB, //CART2MIDTANK2_VALVE_2   //     A   [LF]    A [RF]   //
-    VALVE_2W_CART_MID_LMB, //CART2MIDTANK2_VALVE_1   //     C   [LF]    C [RF]   //
-    VALVE_2W_CART_MID_LMF,  //CART2MIDTANK1_VALVE_2   //                          //
-    VALVE_2W_CART_MID_LF,  //CART2MIDTANK1_VALVE_1   //            FRONT         //
-    //---------------------------------------------------------------------------//
-
-*/
     //---------------------------------------------------------------------------//
     //Dry Air - Middle Tank                          //        A - Air           //
-    VALVE_2W_MID_AIR_8,   //MIDTANK2MANIF4_VALVE_2  //        C - Cartridge     //
-    VALVE_2W_MID_AIR_4,   //MIDTANK2MANIF4_VALVE_1  //        L - Left          //
-    VALVE_2W_MID_AIR_7,  //MIDTANK2MANIF3_VALVE_2  //        R - Right         //
-    VALVE_2W_MID_AIR_3,  //MIDTANK2MANIF3_VALVE_1  //        F - Front         //
-    VALVE_2W_MID_AIR_6,  //MIDTANK2MANIF2_VALVE_2  //        B - Back          //
-    VALVE_2W_MID_AIR_2,  //MIDTANK2MANIF2_VALVE_1  //        M - Middle        //
-    VALVE_2W_MID_AIR_5,   //MIDTANK2MANIF1_VALVE_2  //   --------------------   //
-    VALVE_2W_MID_AIR_1,   //MIDTANK2MANIF1_VALVE_1  //     A   [7]    A [8]   //
-                                                     //     C   [7]    C [8]   //
+    VALVE_2W_MID_AIR_8,   //MIDTANK2MANIF4_VALVE_2   //        C - Cartridge     //
+    VALVE_2W_MID_AIR_4,   //MIDTANK2MANIF4_VALVE_1   //        L - Left          //
+    VALVE_2W_MID_AIR_7,   //MIDTANK2MANIF3_VALVE_2   //        R - Right         //
+    VALVE_2W_MID_AIR_3,   //MIDTANK2MANIF3_VALVE_1   //        F - Front         //
+    VALVE_2W_MID_AIR_6,   //MIDTANK2MANIF2_VALVE_2   //        B - Back          //
+    VALVE_2W_MID_AIR_2,   //MIDTANK2MANIF2_VALVE_1   //        M - Middle        //
+    VALVE_2W_MID_AIR_5,   //MIDTANK2MANIF1_VALVE_2   //   --------------------   //
+    VALVE_2W_MID_AIR_1,   //MIDTANK2MANIF1_VALVE_1   //     A   [7]    A [8]     //
+                                                     //     C   [7]    C [8]     //
                                                      //                          //
-                                                     //     A   [5]   A [6]  //
-    //Cartridge - Middle Tank                        //     C   [5]   C [6]  //
-    VALVE_2W_CART_MID_8,  //CART2MIDTANK4_VALVE_2   //                          //
-    VALVE_2W_CART_MID_4,  //CART2MIDTANK4_VALVE_1   //     A   [3]   A [4]  //
-    VALVE_2W_CART_MID_7, //CART2MIDTANK3_VALVE_2   //     C   [3]   C [4]  //
-    VALVE_2W_CART_MID_3, //CART2MIDTANK3_VALVE_1   //                          //
-    VALVE_2W_CART_MID_6, //CART2MIDTANK2_VALVE_2   //     A   [1]    A [2]   //
-    VALVE_2W_CART_MID_2, //CART2MIDTANK2_VALVE_1   //     C   [1]    C [2]   //
-    VALVE_2W_CART_MID_5,  //CART2MIDTANK1_VALVE_2   //                          //
-    VALVE_2W_CART_MID_1,  //CART2MIDTANK1_VALVE_1   //            FRONT         //
+                                                     //     A   [5]   A [6]      //
+    //Cartridge - Middle Tank                        //     C   [5]   C [6]      //
+    VALVE_2W_CART_MID_8,  //CART2MIDTANK4_VALVE_2    //                          //
+    VALVE_2W_CART_MID_4,  //CART2MIDTANK4_VALVE_1    //     A   [3]   A [4]      //
+    VALVE_2W_CART_MID_7,  //CART2MIDTANK3_VALVE_2    //     C   [3]   C [4]      //
+    VALVE_2W_CART_MID_3,  //CART2MIDTANK3_VALVE_1    //                          //
+    VALVE_2W_CART_MID_6,  //CART2MIDTANK2_VALVE_2    //     A   [1]    A [2]     //
+    VALVE_2W_CART_MID_2,  //CART2MIDTANK2_VALVE_1    //     C   [1]    C [2]     //
+    VALVE_2W_CART_MID_5,  //CART2MIDTANK1_VALVE_2    //                          //
+    VALVE_2W_CART_MID_1,  //CART2MIDTANK1_VALVE_1    //            FRONT         //
     //---------------------------------------------------------------------------//
 
     // Waste Valves
@@ -78,6 +52,8 @@ typedef enum
     NUM_OF_VALVES,
 } Valves_t;
 
+extern Valves_t IDS_Id_to_AirValve[MAX_IDS_UNITS];
+extern Valves_t IDS_Id_to_CartrideValve[MAX_IDS_UNITS];
 
 void Valve_Command(Valves_t Valve_Id);
 void Valve_Set(Valves_t Valve_Id, bool Direction);
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;
+}