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

3 files changed, 14 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 0583f6caa..4744249f4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -179,19 +179,19 @@ 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 MotorId = 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);
 
-    responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
+    responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, HomingToken[MotorId], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
     responseContainer.continuous = true;
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     free(responseContainer.data.data);
     SendChars(container_buffer, container_size);
-    HomingToken[deviceID][0] = 0;
+    HomingToken[MotorId][0] = 0;
 
 return OK;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 6e31199f6..54f43b9f7 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -35,14 +35,14 @@ 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(IDS_Id_to_AirValve[deviceID], Atm_MidTank_OFF);
+    Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
     MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
-    if (HomingRequestCallback[deviceID])
+    if (HomingRequestCallback[DispenserId])
     {
-        HomingRequestCallback[deviceID](deviceID,0);
-        HomingRequestCallback[deviceID] = NULL;
+        HomingRequestCallback[DispenserId](DispenserId,0);
+        HomingRequestCallback[DispenserId] = NULL;
     }
-    HomingActive[deviceID]= false;
+    HomingActive[DispenserId]= false;
 
 return OK;
 
@@ -60,7 +60,7 @@ uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr ca
     HomingRequestCallback[deviceID] = callback;
 
     TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + deviceID;
-    if ( Dispenser_Id_to_LS_Id[MotorId] != MAX_GPI)
+    if ( Dispenser_Id_to_LS_Id[deviceID] != MAX_GPI)
     {
         //open dispenser valve dispenser to midtank direction
         Control3WayValvesWithCallback ((Valves_t)deviceID, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
@@ -70,7 +70,7 @@ uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr ca
         Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
 
 
-        MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Id[MotorId], IDS_HomeDispenserCallback);
+        MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Id[deviceID], IDS_HomeDispenserCallback);
         return OK;
     }
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 45ca5991c..8d9eb6117 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -106,6 +106,7 @@ void DispenserPrepareReady(void)
             return; //not all configured Dispensers are ready
         }
     }
+    REPORT_MSG(Module_IDS,"DispenserPrepareReady");
     PrepareReady(Module_IDS,ModuleDone);
 }
 
@@ -165,6 +166,7 @@ void DispenserPrepareReady(void)
              return OK; //not all configured heaters are ready
          }
      }
+     REPORT_MSG(Module_IDS,"IDS_Valve_PresegmentReady");
      PreSegmentReady(Module_IDS,ModuleDone);
   return OK; // all configured heaters are ready
  }
@@ -190,6 +192,8 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
             LOG_ERROR(SegmentId,"Error Segment");
             return ERROR;
         }
+
+    REPORT_MSG(SegmentId,"IDSPreSegmentState");
     if (JobBrushStopId>=JobTicket->segments[SegmentId]->n_brushstops)
     {
         LOG_ERROR(JobBrushStopId,"Error JobBrushStopId");