From 6ef1da888e2fee2c1c6373c894bfb6861cc3d526 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Mon, 19 Aug 2019 16:16:24 +0300
Subject: fix microstep and prepare for motor type change

---
 .../Embedded_SW/Embedded/Modules/General/process.c | 22 +++++++++-----
 .../Embedded/Modules/IDS/IDS_dispenser.c           | 20 +------------
 .../Embedded_SW/Embedded/Modules/IDS/IDS_maint.c   | 34 ++++++++++++++++------
 3 files changed, 41 insertions(+), 35 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules')

diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 39e87ed6a..d62d117a0 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -258,14 +258,22 @@ uint32_t LoadProcessParamsFromFile(void)
         UploadProcessParametersRequest* request = upload_process_parameters_request__unpack(NULL, Bytes, buffer);
         ProcessParameters*  ProcessParams = request->processparameters;
 
-        if ((ProcessParams->dryerzone1temp > 0.1)&&(ProcessParams->headzone2temp > 0.1)&&(ProcessParams->headzone3temp > 0.1)&&(ProcessParams->headzone4temp > 0.1))//NOT turning off heaters
+        if ((request!= NULL)&&(ProcessParams!=NULL))
         {
-            Bytes = sizeof(ProcessParameters);
-            EraseFlashSection(PROCESS_PARAMETERS_MAP_IN_FLASH,Bytes+4);
-            ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH, 4,&Bytes);
-            ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH+4, Bytes, ProcessParams);
-            REPORT_MSG(Bytes,"ProcessParameters Bytes write to flash");
-            free (buffer);
+            if ((ProcessParams->dryerzone1temp > 0.1)&&(ProcessParams->headzone2temp > 0.1)&&(ProcessParams->headzone3temp > 0.1)&&(ProcessParams->headzone4temp > 0.1))//NOT turning off heaters
+            {
+                Bytes = sizeof(ProcessParameters);
+                EraseFlashSection(PROCESS_PARAMETERS_MAP_IN_FLASH,Bytes+4);
+                ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH, 4,&Bytes);
+                ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH+4, Bytes, ProcessParams);
+                REPORT_MSG(Bytes,"ProcessParameters Bytes write to flash");
+                free (buffer);
+            }
+        }
+        else
+        {
+            Report("process parameters not loaded",__FILE__,__LINE__,(int)request,RpWarning,(int)request,0);
+            return ERROR;
         }
     }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index 2f563d7d1..6c055c1a6 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -235,7 +235,7 @@ void IDS_Dispenser_Content_Init (void)
         dispenser_running_data__init(&IDS_Dispenser_Data[i]);
         dispenserdata[i] = &IDS_Dispenser_Data[i];
         IDS_Dispenser_Data[i].nanolitterperpulse = DEFAULT_NANOLITER_PER_PULSE;
-        IDS_Dispenser_Data[i].microsteps = MotorsCfg[HW_Motor_Id].microstep;;
+        IDS_Dispenser_Data[i].microsteps = MotorsCfg[HW_Motor_Id].microstep;
     }
     //==================================
 
@@ -375,24 +375,6 @@ void IDS_Dispenser_RefillEnded (char DispenserId,char  MicroSteps)
     IDS_Dispenser_Data[DispenserId].consumedinnanolitter = 0;
     Report("IDS_Dispenser_RefillEnded",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)IDS_Dispenser_Data[DispenserId].numberofrefills,0);
 }
-void IDS_Dispenser_PrimingEnded (char DispenserId,char  MicroSteps)
-{
-    assert (DispenserId<MAX_SYSTEM_DISPENSERS);
-    /*IDS_Dispenser_Data[DispenserId].microsteps = MicroSteps;
-    IDS_Dispenser_Data[DispenserId].direction = 1;
-    IDS_Dispenser_Data[DispenserId].consumedinnanolitter = 0;*/
-    Report("IDS_Dispenser_PrimingEnded",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)IDS_Dispenser_Data[DispenserId].numberofrefills,0);
-}
-void IDS_Dispenser_PrimingStarted (char DispenserId,char  MicroSteps)
-{
-    assert (DispenserId<MAX_SYSTEM_DISPENSERS);
-    /*IDS_Dispenser_Data[DispenserId].microsteps = MicroSteps;
-    double assumedFlow = IDS_Dispenser_Data[DispenserId].microsteps*IDS_Dispenser_Data[DispenserId].nanolitterperpulse;
-    IDS_Dispenser_Data[DispenserId].nanolitterperpulse = assumedFlow;
-    IDS_Dispenser_Data[DispenserId].microsteps = 1;
-    IDS_Dispenser_Data[DispenserId].direction = 1;*/
-    Report("IDS_Dispenser_PrimingStarted",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)(CurrentDispenserSpeed[DispenserId]),0);
-}
 void DispenserDataRequestFunc(MessageContainer* requestContainer)
 {
     MessageContainer responseContainer;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 603c4ac66..0a2dff245 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -16,6 +16,7 @@
 #include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
 
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/Valves/Valve.h"
 
@@ -63,6 +64,8 @@ callback_fptr HomingBacklashCallback[MAX_SYSTEM_DISPENSERS]={0,0,0,0,0,0,0,0};
 uint32_t HomingBacklashTimeout[MAX_SYSTEM_DISPENSERS];
 uint32_t HomingBacklashTime[MAX_SYSTEM_DISPENSERS];
 
+int32_t KeepMicrostep[MAX_SYSTEM_DISPENSERS];
+
 bool HomingActive[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 bool PrimingActive[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 uint32_t DispenserHomingControlId[MAX_SYSTEM_DISPENSERS] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
@@ -140,7 +143,9 @@ uint32_t IDS_HomeDispenserBackMoveCallback(uint32_t motorId, uint32_t ReadValue)
     {
         MotorStop(motorId,Hard_Hiz);
         CurrentDispenserSpeed[DispenserId] = 0;
-        MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+        if (Extended_Motor_Param == true)
+            Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+        MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
         HomingActive[DispenserId]= false;
         PrimingActive[DispenserId]= false;
         Report("End backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
@@ -164,7 +169,7 @@ uint32_t IDS_HomeDispenserCallback(uint32_t motorId, uint32_t ReadValue)
     //close dry air valve in the dispenser
     Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
     Disable_MidTank_Pressure_Reading(DispenserId);
-    //MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+    //    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
     if (HomingRequestCallback[DispenserId])
     {
         HomingRequestCallback[DispenserId](DispenserId,0);
@@ -204,7 +209,9 @@ uint32_t IDS_HomeDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr
     {
         //open dispenser valve dispenser to midtank direction
         Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-        //Valve_Set((Valves_t) request->index, MidTank_Dispenser);
+        KeepMicrostep[DispenserId] = MotorsCfg[MotorId].microstep;
+        if (Extended_Motor_Param == true)
+            Combined_dispenser_Driver_Mode(DispenserId,Current);
         MotorSetMicroStep(MotorId, 1);
         SysCtlDelay(180000);
         //open dry air valve in the dispenser
@@ -227,7 +234,9 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t DispenserId)
     status |= MotorAbortMovetoLimitSwitch(MotorId);
     Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
     Enable_MidTank_Pressure_Reading(DispenserId);
-    status |= MotorSetMicroStep(DispenserId, MotorsCfg[DispenserId].microstep);
+    if (Extended_Motor_Param == true)
+        Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+    status |= MotorSetMicroStep(MotorId, KeepMicrostep[DispenserId]);
     status |= MotorStop(DispenserId, Hard_Hiz);
     CurrentDispenserSpeed[DispenserId] = 0;
     JobEndReason = JOB_OUT_OF_DYE;
@@ -270,7 +279,9 @@ uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
             Lubricant_2Way_Valve (STOP);
         }
         PrimingActive[DispenserId] = false;
-        MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
+        if (Extended_Motor_Param == true)
+            Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+        MotorSetMicroStep(MotorId, KeepMicrostep[DispenserId]);
         CurrentDispenserSpeed[DispenserId] = 0;
         CurrentDispenserSpeed[DispenserId] = 0;
     }
@@ -297,7 +308,7 @@ 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, MotorsCfg[motorId].microstep);
+    //    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
     if (HomingRequestCallback[DispenserId])
     {
         HomingRequestCallback[DispenserId](DispenserId,0);
@@ -343,14 +354,16 @@ uint32_t IDS_EmptyDispenserCallback(uint32_t motorId, uint32_t ReadValue)
 
     MotorStop(motorId,Hard_Hiz);
     CurrentDispenserSpeed[DispenserId] = 0;
-    MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+    if (Extended_Motor_Param == true)
+        Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
     PrimingActive[DispenserId]= false;
     if (DispenserId == LUBRICANT_DISPENSER)
     {
         Lubricant_2Way_Valve (STOP);
     }
     Report("End Priming",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
-    //MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+    //    MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
     if (HomingRequestCallback[DispenserId])
     {
         HomingRequestCallback[DispenserId](DispenserId,0);
@@ -376,9 +389,12 @@ uint32_t IDS_EmptyDispenser (uint32_t DispenserId, uint32_t speed , callback_fpt
     {
         //open dispenser valve dispenser to midtank direction
         Control3WayValvesWithCallback ((Valves_t)DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+        if (Extended_Motor_Param == true)
+            Combined_dispenser_Driver_Mode(DispenserId,Current);
         //Valve_Set((Valves_t) request->index, Dispenser_Mixer);
+        KeepMicrostep[DispenserId] = MotorsCfg[MotorId].microstep;
         MotorSetMicroStep(MotorId, 1);
-        SysCtlDelay(180000);
+        Task_sleep(100);
         //open dry air valve in the dispenser
         //Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_ON);
         if (DispenserId == LUBRICANT_DISPENSER)
-- 
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