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/*
* IDS_Cleaning.c
*
* Created on: 18 ���� 2019
* Author: User
*/
#include "include.h"
#include "ids.h"
#include "ids_ex.h"
#include "../control/control.h"
#include "modules/General/process.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/I2C_Communication/I2C_Task.h>
#include "drivers/motors/motor.h"
#include "drivers/valves/valve.h"
#include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
int SaveLeftRockerSpeed = 50, SaveRightRockerSpeed = 50;
typedef enum
{
CleaningStageIdle,
CleaningStageActuatorUp = 1,
CleaningStageDelay1,
CleaningStageActuatorDown,
CleaningStageDelay2,
}CleaningStageEnum;
TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DH_LID;
/*
*Cleaning sequence:
t up � time actuator goes up
t delay1 � time actuator stays in position (up position � not limit switch)
Down to limit - actuator goes to lower limit switch
t delay2 � time actuator stays in lower limit switch position
Values for start:
t up � 300 msec
t delay1 � 500 msec
t delay2 � 2 sec
*/
CleaningStageEnum CleaningStage = CleaningStageIdle;
int Tup = 4,Tdelay1 = 9,Tdelay2 = 29;//set CleaningStageCounter to Tdelay1 - 1
int CleaningStageCounter = 8;//Tdelay1 - 1 to start with stage moving down
void Init_CleaningStageCounter()
{
if(Head_Type == HEAD_TYPE_FLAT) {
CleaningStageCounter = Tdelay1 - 1;
} else {
CleaningStageCounter = 0;
}
}
uint32_t cleaningMotorCBFunction (uint32_t deviceID, uint32_t Parameter1)
{
CleaningStageCounter = 0;
return 0;
}
uint32_t IDS_Cleaning_Move_Actuators()
{
if((Head_Type != HEAD_TYPE_FLAT) && (Head_Type != HEAD_TYPE_ARC))
return OK;
if(Head_Type == HEAD_TYPE_FLAT) {
if (CleaningStageCounter == 1)
{
Trigger_Head_Actuators_Stub(ACTIN, ENABLE, UP);
//Trigger_Head_Actuators_Control(ACTIN, LOW,true);
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Move_ActuatorUp", __FILE__, __LINE__, 1, RpWarning, CleaningStageCounter, 0);
}
else if (CleaningStageCounter == Tup)
{
Trigger_Head_Actuators_Stub(ACTIN, DISABLE, DONTCARE);
//Trigger_Head_Actuators_Disable();
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Stop_Actuator", __FILE__, __LINE__, Tup, RpWarning, CleaningStageCounter, 0);
}
else if (CleaningStageCounter == Tdelay1)
{
Trigger_Head_Actuators_Stub(ACTIN, ENABLE, DOWN);
//Trigger_Head_Actuators_Control(ACTIN, LOW,false);
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_MoveDown", __FILE__, __LINE__, Tdelay1, RpWarning, CleaningStageCounter, 0);
}
else if (CleaningStageCounter == Tdelay2)
{
CleaningStageCounter = 0;
Trigger_Head_Actuators_Stub(ACTIN, DISABLE, DONTCARE);
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Stop_delay", __FILE__, __LINE__, Tdelay2, RpWarning, CleaningStageCounter, 0);
}
} else { //arc
if (CleaningStageCounter == 0) {
if (ArcCleaningMotorSpeed>1)
MotorSetSpeed(MotorId, ArcCleaningMotorSpeed);
else
MotorSetSpeed(MotorId, 750);
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Motor_Run", __FILE__, __LINE__, 750, RpWarning, (int)ArcCleaningMotorSpeed, 0);
}
}
CleaningStageCounter++;
return OK;
}
/*uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
{
uint32_t status = OK;
SaveLeftRockerSpeed = LeftRockerSpeed;
SaveRightRockerSpeed = RightRockerSpeed;
status |= MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize);
status |= MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD, RightRockerSpeed);
status |= MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize);
status |= MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH, LeftRockerSpeed);
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Move_Rockers", __FILE__, __LINE__, LeftRockerSpeed, RpWarning, RightRockerSpeed, 0);
return status;
}
uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback)
{
uint32_t status = OK;
//status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, SaveRightRockerSpeed, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], callback,timeout);
//status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, SaveLeftRockerSpeed, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], callback,timeout);
HeadCard_Actuators_Relocate();
//Trigger_Head_Actuators_Disable();
//Trigger_Head_Actuators_Control(ACTIN, LOW,false);
CleaningStageCounter = 0;
CleaningStage = CleaningStageIdle;
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Center_And_Stop_Rockers actuator down", __FILE__, __LINE__, timeout, RpWarning, 123456, 0);
return status;
}*/
uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback)
{
uint32_t status = OK;
Tup = LeftRockerSpeed/100;
Tdelay1 = LeftRockerSpeed%100;
Tdelay2 = RightRockerSpeed;
status = IDS_Dispenser_Start_Motor_and_Open_Valve(CLEANER_DISPENSER, dispenserSpeed, callback);
Init_CleaningStageCounter();
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Spray_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning, dispenserSpeed, 0);
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning parameters", __FILE__, Tup*100, Tdelay1*100, RpWarning, Tdelay2*100, 0);
return status;
}
uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback)
{
uint32_t status = OK;
status = IDS_Dispenser_Close_Valve_And_Stop_Motor(CLEANER_DISPENSER,callback);
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Stop_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning, status, 0);
if(Head_Type == HEAD_TYPE_FLAT)
{
HeadCard_Actuators_Relocate();
Init_CleaningStageCounter();
}
if(Head_Type == HEAD_TYPE_ARC)
{
MotorMovetoLimitSwitch(MotorId,1-MotorsCfg[MotorId].directionthreadwize, 30, Motor_Id_to_LS_IdDown[MotorId], cleaningMotorCBFunction,30000);
}
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Motor_Homing", __FILE__, __LINE__, 1, RpWarning, CleaningStageCounter, 0);
CleaningStage = CleaningStageIdle;
ReportWithPackageFilter(IDSFilter,"IDS_Cleaning_Stop_Cleaning_Solution actuator relocate", __FILE__, __LINE__, CleaningStage, RpWarning, CleaningStageCounter, 0);
return status;
}
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