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/************************************************************************************************************************
* 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,
};
FPGA_GPI_ENUM Dispenser_Id_to_Alarm_LS_Id[MAX_SYSTEM_DISPENSERS*2] = {
GPI_LS_DISPENSER_UP_1, //MOTO_DISPENSER_1 = 6,
GPI_LS_DISPENSER_UP_2, //MOTO_DISPENSER_2 = 7,
GPI_LS_DISPENSER_UP_3, //MOTO_DISPENSER_3 = 8,
GPI_LS_DISPENSER_UP_4, //MOTO_DISPENSER_4 = 9,
GPI_LS_DISPENSER_UP_5, //MOTO_DISPENSER_5 = 10,
GPI_LS_DISPENSER_UP_6, //MOTO_DISPENSER_6 = 11,
GPI_LS_DISPENSER_UP_7, //MOTO_DISPENSER_7 = 12,
GPI_LS_DISPENSER_UP_8, //MOTO_DISPENSER_8 = 13,
GPI_LS_DISPENSER_25_1, //MOTO_DISPENSER_1 = 6,
GPI_LS_DISPENSER_25_2, //MOTO_DISPENSER_2 = 7,
GPI_LS_DISPENSER_25_3, //MOTO_DISPENSER_3 = 8,
GPI_LS_DISPENSER_25_4, //MOTO_DISPENSER_4 = 9,
GPI_LS_DISPENSER_25_5, //MOTO_DISPENSER_5 = 10,
GPI_LS_DISPENSER_25_6, //MOTO_DISPENSER_6 = 11,
GPI_LS_DISPENSER_25_7, //MOTO_DISPENSER_7 = 12,
GPI_LS_DISPENSER_25_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(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
if (HomingRequestCallback[DispenserId])
{
HomingRequestCallback[DispenserId](DispenserId,0);
HomingRequestCallback[DispenserId] = NULL;
}
HomingActive[DispenserId]= 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[deviceID] != 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(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed, Dispenser_Id_to_LS_Id[deviceID], IDS_HomeDispenserCallback);
return OK;
}
return ERROR;
}
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(IDS_Id_to_AirValve[deviceID], Atm_MidTank_OFF);
MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
return OK;
}
uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id)
{
int DispenserId;
if (LS_Id <= LimitSwitchAlarmEmpty_8)
{
DispenserId = LS_Id;
}
else
{
DispenserId = LS_Id-LimitSwitchAlarmEmpty_8;
}
if (isMotorConfigured(DispenserId + HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1)==false)
return true; //false is the alarm value
else
return FPGA_Read_limit_Switches(Dispenser_Id_to_Alarm_LS_Id[LS_Id]);
}
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