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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/I2C_Communication/ADC_MUX/ADC_MUX.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_LS_Empty_Id[MAX_SYSTEM_DISPENSERS] = {
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,
};
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 DispenserHomingControlId[MAX_SYSTEM_DISPENSERS] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
uint32_t DispenserHomingTime[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
#define INITIAL_DISPENSER_PRESSURE 2.10
#define INITIAL_DISPENSER_TIMEOUT_LIMIT 60000
#define INITIAL_DISPENSER_TIMEOUT 100
double InitialDispenserPressure = INITIAL_DISPENSER_PRESSURE;
uint32_t InitialDispenserTimeout = INITIAL_DISPENSER_TIMEOUT_LIMIT;
uint32_t InitialDispenserTimeLag = INITIAL_DISPENSER_TIMEOUT;
void IDS_Dispenser_SetBackLashValues(double initialdispenserpressure, uint32_t initialdispensertimeout, uint32_t initialdispensertimelag)
{
InitialDispenserPressure = initialdispenserpressure;
InitialDispenserTimeout = initialdispensertimeout;
InitialDispenserTimeLag = initialdispensertimelag;
Report("IDS_Dispenser_SetBackLashValues ",__FILE__,InitialDispenserPressure,InitialDispenserTimeout,RpWarning,(int)InitialDispenserTimeLag,0);
}
uint32_t IDS_HomeDispenserBackMoveCallback(uint32_t motorId, uint32_t ReadValue)
{
uint8_t DispenserId = motorId-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
if ((GetDispenserPressure(DispenserId)>=InitialDispenserPressure)||(DispenserHomingTime[DispenserId]>InitialDispenserTimeout))
{
MotorStop(motorId,Hard_Hiz);
CurrentDispenserSpeed[DispenserId] = 0;
MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
HomingActive[DispenserId]= false;
Report("End backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
if (SafeRemoveControlCallback(DispenserHomingControlId[DispenserId], IDS_HomeDispenserBackMoveCallback )==OK)
DispenserHomingControlId[DispenserId] = 0xFF;
else
Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserHomingControlId[DispenserId],0);
DispenserHomingTime[DispenserId]=0;
}
else
{
DispenserHomingTime[DispenserId]+=InitialDispenserTimeLag;
}
return OK;
}
uint32_t IDS_HomeDispenserCallback(uint32_t motorId, uint32_t ReadValue)
{
uint8_t DispenserId = motorId-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
Read_MidTank_Pressure_Sensor(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);
if (HomingRequestCallback[DispenserId])
{
HomingRequestCallback[DispenserId](DispenserId,0);
HomingRequestCallback[DispenserId] = NULL;
}
// HomingActive[DispenserId]= false;
Report("Start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
DispenserHomingControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
MotorSetDirection(motorId,MotorsCfg[motorId].directionthreadwize);
MotorSetSpeed(motorId, 1000);
CurrentDispenserSpeed[DispenserId] = 1000;
IDS_Dispenser_RefillEnded ( DispenserId);
return OK;
}
uint32_t IDS_HomeDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr callback)
{
assert(DispenserId < MAX_SYSTEM_DISPENSERS);
//if (DispensersAlarmState[DispenserId] == true)
// return ERROR;
if (HomingActive[DispenserId] == true)
{
LOG_ERROR (DispenserId,"Homing already active");
return ERROR;
}
else
HomingActive[DispenserId] = true;
HomingRequestCallback[DispenserId] = callback;
TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + DispenserId;
if ( Dispenser_Id_to_LS_Id[DispenserId] != MAX_GPI)
{
//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);
MotorSetMicroStep(MotorId, 1);
SysCtlDelay(180000);
//open dry air valve in the dispenser
Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_ON);
IDS_Dispenser_RefillStarted(DispenserId);
MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed, Dispenser_Id_to_LS_Id[DispenserId], IDS_HomeDispenserCallback,0);
CurrentDispenserSpeed[DispenserId] = speed;
CurrentDispenserSpeed[DispenserId] = (-1*CurrentDispenserSpeed[DispenserId]);
return OK;
}
return ERROR;
}
uint32_t IDS_Dispenser_Alarm_On (uint8_t DispenserId)
{
uint32_t status = OK;
DispensersAlarmState[DispenserId] = true;
TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + 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);
status |= MotorStop(DispenserId, Hard_Hiz);
CurrentDispenserSpeed[DispenserId] = 0;
JobEndReason = JOB_OUT_OF_DYE;
return status;
}
uint32_t IDS_Dispenser_Alarm_Off (uint8_t DispenserId)
{
uint32_t status = OK;
DispensersAlarmState[DispenserId] = false;
return status;
}
uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
{
assert(DispenserId < MAX_SYSTEM_DISPENSERS);
Report("IDS_StopHomeDispenser",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)HomingActive[DispenserId],0);
if (HomingActive[DispenserId] != true)
{
LOG_ERROR (DispenserId,"Homing not active");
return ERROR;
}
else
HomingActive[DispenserId] = false;
TimerMotors_t MotorId = (DispenserId)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
MotorAbortMovetoLimitSwitch(MotorId);
//close dry air valve in the dispenser
Disable_MidTank_Pressure_Reading(DispenserId);
Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
CurrentDispenserSpeed[DispenserId] = 0;
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]);
}
uint32_t IDS_EmptyDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr callback)
{
assert(DispenserId < MAX_SYSTEM_DISPENSERS);
//if (DispensersAlarmState[DispenserId] == true)
// return ERROR;
if (HomingActive[DispenserId] == true)
return ERROR;
else
HomingActive[DispenserId] = true;
HomingRequestCallback[DispenserId] = callback;
TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + DispenserId;
if ( Dispenser_Id_to_LS_Empty_Id[DispenserId] != MAX_GPI)
{
//open dispenser valve dispenser to midtank direction
Control3WayValvesWithCallback ((Valves_t)DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
//Valve_Set((Valves_t) request->index, Dispenser_Mixer);
MotorSetMicroStep(MotorId, 1);
SysCtlDelay(180000);
//open dry air valve in the dispenser
//Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_ON);
IDS_Dispenser_RefillStarted(DispenserId);
IDS_Dispenser_MovingDirection(DispenserId,UP);
MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed, Dispenser_Id_to_LS_Empty_Id[DispenserId], IDS_HomeDispenserCallback,0);
CurrentDispenserSpeed[DispenserId] = speed;
return OK;
}
return ERROR;
}
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