Version 1.3.1.1 changes

Communication tx traces (reports, diagnostics, alarms, job reports)
File system file download support – not tested!
Communication tx with pre-allocated memory (improve and add areas)
Winder Screw – send messages in regular mode
 Preparation for motor actions timeouts
Preparations for control debug
Heaters: bug fix, enlarge PID start region
IDS:
• Dispenser time out between motor operation and valve operation (start->open. Close->stop).
• Dispenser homing backlash – to pressure above limit (currently 0.1 for machines without mixer) or timeout (10 seconds).
State machine – Suspend Large Messages cancelled.

1 files changed, 33 insertions, 97 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 001cafeb3..a35b804e4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -304,12 +304,22 @@ void OneMilliSecondControlInterrupt(UArg arg0)
     return ;
 }
 
+uint32_t ControlDevice_i;
+uint32_t ControlLowDevice_i;
+uint32_t GetControlDevice_i(void)
+{
+    return ControlDevice_i;
+}
+uint32_t GetControlLowDevice_i(void)
+{
+    return ControlLowDevice_i;
+}
 uint32_t ControlLoop(uint32_t tick)
 {
     //call all modules control functions
     //test dancers and speed encoders
     //check all callback units (state machine waiting for completion of a change)
-    uint32_t Device_i;
+    //uint32_t ControlDevice_i;
     /*bool Ten_msTick, Hundred_msTick, Onesecond_Tick,Tick98,Tick998;
     Ten_msTick      =   (tick%eTenMillisecond == 0)      ?true:false;
     Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
@@ -320,24 +330,24 @@ uint32_t ControlLoop(uint32_t tick)
     Tick998         =   (tick%eOneSecond == 996)         ?true:false;
 */
     //ROM_IntMasterDisable();
-    for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES;Device_i++)
+    for (ControlDevice_i = 0; ControlDevice_i < MAX_TANGO_CONTROL_DEVICES;ControlDevice_i++)
     {
-        if (ControlArray[Device_i].ControlActive)
+        if (ControlArray[ControlDevice_i].ControlActive)
         {
-            ControlBacklog[backlogindex]=Device_i;
+            ControlBacklog[backlogindex]=ControlDevice_i;
             if ( ++backlogindex >= 999)
                 backlogindex = 0;
-            switch (ControlArray[Device_i].ControlTiming)
+            switch (ControlArray[ControlDevice_i].ControlTiming)
             {
                 case eOneMillisecond:
-                    if(ControlArray[Device_i].ControlDataReadPtr)
-                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1);
+                    if(ControlArray[ControlDevice_i].ControlDataReadPtr)
+                        ControlDatalog[ControlDevice_i] = ControlArray[ControlDevice_i].ControlDataReadPtr( ControlArray[ControlDevice_i].Parameter1);
                     else
-                        LOG_ERROR (Device_i, "Invalid callback ptr");
-                    if(ControlArray[Device_i].ControlCallbackPtr)
-                        ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+                        LOG_ERROR (ControlDevice_i, "Invalid callback ptr");
+                    if(ControlArray[ControlDevice_i].ControlCallbackPtr)
+                        ControlArray[ControlDevice_i].ControlCallbackPtr(ControlArray[ControlDevice_i].IfIndex, ControlDatalog[ControlDevice_i]);
                     else
-                        LOG_ERROR (Device_i, "Invalid callback ptr");
+                        LOG_ERROR (ControlDevice_i, "Invalid callback ptr");
                     break;
                 default:
                     break;
@@ -353,7 +363,7 @@ uint32_t ControlLowLoop(uint32_t tick)
     //call all modules control functions
     //test dancers and speed encoders
     //check all callback units (state machine waiting for completion of a change)
-    uint32_t Device_i;
+    //uint32_t Device_i;
     bool Ten_msTick, Hundred_msTick, Onesecond_Tick,Tick98,Tick998;
     Ten_msTick      =   (tick%eTenMillisecond == 0)      ?true:false;
     Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
@@ -362,101 +372,27 @@ uint32_t ControlLowLoop(uint32_t tick)
     Tick998         =   (tick%eOneSecond == 996)         ?true:false;
 
     //ROM_IntMasterDisable();
-    for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES;Device_i++)
+    for (ControlLowDevice_i = 0; ControlLowDevice_i < MAX_TANGO_CONTROL_DEVICES;ControlLowDevice_i++)
     {
-        if (ControlArray[Device_i].ControlActive)
+        if (ControlArray[ControlLowDevice_i].ControlActive)
         {
-            if (tick == ControlArray[Device_i].StartTick)
+            if (tick == ControlArray[ControlLowDevice_i].StartTick)
                 continue;
-            if (((tick - ControlArray[Device_i].StartTick)%ControlArray[Device_i].ControlTiming)==0) // run the control on exact intervals
+            if (((tick - ControlArray[ControlLowDevice_i].StartTick)%ControlArray[ControlLowDevice_i].ControlTiming)==0) // run the control on exact intervals
             {
-                ControlBacklog[backlogindex]=Device_i;
+                ControlBacklog[backlogindex]=ControlLowDevice_i;
                 if ( ++backlogindex >= 999)
                     backlogindex = 0;
 
-                if(ControlArray[Device_i].ControlDataReadPtr)
-                    ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1);
+                if(ControlArray[ControlLowDevice_i].ControlDataReadPtr)
+                    ControlDatalog[ControlLowDevice_i] = ControlArray[ControlLowDevice_i].ControlDataReadPtr( ControlArray[ControlLowDevice_i].Parameter1);
                 else
-                    LOG_ERROR (Device_i, "Invalid callback ptr");
-                if(ControlArray[Device_i].ControlCallbackPtr)
-                    ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+                    LOG_ERROR (ControlLowDevice_i, "Invalid callback ptr");
+                if(ControlArray[ControlLowDevice_i].ControlCallbackPtr)
+                    ControlArray[ControlLowDevice_i].ControlCallbackPtr(ControlArray[ControlLowDevice_i].IfIndex, ControlDatalog[ControlLowDevice_i]);
                 else
-                    LOG_ERROR (Device_i, "Invalid callback ptr");
+                    LOG_ERROR (ControlLowDevice_i, "Invalid callback ptr");
             }
-            /*
-            ControlBacklog[backlogindex]=Device_i;
-            if ( ++backlogindex >= 999)
-                backlogindex = 0;
-            switch (ControlArray[Device_i].ControlTiming)
-            {
-                case eOneMillisecond:
-                    break;
-                case eTenMillisecond:
-                    if (Ten_msTick)
-                    {
-                        if(ControlArray[Device_i].ControlDataReadPtr)
-                            ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                        if(ControlArray[Device_i].ControlCallbackPtr)
-                            ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                    }
-                    break;
-                case eHundredMillisecond:
-                    if (Tick98)
-                    {
-                        //there is a need to trigger the data collection from FPGA, from I2C or from ADC 1.5 milliseconds to collect the data
-                        if(ControlArray[Device_i].ControlDataReadPtr)
-                            ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                    }
-                    if (Hundred_msTick)
-                    {
-                        //there is a need to trigger the data collection from FPGA, from I2C or from ADC 1.5 milliseconds to collect the data
-                        if(ControlArray[Device_i].ControlCallbackPtr)
-                            ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                    }
-                    break;
-                case eOneSecond:
-                    if (Tick998)
-                    {
-                        if(ControlArray[Device_i].ControlDataReadPtr)
-                            ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                    }
-                    if (Onesecond_Tick)
-                    {
-                        if(ControlArray[Device_i].ControlCallbackPtr)
-                            ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                    }
-                    break;
-                case eNoControl:
-                    memset (&ControlArray[Device_i],0,sizeof(ControlDeviceStruc) );
-                    break;
-                default:
-                    //LOG_ERROR(tick, "Default Timing checked");
-                    if (tick%ControlArray[Device_i].ControlTiming == 0)
-                    {
-                        Report("Default Timing checked",__FILE__,__LINE__,tick,RpWarning,ControlArray[Device_i].ControlTiming,0);
-                        if(ControlArray[Device_i].ControlDataReadPtr)
-                            ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                        if(ControlArray[Device_i].ControlCallbackPtr)
-                            ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
-                        else
-                            LOG_ERROR (Device_i, "Invalid callback ptr");
-                    }
-                    break;
-            } //switch*/
         } //if control active
     }  //for
     //ROM_IntMasterEnable();