Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

3 files changed, 61 insertions, 6 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 48a28ffe4..862a0f8cf 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -113,7 +113,6 @@ static GateMutex_Handle gateMillisecDB;
 
 uint32_t        Millisec_timerBase = TIMER1_BASE;        //Timer handle
 /******************** Functions  ********************************************/
-uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);
 void CalculateVOCAlarms(void);
 //**********************************************************************
 /******************** CODE  ********************************************/
@@ -226,13 +225,18 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
     return ;
 }
 uint32_t PT100Activity = 0;
+int32_t MillisecReadFromI2CTempSensor(uint32_t TempSensorId,  MSecFptr Callback)
+{
+#warning call I2C temeratures
+    return OK;
+}
+
 int32_t MillisecReadFromTempSensor(uint32_t TempSensorId,  MSecFptr Callback)
 {
     if (TempSensorId >= MAX_MAIN_CARD_TEMP_SENS_ID) return -1;
     PT100Activity++; //read request
     PT100Data[TempSensorId].Callback = Callback;
     PT100Data[TempSensorId].Active = true;
-
     return OK;
 }
 //typedef  uint32_t (* MSecFptr)(uint32_t deviceID, uint32_t ReadValue);
@@ -562,6 +566,8 @@ float MillisecGetPressures (int SensorId)
 void setRapidPressureRead(bool value)
 {
     RapidPressureRead = value;
+    if (GetDiagnosticMode() == Diagnostic_Extreme_Mode)
+        RapidPressureRead = true;
 }
 
 uint16_t PumpCounter = 0;
@@ -574,11 +580,14 @@ uint32_t MillisecLowLoop(uint32_t tick)
     //call all modules Millisec functions
     //test dancers and speed encoders
     //check all callback units (state machine waiting for completion of a change)
-    bool Ten_msTick, Hundred_msTick , m90msecTick, Onesecond_Tick,OneMinute_Tick,OneHourTick;
+    bool Ten_msTick, Fifty_msTick, Hundred_msTick , m20msecTick,m70msecTick,m90msecTick, Onesecond_Tick,OneMinute_Tick,OneHourTick;
     bool O100Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick;
     //bool O100Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick,O800Millisecond_Tick,O900Millisecond_Tick;
     Ten_msTick      =   (tick%eTenMillisecond == 0)      ?true:false;
+    Fifty_msTick      =   (tick%eHundredMillisecond == 0)      ?true:false; //eFiftyMillisecond
     Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
+    m20msecTick  =   (tick%eHundredMillisecond == 20)  ?true:false;
+    m70msecTick  =   (tick%eHundredMillisecond == 70)  ?true:false;
     m90msecTick  =   (tick%eHundredMillisecond == 90)  ?true:false;
     O100Millisecond_Tick  =   (tick%eOneSecond == 100)           ?true:false;
     O200Millisecond_Tick  =   (tick%eOneSecond == 200)           ?true:false;
@@ -603,6 +612,29 @@ uint32_t MillisecLowLoop(uint32_t tick)
         if(Machine_Idle_Mode == true)
             Machine_Idle_Breathing_Led();
     }
+#ifdef Use_Head_Card
+    if(Fifty_msTick)
+    {
+            Set_HeadCard_PT100();//call every 50mSec (minimum delay 30mSec)
+    }
+#endif
+#ifdef Use_Head_Card
+    if (m20msecTick) //read odd PT1000
+    {
+        for (Sensor_i = HEAD_PT100_ZONE_1_0X80_0;Sensor_i < HEAD_PT100_ZONE_2_0X80_1;Sensor_i++)
+        {
+            MillisecReadFromI2CTempSensor(Sensor_i, NULL);
+        }
+#warning call chip select replace in I2C
+    }
+    if (m70msecTick) //read odd PT1000
+    {
+        for (Sensor_i = HEAD_PT100_ZONE_2_0X80_1;Sensor_i < HEAD_PT100_RESERVE_0X8E_1;Sensor_i++)
+        {
+            MillisecReadFromI2CTempSensor(Sensor_i, NULL);
+        }
+    }
+#endif
     if (m90msecTick)
     {
 #ifdef Use_Head_Card
@@ -645,6 +677,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
         }
         DispensersCollectionCall();
 
+#ifdef Use_Head_Card
+    Head_Read_IO_Reg(0x46, HIGH);//READ HEAD CARD LS
+#endif
+
     }
     if (O100Millisecond_Tick)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index d59aae8f4..b75e44001 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -45,17 +45,27 @@
 //by recieved esign flow of the user from the UI
 ///////////////////////////////////////////////////////////////////////////////////////////
 #include "include.h"
-#include "Modules/General/GeneralHardware.h"
 
 #include <driverlib/timer.h>
 #include <inc/hw_ints.h>
 
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+
 #include "drivers/adc_sampling/adc.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+
 #include "Modules/General/buttons.h"
+#include "Modules/General/GeneralHardware.h"
+#include "Modules/AlarmHandling/AlarmHandling.h"
+
+#include "StateMachines/Printing/PrintingSTM.h"
 
 #include "control.h"
 #include "MillisecTask.h"
-#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+
+
+
 /******************** Definitions  ********************************************/
 #define MAX_TANGO_CONTROL_DEVICES 120
 /******************** STRUCTURES AND ENUMs  ********************************************/
@@ -169,8 +179,16 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
         ACTIVITY_RED_LED_OFF; // Heaters indication - all the Heaters OFF
         if(FPGA_WD_Occurred == true)
         {
+            FPGA_WD_Occurred = false;
+            AlarmHandlingSetAlarm(EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED,true);
+            JobEndReason = JOB_MOTOR_ALARM;
+            SendJobProgress(0.0,0,false, "Hardware Failure Error");
+            AbortJob("FPGA Watchdog Error");
+            ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0);
+
             ACTIVITY_GREEN_LED_ON;
-            //Motor_ReconfigAllMotors();
+            FPGA_SetMotorsInit();
+            Motor_ReconfigAllMotors();
         }
 		else
             ACTIVITY_GREEN_LED_OFF;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h
index 4b82aab30..78e24f495 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h
@@ -17,6 +17,7 @@ typedef enum {
     eNoControl = 0,
     eOneMillisecond = 1,
     eTenMillisecond = 10,
+    eFiftyMillisecond = 50,
     eHundredMillisecond = 100,
     eOneSecond = 1000,
     eOneMinute = 60000,