merge conflicts

3 files changed, 135 insertions, 35 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 6318de280..76b7aa7a1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -50,7 +50,6 @@
 #include "drivers/Flash_Memory/fatfs/ff.h"
 #include "drivers/Flash_ram/FlashProgram.h"
 
-#include "third_party/fatfs/src/ffconf.h"
 #include "Common/SWUpdate/FileSystem.h"
 
 #include "Communication/Connection.h"
@@ -227,13 +226,18 @@ 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);
@@ -521,30 +525,77 @@ int MillisecCalculateTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId)
 }
 int MillisecGetTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId)
 {
+    if (SensorId > WHS_PT100_4_0X82_1)
+        return 0;
     return TemperatureCalc[SensorId];
 }
 bool RapidPressureRead = false;
+float PressureSum[MAX_SYSTEM_DISPENSERS];
+float PressureMin[MAX_SYSTEM_DISPENSERS];
+float PressureMax[MAX_SYSTEM_DISPENSERS];
+float PressureCount[MAX_SYSTEM_DISPENSERS];
+float PressureCalc[MAX_SYSTEM_DISPENSERS];
+void MillisecUpdatePressures (int SensorId,float Pressure)
+{
+   //if(PressureCount[SensorId]++>=10)
+   //    PressureCount[SensorId] = 0;
+    PressureCount[SensorId]++;
+    if (PressureMax[SensorId]<Pressure) PressureMax[SensorId]=Pressure;
+    if (PressureMin[SensorId]>Pressure) PressureMin[SensorId]=Pressure;
+    PressureSum[SensorId]+=Pressure;
+}
+float MillisecCalculatePressures (int SensorId)
+{
+    float calc = 0;
+    PressureSum[SensorId]-=PressureMax[SensorId];
+    PressureSum[SensorId]-=PressureMin[SensorId];
+    calc = PressureSum[SensorId] / (PressureCount[SensorId]-2);
+
+    PressureSum[SensorId] = 0;
+    PressureCount[SensorId] = 0;
+    PressureMin[SensorId] = 30000;
+    PressureMax[SensorId] = -30000;
+    return calc;
+}
+float MillisecGetPressures (int SensorId)
+{
+    if (SensorId > MAX_SYSTEM_DISPENSERS)
+        return 0;
+    return PressureCalc[SensorId];
+}
+
 void setRapidPressureRead(bool value)
 {
     RapidPressureRead = value;
+    if (GetDiagnosticMode() == Diagnostic_Extreme_Mode)
+        RapidPressureRead = true;
 }
 
 uint16_t PumpCounter = 0;
 uint32_t MillisecLowLoop(uint32_t tick)
 {
-    uint8_t Motor_i,Disp_i,Heater_i,temp;
+    uint8_t Motor_i,Disp_i,temp;
     TEMPERATURE_SENSOR_ID_ENUM Sensor_i;
 
     //static int temp=0;
     //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, Fifty_msTick, Hundred_msTick , m90msecTick, Onesecond_Tick,O900Millisecond_Tick,OneMinute_Tick,OneHourTick;
+    bool Ten_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;
-    O900Millisecond_Tick  =   (tick%eOneSecond == 900)           ?true:false;
+    O100Millisecond_Tick  =   (tick%eOneSecond == 100)           ?true:false;
+    O200Millisecond_Tick  =   (tick%eOneSecond == 200)           ?true:false;
+    O400Millisecond_Tick  =   (tick%eOneSecond == 400)           ?true:false;
+    O500Millisecond_Tick  =   (tick%eOneSecond == 500)           ?true:false;
+    O600Millisecond_Tick  =   (tick%eOneSecond == 600)           ?true:false;
+    //O800Millisecond_Tick  =   (tick%eOneSecond == 800)           ?true:false;
+    //O900Millisecond_Tick  =   (tick%eOneSecond == 900)           ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
     OneMinute_Tick  =   (tick%eOneMinute == 0)           ?true:false;
     OneHourTick  =   (tick%eOneHour == 0)           ?true:false;
@@ -561,13 +612,30 @@ uint32_t MillisecLowLoop(uint32_t tick)
         if(Machine_Idle_Mode == true)
             Machine_Idle_Breathing_Led();
     }
-    if(Fifty_msTick)
+#ifdef Use_Head_Card
+    if (m20msecTick) //read odd PT1000
     {
-        Set_HeadCard_PT100();//call every 50mSec (minimum delay 30mSec)
+        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
+        for (Sensor_i = TEMP_SENSE_ANALOG_DRYER_TEMP1;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
+#else
         for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
+#endif
         {
             MillisecReadFromTempSensor(Sensor_i, NULL);
         }
@@ -577,7 +645,11 @@ uint32_t MillisecLowLoop(uint32_t tick)
         Speed_Data = Calculate_Speed_Sensor_Velocity();
         Read_Buttons_Reg();
         //Ink_Cart_Led();
+#ifdef Use_Head_Card
+        for (Sensor_i = TEMP_SENSE_ANALOG_DRYER_TEMP1;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
+#else
         for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
+#endif
         {
             MillisecUpdateTemperatures (Sensor_i,TemperatureSensorRead(Sensor_i));
         }
@@ -593,37 +665,26 @@ uint32_t MillisecLowLoop(uint32_t tick)
         {
             for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
             {
-                CalculateDispenserPressure(Disp_i);
+                MillisecUpdatePressures(Disp_i, CalculateDispenserPressure(Disp_i));
             }
             ADC_TriggerCollection();
         }
         DispensersCollectionCall();
 
-#ifdef Use_Head_Card
-    Head_Read_IO_Reg(0x46, HIGH);//READ HEAD CARD LS
-#endif
-
     }
-
-    if ((O900Millisecond_Tick)&&(RapidPressureRead == false))
+    if (O100Millisecond_Tick)
     {
-        ADC_TriggerCollection();
+        Trigger_Heater_Current_Read();
     }
-    if (Onesecond_Tick)
+    if (O200Millisecond_Tick)
     {
-        if (RapidPressureRead == false)
-        {
-            for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
-            {
-                CalculateDispenserPressure(Disp_i);
-            }
-        }
         FPGA_GetAllDispensersValveBusyOCD();
         temp = Read_Fans_Tacho();
         DrawerFansStatus = temp & 0x1F;
         SystemFansStatus = temp & 0xE0;
-        MachineUpdateResponseFunc();
-        //KeepAliveOneSecondCall();
+    }
+    if (O400Millisecond_Tick)
+    {
         for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
             if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_SCREW)
@@ -631,18 +692,40 @@ uint32_t MillisecLowLoop(uint32_t tick)
             if (isMotorConfigured(Motor_i))
                 MotorGetStatusFromFPGA(Motor_i);
         }
-        if (!(OneMinute_Tick))
+    }
+    if ((O500Millisecond_Tick)&&(RapidPressureRead == false))
+    {
+        ADC_TriggerCollection();
+    }
+    if (O600Millisecond_Tick)
+    {
+        if (RapidPressureRead == false)
         {
-            Trigger_Heater_Current_Read();
-            /*for (Heater_i = 0;Heater_i < NUM_OF_CURRENT_HEATERS;Heater_i++)
+            for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
             {
-                Read_Heaters_Current(Heater_i);
-            }*/
+                CalculateDispenserPressure(Disp_i);
+            }
         }
+    }
+    if (Onesecond_Tick)
+    {
+        MachineUpdateResponseFunc();
+        //KeepAliveOneSecondCall();
+#ifdef Use_Head_Card
+        for (Sensor_i = TEMP_SENSE_ANALOG_DRYER_TEMP1;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
+#else
         for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
+#endif
         {
             TemperatureCalc[Sensor_i] =  MillisecCalculateTemperatures ( Sensor_i);
         }
+        if (RapidPressureRead == true)
+        {
+            for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
+            {
+                PressureCalc[Disp_i] = MillisecCalculatePressures(Disp_i);
+            }
+        }
     }
     if (OneMinute_Tick)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 4edc1a8ed..9335a6d08 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -34,6 +34,7 @@ uint32_t getDrawerFansStatus(void);
 uint32_t getSystemFansStatus(void);
 uint8_t getGasReading(void);
 int MillisecGetTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId);
+float MillisecGetPressures (int SensorId);
 void setRapidPressureRead(bool value);
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 1f5e008d3..b60fb3aa4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -45,19 +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 "Modules/General/buttons.h"
+#include "Modules/General/GeneralHardware.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 100
+#define MAX_TANGO_CONTROL_DEVICES 120
 /******************** STRUCTURES AND ENUMs  ********************************************/
 
 
@@ -169,8 +177,16 @@ 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;
-            HWConfigurationInit();
+            FPGA_SetMotorsInit();
+            Motor_ReconfigAllMotors();
         }
 		else
             ACTIVITY_GREEN_LED_OFF;