add FPGA Reg stub + update motor deriver

2 files changed, 105 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
new file mode 100644
index 000000000..d71fa764a
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
@@ -0,0 +1,105 @@
+
+#include <DataDef.h>
+#include <PMR/Stubs/StubFpgaReadRegRequest.pb-c.h>
+#include <PMR/Stubs/StubFpgaReadRegResponse.pb-c.h>
+#include <PMR/Stubs/StubFpgaWriteRegRequest.pb-c.h>
+#include <PMR/Stubs/StubFpgaWriteRegResponse.pb-c.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include "inc/hw_memmap.h"
+#include "inc/hw_types.h"
+#include "inc/hw_uart.h"
+
+#include "Drivers/USB_Communication/USBCDCD.h"
+#include "drivers/twine_graphicslib/graphics_adapter.h"
+
+#include "MessageContainer.pb-c.h"
+
+#include "Container.h"
+#include "Stub_Status.h"
+#include "drivers/FPGA/FPGA.h"
+#include "drivers/FPGA/FPGA_Comm.h"
+
+
+void Stub_FpgaReadRegRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = PASSED;
+
+    MessageContainer responseContainer;
+
+    StubFpgaReadRegRequest* request = stub_fpga_read_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubFpgaReadRegResponse response =   STUB_FPGA_READ_REG_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    if((request->address < FPGA1_BASE) || (request->address > (FPGA3_BASE | (0x1FF))))//TODO update the last add
+    {
+        status = FAILED;
+    }
+    else
+    {
+        volatile short *ptr;
+        ptr = (volatile short *) (request->address);
+
+        response.address = request->address;
+        response.has_address = true;
+        response.value = *ptr;
+        response.has_value = true;
+    }
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubFpgaReadRegResponse, requestContainer->token, true, &response, &stub_fpga_read_reg_response__pack, &stub_fpga_read_reg_response__get_packed_size);
+
+    Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars((char*)container_buffer, container_size);
+    //free(container_buffer);
+    free(requestContainer);
+
+}
+
+void Stub_FpgaWriteRegRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = PASSED;
+
+    MessageContainer responseContainer;
+
+    StubFpgaWriteRegRequest* request = stub_fpga_write_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    if((request->address < FPGA1_BASE) || (request->address > (FPGA3_BASE | (0x1FF))))//TODO update the last add
+    {
+        status = FAILED;
+    }
+    else
+    {
+        volatile short *ptr;
+        ptr = (volatile short *) (request->address);
+        *ptr = (request->value & 0xFFFF);
+    }
+    StubFpgaWriteRegResponse response =   STUB_FPGA_WRITE_REG_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubFpgaWriteRegResponse, requestContainer->token, true, &response, &stub_fpga_write_reg_response__pack, &stub_fpga_write_reg_response__get_packed_size);
+
+    Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars((char*)container_buffer, container_size);
+    //free(container_buffer);
+    free(requestContainer);
+
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.h
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.h