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

6 files changed, 144 insertions, 46 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 433f6210f..f9e9c391d 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -41,7 +41,6 @@ Mailbox_Handle          AlarmHandlingMsgQ = NULL;
 typedef enum
 {
     AlarmHandlingTrigger,
-    AlarmHandlingSendDiagnostics
 }AlarmHandlingMessages;
 
 typedef struct AlarmHandlingMessage{
@@ -60,9 +59,6 @@ void AlarmHandlingInit(void)
 
     AlarmHandlingMsgQ = Mailbox_create(sizeof(AlarmHandlingMessageStruc), 20, NULL,&eb);
 
-
-    //memset(AlarmHandlingDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES);
-
     return;
 }
 void AlarmHandlingIterate(UArg arg0)
@@ -79,20 +75,6 @@ void AlarmHandlingIterate(UArg arg0)
 
     return ;
 }
-uint32_t AlarmHandler_SendDiagnostics(uint32_t IfIndex, uint32_t ReadValue)
-{
-    AlarmHandlingMessageStruc Message;
-
-    //send message to the Millisec task
-    Message.messageId = AlarmHandlingSendDiagnostics;
-    Message.tick = UsersysTickGet();
-    Message.msglen = sizeof(AlarmHandlingMessageStruc);
-    if (AlarmHandlingMsgQ != NULL)
-        Mailbox_post(AlarmHandlingMsgQ , &Message, BIOS_NO_WAIT);
-
-
-    return OK;
-}
 /*typedef enum _EventType {
   EVENT_TYPE__ThreadBreak = 0,
   EVENT_TYPE__ThreadTensionControlFailure = 1,
@@ -199,8 +181,6 @@ void AlarmHandlingTask(UArg arg0, UArg arg1)
             case AlarmHandlingTrigger:
                 AlarmHandlingLoop(Message.tick);
                 break;
-            case AlarmHandlingSendDiagnostics:
-                DiagnosticCollection();
             default:
                 break;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
index 31adcd328..d14d2c717 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
@@ -9,15 +9,4 @@
 #define MODULES_ALARMHANDLING_ALARMHANDLING_H_
 
 
-//void AlarmHandler_SendDiagnostics(void);
-
-extern char DiagnosticsToken[36];
-uint32_t AlarmHandler_SendDiagnostics(uint32_t IfIndex, uint32_t ReadValue);
-
-uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer);
-uint32_t StopDiagnosticsRequestFunc(MessageContainer* requestContainer);
-void SendDiagnostics(void);
-void DiagnosticsReset(void);
-void DiagnosticCollection(void);
-
 #endif /* MODULES_ALARMHANDLING_ALARMHANDLING_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandlingDiagnostics.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.c
index 3b5e1cf52..295292dfe 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandlingDiagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.c
@@ -36,14 +36,14 @@
 char DiagnosticsToken[36] = {0};
 bool DiagnosticsActive = false;
 
+void SendDiagnostics(void);
+uint32_t Diagnostics_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 
 
-/******************** CODE  ********************************************/
-//**********************************************************************
 #define DIAGNOSTICS_LIMIT 10
 int DiagnosticsIndex = 0;
 int DiagnosticCollectionLimit = 3;  //number of data samples to collect before sending to the host
-int DiagnosticLimit = eTenMillisecond; //frequency of data collection
+int DiagnosticLimit = eHunderdMillisecond; //frequency of data collection
 //DigitalPin DigitalPinArray[1][DIAGNOSTICS_LIMIT];
 double dancer1angle[DIAGNOSTICS_LIMIT];
 double dancer2angle[DIAGNOSTICS_LIMIT];
@@ -73,6 +73,39 @@ double dispenser6motorfrequency[DIAGNOSTICS_LIMIT];
 double dispenser7motorfrequency[DIAGNOSTICS_LIMIT];
 double dispenser8motorfrequency[DIAGNOSTICS_LIMIT];
 
+Task_Handle Diagnostics_Task_Handle;
+Mailbox_Handle          DiagnosticsMsgQ = NULL;
+
+/******************** Functions  ********************************************/
+//uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);
+//**********************************************************************
+typedef enum
+{
+    DiagnosticsTrigger,
+}DiagnosticsMessages;
+
+typedef struct DiagnosticsMessage{
+    uint16_t messageId;
+    uint16_t msglen;
+    uint32_t tick;
+    uint8_t messageData[20];
+}DiagnosticsMessageStruc;
+
+/******************** CODE  ********************************************/
+//**********************************************************************
+
+void DiagnosticsInit(void)
+{
+    Error_Block eb;
+
+    Error_init(&eb);
+
+    DiagnosticsMsgQ = Mailbox_create(sizeof(DiagnosticsMessageStruc), 20, NULL,&eb);
+
+    return;
+}
+
+
 void DiagnosticCollection(void)
 {
     int i;
@@ -215,26 +248,46 @@ void SendDiagnostics(void)
 
 
 }
-uint32_t AlarmHandlingControlId = 0xff;
-uint32_t AlarmHandlingEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
+uint32_t DiagnosticsControlId = 0xff;
+bool DiagnosticRequestAccepted = false;
+uint32_t DiagnosticsEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     return OK;
 }
-
+uint32_t DiagnosticsStart()
+{
+    if ( DiagnosticsActive == false)
+    {
+        if (DiagnosticRequestAccepted == true)
+        {
+            DiagnosticsActive = true;
+            DiagnosticsControlId = AddControlCallback(Diagnostics_ControlTrigger,DiagnosticLimit,DiagnosticsEmptyCBFunction,0,0,0);
+        }
+    }
+}
+uint32_t DiagnosticsStop()
+{
+    if ( DiagnosticsActive == true)
+    {
+        DiagnosticsActive = false;
+        if (DiagnosticsControlId != 0xFF)
+            RemoveControlCallback(DiagnosticsControlId,Diagnostics_ControlTrigger);
+        DiagnosticsControlId = 0xFF;
+    }
+}
 uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer)
 {
     uint32_t status = NOT_SUPPORTED;
     //MessageContainer responseContainer;
 
 //    ReportInitParams InitParams;
+    //ControlStart();
+    DiagnosticRequestAccepted = true;
+#warning test only - shoud be started and stopped with job execution
+    DiagnosticsStart();
 
     StartDiagnosticsRequest* request = start_diagnostics_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     strcpy (DiagnosticsToken, requestContainer->token);
-    if ( DiagnosticsActive == false)
-    {
-        DiagnosticsActive = true;
-        AlarmHandlingControlId = AddControlCallback(AlarmHandler_SendDiagnostics,DiagnosticLimit,AlarmHandlingEmptyCBFunction,0,0,0);
-    }
     start_diagnostics_request__free_unpacked(request,NULL);
     return status;
 }
@@ -247,9 +300,10 @@ uint32_t StopDiagnosticsRequestFunc(MessageContainer* requestContainer)
 
     StopDiagnosticsResponse response = STOP_DIAGNOSTICS_RESPONSE__INIT;
 
-    DiagnosticsActive = false;
-    RemoveControlCallback(AlarmHandlingControlId,AlarmHandler_SendDiagnostics);
-    AlarmHandlingControlId = 0xFF;
+    DiagnosticsStop();
+
+    DiagnosticRequestAccepted = false;
+
     responseContainer = createContainer(MESSAGE_TYPE__StopDiagnosticsResponse,  requestContainer->token, false, &response, &stop_diagnostics_response__pack, &stop_diagnostics_response__get_packed_size);
     responseContainer.continuous = false;
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
@@ -261,5 +315,46 @@ uint32_t StopDiagnosticsRequestFunc(MessageContainer* requestContainer)
 
 return OK;
 }
+uint32_t Diagnostics_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue)
+{
+    DiagnosticsMessageStruc Message;
+
+    //send message to the Millisec task
+    Message.messageId = DiagnosticsTrigger;
+//    Message.tick = UsersysTickGet();
+    Message.msglen = sizeof(DiagnosticsMessageStruc);
+    if (DiagnosticsMsgQ != NULL)
+        Mailbox_post(DiagnosticsMsgQ , &Message, BIOS_NO_WAIT);
+
+
+    return OK;
+}
 
 
+/******************************************************************************
+ *  ======== messageTsk ========
+ *  Task for this function is created statically. See the project's .cfg file.
+ *  this message task is created statically in system initialization,
+ ******************************************************************************/
+void DiagnosticsTask(UArg arg0, UArg arg1)
+{
+    DiagnosticsMessageStruc Message;
+    //char str[60];
+    //uint16_t length;
+    //Clock_setTimeout(HostKAClock, 1000);
+    //Clock_start(HostKAClock);
+    DiagnosticsInit();
+    Diagnostics_Task_Handle = Task_self();
+    while(1)
+    {
+        Mailbox_pend(DiagnosticsMsgQ , &Message, BIOS_WAIT_FOREVER);
+        switch (Message.messageId)
+        {
+            case DiagnosticsTrigger:
+                DiagnosticCollection();
+                break;
+            default:
+                break;
+        }
+    }
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.h
new file mode 100644
index 000000000..d25b8f7fe
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.h
@@ -0,0 +1,23 @@
+/*
+ * Diagnostics.h
+ *
+ *  Created on: 28 June 2018
+ *      Author: shlomo
+ */
+
+#ifndef MODULES_ALARMHANDLING_DIAGNOSTICS_H_
+#define MODULES_ALARMHANDLING_DIAGNOSTICS_H_
+
+uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer);
+uint32_t StopDiagnosticsRequestFunc(MessageContainer* requestContainer);
+
+uint32_t DiagnosticsStart();
+uint32_t DiagnosticsStop();
+
+void DiagnosticsReset(void);
+void DiagnosticCollection(void);
+
+
+
+
+#endif /* MODULES_ALARMHANDLING_DIAGNOSTICS_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index b407bcd82..41af277a8 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -74,6 +74,17 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams)
                     HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false,
                     ProcessParams->headzone3temp);
     }
+    if (ProcessParams->has_headzone4temp)
+    {
+        if (ProcessParams->headzone4temp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, true,
+                    ProcessParams->headzone4temp);
+        else
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, false,
+                    ProcessParams->headzone4temp);
+    }
     if (ProcessParams->has_dryerzone1temp)
     {
         if (ProcessParams->dryerzone1temp)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index 81f147039..f43078894 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -280,7 +280,6 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
 
 void Stub_MotorStopRequest(MessageContainer* requestContainer)
 {
-    //uint32_t read_status;
     //uint32_t status = FAILED;
 
     MessageContainer responseContainer;
@@ -291,6 +290,7 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     Stop_Command = (STOP_TYPE_ENUM)request->stop_cmd;
 
 #ifdef EVALUATION_BOARD
+  uint32_t read_status;
 
  //SPI_Control(SKIP_INIT);
     Mot_Stop();