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

7 files changed, 216 insertions, 61 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
new file mode 100644
index 000000000..1733498c5
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -0,0 +1,102 @@
+/*
+ * AlarmHandling.c
+
+ *
+ *  Created on: 24 may 2018
+ *      Author: shlomo
+ */
+
+#include "include.h"
+#include "Modules/General/GeneralHardware.h"
+
+#include "AlarmHandling.h"
+#include <driverlib/timer.h>
+#include <inc/hw_ints.h>
+
+#include "drivers/adc_sampling/adc.h"
+#include "Control/control.h"
+
+#include "drivers/Motors/Motor.h"
+#include "drivers/Danser_SSI/SSI_Comm.h"
+#include "drivers/Heater/TemperatureSensor.h"
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+#include "drivers/FPGA/FPGA.h"
+
+#include "modules/thread/thread_ex.h"
+
+Task_Handle AlarmHandling_Task_Handle;
+Mailbox_Handle          AlarmHandlingMsgQ = NULL;
+static GateMutex_Handle gateAlarmHandlingDB;
+
+/******************** Functions  ********************************************/
+//uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);
+//**********************************************************************
+typedef enum
+{
+    AlarmHandlingTrigger,
+}AlarmHandlingMessages;
+
+typedef struct AlarmHandlingMessage{
+    uint16_t messageId;
+    uint16_t msglen;
+    uint32_t tick;
+    uint8_t messageData[20];
+}AlarmHandlingMessageStruc;
+
+/******************** CODE  ********************************************/
+//**********************************************************************
+
+void AlarmHandlingInit(void)
+{
+    Error_Block eb;
+    int i;
+
+    Error_init(&eb);
+
+    AlarmHandlingMsgQ = Mailbox_create(sizeof(AlarmHandlingMessageStruc), 20, NULL,&eb);
+
+
+    //memset(AlarmHandlingDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES);
+
+    /*gateAlarmHandlingDB = GateMutex_create(NULL, &eb);
+    if (gateAlarmHandlingDB == NULL)
+    {
+        System_abort("Could not create USB Wait gate");
+    }*/
+
+
+    return;
+}
+uint32_t AlarmHandlingLoop(uint32_t tick)
+{
+    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 AlarmHandlingTask(UArg arg0, UArg arg1)
+{
+    AlarmHandlingMessageStruc Message;
+    //char str[60];
+    //uint16_t length;
+    //Clock_setTimeout(HostKAClock, 1000);
+    //Clock_start(HostKAClock);
+    AlarmHandlingInit();
+    AlarmHandling_Task_Handle = Task_self();
+    while(1)
+    {
+        Mailbox_pend(AlarmHandlingMsgQ , &Message, BIOS_WAIT_FOREVER);
+        switch (Message.messageId)
+        {
+            case AlarmHandlingTrigger:
+                AlarmHandlingLoop(Message.tick);
+                break;
+            default:
+                break;
+        }
+    }
+}
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
new file mode 100644
index 000000000..c5eb88660
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
@@ -0,0 +1,15 @@
+/*
+ * AlarmHandling.h
+ *
+ *  Created on: 24 במאי 2018
+ *      Author: shlomo
+ */
+
+#ifndef MODULES_ALARMHANDLING_ALARMHANDLING_H_
+#define MODULES_ALARMHANDLING_ALARMHANDLING_H_
+
+
+
+
+
+#endif /* MODULES_ALARMHANDLING_ALARMHANDLING_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index cae09cfd8..3e9218392 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -159,9 +159,11 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
     ROM_IntMasterEnable();
     return ;
 }
+uint32_t PT100Activity = 0;
 int32_t MillisecWriteToTempSensor(uint32_t TempSensorId, unsigned long Data, int Length, MSecFptr Callback)
 {
     if (TempSensorId >= MAX_TEMPERATURE_SENSOR_ID) return -1;
+    PT100Activity++;
     PT100Data[TempSensorId].Callback = Callback;
     PT100Data[TempSensorId].Data = Data;
     PT100Data[TempSensorId].Length = Length;
@@ -173,6 +175,8 @@ int32_t MillisecWriteToTempSensor(uint32_t TempSensorId, unsigned long Data, int
 int32_t MillisecReadFromTempSensor(uint32_t TempSensorId, unsigned long Data, int Length, MSecFptr Callback)
 {
     if (TempSensorId >= MAX_TEMPERATURE_SENSOR_ID) return -1;
+    PT100Activity++; //read request
+    PT100Activity++;  //get response
     PT100Data[TempSensorId].Callback = Callback;
     PT100Data[TempSensorId].Data = Data;
     PT100Data[TempSensorId].Length = Length;
@@ -291,34 +295,39 @@ uint32_t MillisecLoop(uint32_t tick)
         }
    }
     //FPGA_GetTempSensorBusy();
-    for (Sensor_i = TEMP_SENSE_ANALOG_MIXCHIP_TEMP;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
-    {
-        //if (TempDriverDriverResponse[Sensor_i].Busy == true)
-        //    continue;
-        if (PT100Data[Sensor_i].WaitForData == true) //Read request sent, data is waiting
-        {
-            if (SPIGetFPGAResponse(Sensor_i,&MotorInfo) == OK) //got the data from the FPGA
-            {
-                PT100Data[Sensor_i].WaitForData = false;
-                if (PT100Data[Sensor_i].Callback)
-                    PT100Data[Sensor_i].Callback(Sensor_i,MotorInfo);
-            }
-        }
-        if (PT100Data[Sensor_i].Active == true)
-        {
-            SPISendFPGARequest(Sensor_i,PT100Data[Sensor_i].Data,PT100Data[Sensor_i].Length);
-            PT100Data[Sensor_i].Active = false;
-            if (PT100Data[Sensor_i].DataRequired == true)
-            {
-                PT100Data[Sensor_i].WaitForData = true; // mark the motor for data request next round
-            }
-            else
-            {
-                if (PT100Data[Sensor_i].Callback)
-                    PT100Data[Sensor_i].Callback(Sensor_i,0); // call the callback to report execution
-            }
-        }
-    }
+   if (PT100Activity)
+   {
+       for (Sensor_i = TEMP_SENSE_ANALOG_MIXCHIP_TEMP;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
+       {
+           //if (TempDriverDriverResponse[Sensor_i].Busy == true)
+           //    continue;
+           if (PT100Data[Sensor_i].WaitForData == true) //Read request sent, data is waiting
+           {
+               if (SPIGetFPGAResponse(Sensor_i,&MotorInfo) == OK) //got the data from the FPGA
+               {
+                   PT100Data[Sensor_i].WaitForData = false;
+                   if (PT100Data[Sensor_i].Callback)
+                       PT100Data[Sensor_i].Callback(Sensor_i,MotorInfo);
+               }
+               PT100Activity--;
+           }
+           if (PT100Data[Sensor_i].Active == true)
+           {
+               SPISendFPGARequest(Sensor_i,PT100Data[Sensor_i].Data,PT100Data[Sensor_i].Length);
+               PT100Data[Sensor_i].Active = false;
+               if (PT100Data[Sensor_i].DataRequired == true)
+               {
+                   PT100Data[Sensor_i].WaitForData = true; // mark the motor for data request next round
+               }
+               else
+               {
+                   if (PT100Data[Sensor_i].Callback)
+                       PT100Data[Sensor_i].Callback(Sensor_i,0); // call the callback to report execution
+               }
+               PT100Activity--;
+           }
+       }
+   }
     Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
     Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER);
     Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER);
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 99198dd09..e73f16a10 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -321,31 +321,72 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     UploadHardwareConfigurationResponse response = UPLOAD_HARDWARE_CONFIGURATION_RESPONSE__INIT;
 
     UploadHardwareConfigurationRequest* UploadRequest = upload_hardware_configuration_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    if (UploadRequest == NULL)
+    {
+        LOG_ERROR (0, "Wrong Data Allocation");
+        return ERROR;
+    }
     HardwareConfiguration *request =    UploadRequest->hardwareconfiguration;
     if (request->n_winders == 1)
         status += InternalWinderConfigMessage(request->winders);
     status += MotorsInit();
 
-    for (Motor_i = 0; Motor_i < request->n_motors ; Motor_i++)
+    if (request->n_motors < NUM_OF_MOTORS)
+    {
+        for (Motor_i = 0; Motor_i < request->n_motors ; Motor_i++)
         status += MotorsConfigMessage(request->motors[Motor_i]);
-    for (Dancer_i = 0; Dancer_i < request->n_dancers ; Dancer_i++)
-        status += DancerConfigMessage(request->dancers[Dancer_i]);
-    for (PID_i = 0; PID_i < request->n_pidcontrols ; PID_i++)
+    }
+    else
+    {
+        LOG_ERROR (request->n_motors, "Wrong Data");
+        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
+        return ERROR;
+    }
+    if (request->n_dancers <= NUM_OF_DANCERS)
+    {
+        for (Dancer_i = 0; Dancer_i < request->n_dancers ; Dancer_i++)
+            status += DancerConfigMessage(request->dancers[Dancer_i]);
+    }
+    else
+    {
+        LOG_ERROR (request->n_dancers, "Wrong Data");
+        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
+        return ERROR;
+    }
+    if (request->n_pidcontrols <= HARDWARE_PID_CONTROL_TYPE__Dispenser8)
+    {
+        for (PID_i = 0; PID_i < request->n_pidcontrols ; PID_i++)
+        {
+            if (request->pidcontrols[PID_i]->hardwarepidcontroltype <= HARDWARE_PID_CONTROL_TYPE__MixerHeater)
+                status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]);
+            else if ((request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__MotorDryer)&&
+                    (request->pidcontrols[PID_i]->hardwarepidcontroltype < HARDWARE_PID_CONTROL_TYPE__Dispenser1))
+                status += MotorPidRequestMessage(request->pidcontrols[PID_i]);
+            else if (request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__Dispenser1)
+                status += IDS_DispenserPidRequestMessage(request->pidcontrols[PID_i]);
+        }
+    }
+    else
+    {
+        LOG_ERROR (request->n_pidcontrols, "Wrong Data");
+        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
+        return ERROR;
+    }
+    if (request->n_dispensers <= MAX_SYSTEM_DISPENSERS)
+    {
+        for (Dispenser_i = 0; Dispenser_i < request->n_dispensers ; Dispenser_i++)
+            status += DispenserConfigMessage(request->dispensers[Dispenser_i]);
+    }
+    else
     {
-        if (request->pidcontrols[PID_i]->hardwarepidcontroltype <= HARDWARE_PID_CONTROL_TYPE__MixerHeater)
-            status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]);
-        else if ((request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__MotorDryer)&&
-                (request->pidcontrols[PID_i]->hardwarepidcontroltype < HARDWARE_PID_CONTROL_TYPE__Dispenser1))
-            status += MotorPidRequestMessage(request->pidcontrols[PID_i]);
-        else if (request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__Dispenser1)
-            status += IDS_DispenserPidRequestMessage(request->pidcontrols[PID_i]);
+        LOG_ERROR (request->n_dispensers, "Wrong Data");
+        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
+        return ERROR;
     }
-    for (Dispenser_i = 0; Dispenser_i < request->n_dispensers ; Dispenser_i++)
-        status += DispenserConfigMessage(request->dispensers[Dispenser_i]);
     //status += HeaterConfigSetSharedHeatersParams (request->outputproportionalcycletime, request->outputproportionalsinglestep);
 
     ControlStart();
-    ThreadInitialTestStub(request);
+    //ThreadInitialTestStub(request);
 
 
     responseContainer = createContainer(MESSAGE_TYPE__UploadHardwareConfigurationResponse, requestContainer->token, true, &response, &upload_hardware_configuration_response__pack, &upload_hardware_configuration_response__get_packed_size);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index ea8953519..ba766509b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -67,7 +67,7 @@ char stubToken[36] = {0};
 
 void HeatingTestRequest(MessageContainer* requestContainer)
 {
-#ifdef DEBUG_TEST_FUNCTIONS
+//#ifdef DEBUG_TEST_FUNCTIONS
     MessageContainer responseContainer;
     uint8_t* container_buffer;
     uint32_t status = 0;
@@ -119,10 +119,10 @@ void HeatingTestRequest(MessageContainer* requestContainer)
     //free(requestContainer);
     stub_heating_test_request__free_unpacked(request,NULL);
 
-#else
-    LOG_ERROR (-1, "Heating Control not on debug");
-    return ERROR;
-#endif
+//#else
+//    LOG_ERROR (-1, "Heating Control not on debug");
+//    return ERROR;
+//#endif
 }
 void HeatingTestPollRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index 74dcba2fe..fbfb0ed85 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -16,11 +16,6 @@
 
 #include <Container.h>
 #include <DataDef.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <string.h>
 
 #include <PMR/Stubs/StubRealTimeUsageResponse.pb-c.h>
 #include <PMR/Stubs/StubRealTimeUsageRequest.pb-c.h>
@@ -35,15 +30,7 @@
 #include "MessageContainer.pb-c.h"
 
 #include "Stub_Status.h"
-#include "drivers/FPGA/FPGA.h"
-#include "drivers/SPI/SPI_Comm.h"
-
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-
-#include "driverlib/ssi.h"
-#include "drivers/SPI/SPI_Comm.h"
-#include "drivers/FPGA/FPGA_SSI_Comm.h"
-#include "Modules/Thread/Thread_ex.h"
+#include "common/utilities/idle_task.h"
 
 
 #include "Modules/thread/thread.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 67f2227d2..c036f4913 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -310,6 +310,7 @@ bool InitialProcess = false;
     #endif
     }
     Winder_Prepare();
+    PrepareReady(Module_Thread,ModuleDone);
     //set 3 dancers to the profile positions
     InitialProcess = true;
     return OK;