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

2 files changed, 32 insertions, 14 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 1420f7b97..c2f6a4384 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -14,6 +14,7 @@
 #include "drivers/adc_sampling/adc.h"
 
 //#include "graphics_adapter.h"
+extern uint8_t Input_Voltage;
 
 void Stub_ProgressRequest(MessageContainer* requestContainer)
 {
@@ -53,6 +54,14 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
     }
     else
+    if((request->amount == 0xDD) && (request->delay == 0xDD)) //Read Input Voltage
+    {
+       CheckAcInputVoltage();
+
+       response.progress = (double)Input_Voltage;
+       response.has_progress = true;
+    }
+    else
     if((request->amount == 0x0CE) && (request->delay == 0x0CE)) //Get Gas Sensor
     {
         FlashInitAndLoad();
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 53a860970..81880d678 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -188,8 +188,13 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
    float  temp =  (float)request->speed;
     Run_Value = /*SpdCalc*/(temp);
     Direction = request->direction;
+
+    #ifdef TEST_POWERSTEP01
+        Direction = -Direction;
+    #endif
+
 #ifdef EVALUATION_BOARD
-	//SPI_Control(SKIP_INIT);
+    //SPI_Control(SKIP_INIT);
     Mot_Run();
 
     //writeLine("L6470 Request: ");
@@ -273,7 +278,7 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     TimerMotors_t Motor_Id  = (TimerMotors_t)request->motor_id; //to remove warning
     MotorStop(Motor_Id, Stop_Command);
 #endif
-	
+
     //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
 
 
@@ -291,8 +296,8 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
     response.has_mot_status = true;
 
-	response.hiz = (read_status & x_STATUS_HIZ);
-	response.has_hiz = true;
+    response.hiz = (read_status & x_STATUS_HIZ);
+    response.has_hiz = true;
 
     response.busy = ((read_status & x_STATUS_BUSY)>>1);
     response.has_busy = true;
@@ -323,7 +328,7 @@ void Stub_MotorStatusRequest(MessageContainer* requestContainer)
 
     
 //    if(request->clearstatus)
-//	{
+//  {
 //
 //        #ifdef EVALUATION_BOARD
 //            read_status = Get_and_Clear_Status();
@@ -334,11 +339,11 @@ void Stub_MotorStatusRequest(MessageContainer* requestContainer)
 //            read_status =  MotorGetStatusFromFPGA_Res();
 //
 //        #endif
-//	}
-//	else
-//	{
-//		read_status = Get_Param(x_STATUS);
-//	}
+//  }
+//  else
+//  {
+//      read_status = Get_Param(x_STATUS);
+//  }
 
     if(request->clearstatus)
            {
@@ -408,8 +413,8 @@ void Stub_MotorStatusRequest(MessageContainer* requestContainer)
     response.busy = ((read_status & x_STATUS_BUSY)>>1);
     response.has_busy = true;
 
-	response.hiz = (read_status & x_STATUS_HIZ);
-	response.has_hiz = true;
+    response.hiz = (read_status & x_STATUS_HIZ);
+    response.has_hiz = true;
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorStatusResponse, requestContainer->token, true, &response, &stub_motor_status_response__pack, &stub_motor_status_response__get_packed_size);
 
@@ -531,6 +536,10 @@ void Stub_MotorMovRequest(MessageContainer* requestContainer)
     Pos_Value = request->position;
     Direction = request->direction;
 
+    #ifdef TEST_POWERSTEP01
+        Direction = -Direction;
+    #endif
+
     MotorGetnBusyFromFPGA(); //temporary -
 
     #ifdef EVALUATION_BOARD
@@ -585,7 +594,7 @@ void Stub_MotorMovRequest(MessageContainer* requestContainer)
     //-------------------------------------------------------------------------------------------
     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);
+    free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
     //free(requestContainer);
@@ -663,7 +672,7 @@ void Stub_MotorRequest(MessageContainer* requestContainer)
     //-------------------------------------------------------------------------------------------
     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);
+    free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
     //free(requestContainer);