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

8 files changed, 103 insertions, 8 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 5ec7c6b16..e8779d265 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -23,6 +23,14 @@
 #include "drivers/FPGA/FPGA.h"
 
 #include "modules/thread/thread_ex.h"
+#include  <PMR/Diagnostics/StartDiagnosticsRequest.pb-c.h>
+#include  <PMR/Diagnostics/StartDiagnosticsResponse.pb-c.h>
+#include  <PMR/Diagnostics/StopDiagnosticsRequest.pb-c.h>
+#include  <PMR/Diagnostics/StopDiagnosticsResponse.pb-c.h>
+
+char DiagnosticsToken[36] = {0};
+bool DiagnosticsActive = false;
+
 
 Task_Handle AlarmHandling_Task_Handle;
 Mailbox_Handle          AlarmHandlingMsgQ = NULL;
@@ -33,6 +41,7 @@ Mailbox_Handle          AlarmHandlingMsgQ = NULL;
 typedef enum
 {
     AlarmHandlingTrigger,
+    AlarmHandlingSendDiagnostics
 }AlarmHandlingMessages;
 
 typedef struct AlarmHandlingMessage{
@@ -44,6 +53,42 @@ typedef struct AlarmHandlingMessage{
 
 /******************** CODE  ********************************************/
 //**********************************************************************
+uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer)
+{
+    uint32_t status = NOT_SUPPORTED;
+    //MessageContainer responseContainer;
+
+//    ReportInitParams InitParams;
+
+    StartDiagnosticsRequest* request = start_diagnostics_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    strcpy (DiagnosticsToken, requestContainer->token);
+    DiagnosticsActive = true;
+
+    start_diagnostics_request__free_unpacked(request,NULL);
+    return status;
+}
+uint32_t StopDiagnosticsRequestFunc(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    StopDiagnosticsRequest* request = stop_diagnostics_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StopDiagnosticsResponse response = STOP_DIAGNOSTICS_RESPONSE__INIT;
+
+    DiagnosticsActive = 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));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    //USBCDCD_sendData(container_buffer, container_size,10);
+    SendChars(container_buffer, container_size);
+    //free (container_buffer);
+
+return OK;
+}
 
 void AlarmHandlingInit(void)
 {
@@ -72,11 +117,58 @@ void AlarmHandlingIterate(UArg arg0)
 
     return ;
 }
+void AlarmHandler_SendDiagnostics(void)
+{
+    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 ;
+}
 uint32_t AlarmHandlingLoop(uint32_t tick)
 {
     return OK;
 }
+void SendDiagnostics(void)
+{
+    MessageContainer responseContainer;
+
+    StartDiagnosticsResponse response = START_DIAGNOSTICS_RESPONSE__INIT;
+
+    if (DiagnosticsActive == false)
+        return;
+
+    /*DiagnosticsMonitors *monitors;
+    size_t n_digitalpins;
+    DigitalPin **digitalpins;
+    extern bool FPGA_Gpi_Buf[MAX_GPI];
+
+void Read_FPGA_GPI_Rgisters();
+bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch);
+
+    size_t n_componentsstates;
+    ValueComponentState **componentsstates;
+    size_t n_events;
+    Event **events;*/
+
+
+    responseContainer = createContainer(MESSAGE_TYPE__StartDiagnosticsResponse,  DiagnosticsToken, false, &response, &start_diagnostics_response__pack, &start_diagnostics_response__get_packed_size);
+    responseContainer.continuous = true;
+
+    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);
+    //USBCDCD_sendData(container_buffer, container_size,10);
+//    SendChars(container_buffer, container_size);
+    //free (container_buffer);
+
+}
 /******************************************************************************
  *  ======== messageTsk ========
  *  Task for this function is created statically. See the project's .cfg file.
@@ -99,6 +191,8 @@ void AlarmHandlingTask(UArg arg0, UArg arg1)
             case AlarmHandlingTrigger:
                 AlarmHandlingLoop(Message.tick);
                 break;
+            case AlarmHandlingSendDiagnostics:
+                SendDiagnostics();
             default:
                 break;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
index c5eb88660..9e1be07e2 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
@@ -9,7 +9,7 @@
 #define MODULES_ALARMHANDLING_ALARMHANDLING_H_
 
 
-
+void AlarmHandler_SendDiagnostics(void);
 
 
 #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 312f970d6..67de0271f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -16,6 +16,7 @@
 ///////////////////////////////////////////////////////////////////////////////////////////
 #include "include.h"
 #include "Modules/General/GeneralHardware.h"
+#include "Modules/AlarmHandling/AlarmHandling.h"
 
 #include "MillisecTask.h"
 #include <driverlib/timer.h>
@@ -342,6 +343,7 @@ uint32_t MillisecLoop(uint32_t tick)
     {
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
             MillisecReadFromTempSensor(Sensor_i, NULL);
+        AlarmHandler_SendDiagnostics();
     }
 
     if (O900Millisecond_Tick)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index ff9b92ae0..b988e6238 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -21,7 +21,6 @@
 #include "include.h"
 #include <driverlib/timer.h>
 #include <DataDef.h>
-
 #include "heaters_ex.h"
 #include "heaters.h"
 #include "Drivers/Heater/Heater.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index fbfb0ed85..ed4d44491 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -16,7 +16,6 @@
 
 #include <Container.h>
 #include <DataDef.h>
-
 #include <PMR/Stubs/StubRealTimeUsageResponse.pb-c.h>
 #include <PMR/Stubs/StubRealTimeUsageRequest.pb-c.h>
 
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 cef0e1270..ff545b516 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -200,7 +200,7 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
     StubMotorRunRequest* request = stub_motor_run_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
    float  temp =  (float)request->speed;
-    Run_Value = SpdCalc(temp);
+    Run_Value = /*SpdCalc*/(temp);
     Direction = request->direction;
 #ifdef EVALUATION_BOARD
 	//SPI_Control(SKIP_INIT);
@@ -214,7 +214,7 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
 #else
     TimerMotors_t Motor_Id  = (TimerMotors_t)request->motor_id; //to remove warning
 
-    FPGA_GetBusy();
+    //FPGA_GetBusy();
 
     MotorSetDirection(Motor_Id,Direction);
     MotorSetSpeed(Motor_Id, Run_Value);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
index b357155ce..c10afb070 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
@@ -7,6 +7,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+#include <DataDef.h>
 #include <PMR/Stubs/StubReadEmbeddedVersionResponse.pb-c.h>
 #include <PMR/Stubs/StubReadEmbeddedVersionRequest.pb-c.h>
 
@@ -29,7 +30,6 @@
 
 #include "Common/SW_Info/SW_Info.h"
 
-#include "DataDef.h"
 
 void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index e99d3df0b..3505ff3c6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -111,7 +111,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     if (BusyfirstCall)
     {
         BusyfirstCall = false;
-        return;
+        return OK;
     }
     //ScrewCurrentDirection: false moves out, true moves home
     if (BusyFlag == NOTBUSY)
@@ -182,7 +182,8 @@ uint32_t Winder_End(void)
 {
     //stop screw
     ScrewNumberOfSteps = 0;
-    RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
+    if (ScrewControlId != 0xFF)
+        RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
     return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)