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

10 files changed, 221 insertions, 72 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 8fc36b7f4..f9f075477 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -361,6 +361,11 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
             case CurrentAlarm:
                 break;
             case MotorAlarm:
+                if (isMotorConfigured(AlarmItem[Alarm_i].DeviceId) == false)
+                {
+                    Status = false;
+                    break;
+                }
                 value = MotorGetStatus(AlarmItem[Alarm_i].DeviceId);
                 if (value && AlarmItem[Alarm_i].AlarmValue) //
                 {
@@ -441,7 +446,7 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
     //machine cover open
 
     if (tick%eOneSecond == 0)
-//        SendEventNotifications();
+        SendEventNotifications();
     return OK;
 }
 /******************************************************************************
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
new file mode 100644
index 000000000..0f36a803b
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -0,0 +1,154 @@
+/*
+ * DiagnosticActions.c
+ *
+ *  Created on: Aug 20, 2018
+ *      Author: shlomo
+ */
+#include <DataDef.h>
+#include "include.h"
+
+#include "diagnostics.h"
+#include <inc/hw_ints.h>
+#include <Container.h>
+
+#include  <PMR/Diagnostics/SetComponentValueRequest.pb-c.h>
+#include  <PMR/Diagnostics/SetComponentValueResponse.pb-c.h>
+
+#include  <PMR/Diagnostics/SetDigitalOutRequest.pb-c.h>
+#include  <PMR/Diagnostics/SetDigitalOutResponse.pb-c.h>
+
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "Drivers/I2C_Communication/DAC/blower.h"
+#include "drivers/Valves/Valve.h"
+
+typedef enum
+{
+    GPO_DILUTORPUMP_SSR10_CTRL,
+    GPO_WASTECH_PUMP2,
+    Midtank_1_Air,
+    Midtank_2_Air,
+    Midtank_3_Air,
+    Midtank_4_Air,
+    Midtank_5_Air,
+    Midtank_6_Air,
+    Midtank_7_Air,
+    Midtank_8_Air,
+    Midtank_1_Cartridge,
+    Midtank_2_Cartridge,
+    Midtank_3_Cartridge,
+    Midtank_4_Cartridge,
+    Midtank_5_Cartridge,
+    Midtank_6_Cartridge,
+    Midtank_7_Cartridge,
+    Midtank_8_Cartridge,
+    GPO_BUZZER,
+    GPO_LED1,
+    GPO_LED2,
+    GPO_LED3,
+    GPO_LED4,
+    GPO_TFEED_BREAK_1,
+    GPO_TFEED_BREAK_2,
+    GPO_SPARE1_1,
+    GPO_SPARE1_2,
+    GPO_SPARE2_1,
+    GPO_SPARE2_2,
+    GPO_BLOWER_PWM,
+    GPO_CHILLER_SSR9_CTRL,
+    GPO_WHS_WTANKPUMP2,
+    GPO_VALVE_WASTE_TANK,
+}DigitalOutputEnum;
+/********************************************************************************
+ *Blower Diagnostic
+ ********************************************************************************/
+uint32_t SetComponentValueRequestRequestFunc(MessageContainer* requestContainer)
+{
+    MessageContainer responseContainer;
+    uint8_t* container_buffer;
+    uint32_t status = 0;
+    uint32_t intvoltage;
+    SetComponentValueRequest* request = set_component_value_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+
+
+    SetComponentValueResponse response = SET_COMPONENT_VALUE_RESPONSE__INIT;
+
+    responseContainer = createContainer(MESSAGE_TYPE__SetComponentValueResponse, requestContainer->token, true, &response, &set_component_value_response__pack, &set_component_value_response__get_packed_size);
+    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+
+
+    switch (request->component)
+    {
+        case VALUE_COMPONENT__BlowerVoltage:
+              blowervolatgedisplay = true;
+              voltage = request->value;
+              if (voltage == 0.0)
+                  Turn_the_Blower_Off();
+              else
+              {
+                  Turn_the_Blower_On();
+                  intvoltage = voltage;
+                  Control_Voltage_To_Blower(intvoltage);
+              }
+            break;
+        default:
+            break;
+    }
+
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+    //free(container_buffer);
+    //free(requestContainer);
+    set_component_value_request__free_unpacked(request,NULL);
+
+    return OK;
+}
+
+/********************************************************************************
+ *Set digital output Diagnostic
+ ********************************************************************************/
+uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
+{
+    MessageContainer responseContainer;
+    uint8_t* container_buffer;
+    uint32_t status = 0;
+    int portId;
+    SetDigitalOutRequest* request = set_digital_out_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+
+
+    SetDigitalOutResponse response = SET_DIGITAL_OUT_RESPONSE__INIT;
+
+    responseContainer = createContainer(MESSAGE_TYPE__SetDigitalOutResponse, requestContainer->token, true, &response, &set_digital_out_response__pack, &set_digital_out_response__get_packed_size);
+    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+
+
+    if ((request->port >= Midtank_1_Air)&&(request->port >=Midtank_8_Air))
+    {
+        portId = (request->port - Midtank_1_Air) ; //0-7
+        Valve_Set((Valves_t) (portId+VALVE_2W_MID_AIR_LF), request->value );   //Atm_MidTank_OFF/ON
+    }
+    else if ((request->port >= Midtank_1_Cartridge)&&(request->port >=Midtank_8_Cartridge))
+    {
+        portId = (request->port - Midtank_1_Cartridge) ; //0-7
+        Valve_Set((Valves_t) (portId+VALVE_2W_CART_MID_LF), request->value );   //Cartridge_MidTank_OFF/ON
+    }
+    else
+    {
+        status = ERROR;
+        responseContainer.has_error = true;
+        responseContainer.error = ERROR_CODE__INVALID_DIGITAL_PIN_NUMBER;
+    }
+
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+    //free(container_buffer);
+    //free(requestContainer);
+    set_digital_out_request__free_unpacked(request,NULL);
+
+    return OK;
+}
+
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
index 82d267bd6..3fc0969f8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
@@ -34,6 +34,7 @@ uint32_t MotorAbortJoggingRequestFunc(MessageContainer* requestContainer);
 uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer);
 
 uint32_t SetComponentValueRequestRequestFunc(MessageContainer* requestContainer);
+uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer);
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index bb8da0b2e..af8932872 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -59,11 +59,6 @@ FPGA_GPI_ENUM     Motor_Id_to_LS_Id[NUM_OF_MOTORS] = {
       MAX_GPI, //MOTO_RDRIVING = 22,
       GPI_LS_RLOADRAM_UP, //MOTO_RLOADARM = 23,
       GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
-      MAX_GPI, //MOTO_SPARE1_1 = 25,
-      MAX_GPI, //MOTO_SPARE1_2 = 26,
-      MAX_GPI, //MOTO_SPARE2_1 = 27,
-      MAX_GPI, //MOTO_SPARE2_2 = 28
-
 };
 typedef enum {
     MotorHomingDirectionUp,
@@ -97,11 +92,6 @@ MotorHomingDirectionEnum     Motor_Id_to_LS_Direction[NUM_OF_MOTORS] = {
       MotorHomingDirectionNoHoming, //MOTO_RDRIVING = 22,
       MotorHomingDirectionUp, //MOTO_RLOADARM = 23,
       MotorHomingDirectionDown, //MOTO_RLOADING = 24,
-      MotorHomingDirectionNoHoming, //MOTO_SPARE1_1 = 25,
-      MotorHomingDirectionNoHoming, //MOTO_SPARE1_2 = 26,
-      MotorHomingDirectionNoHoming, //MOTO_SPARE2_1 = 27,
-      MotorHomingDirectionNoHoming, //MOTO_SPARE2_2 = 28
-
 };
 char HomingToken[NUM_OF_MOTORS][36+1]={0};
 
@@ -138,7 +128,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
     if (speed == 0) speed = 150;
     if (MotorId <= NUM_OF_MOTORS)
     {
-        if (JobIsActive() == false)
+        if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
             if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
             {
@@ -230,7 +220,7 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
     //free (container_buffer);
     if (MotorId <= NUM_OF_MOTORS)
     {
-        if (JobIsActive() == false)
+        if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
             if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
             {
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
index cf341b9a9..32e76cbde 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
@@ -32,13 +32,9 @@
 #include  <PMR/Diagnostics/MotorAbortJoggingRequest.pb-c.h>
 #include  <PMR/Diagnostics/MotorAbortJoggingResponse.pb-c.h>
 
-#include  <PMR/Diagnostics/SetComponentValueRequest.pb-c.h>
-#include  <PMR/Diagnostics/SetComponentValueResponse.pb-c.h>
-
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/Valves/Valve.h"
-#include "Drivers/I2C_Communication/DAC/blower.h"
 
 #include "StateMachines/Printing/PrintingSTM.h"
 
@@ -63,7 +59,7 @@ uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
 
     if (MotorId <= NUM_OF_MOTORS)
     {
-        if (JobIsActive() == false)
+        if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
             {
                 switch (request->direction)
@@ -149,7 +145,7 @@ uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
 
     if (MotorId <= NUM_OF_MOTORS)
     {
-        if (JobIsActive() == false)
+        if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
             switch (request->direction)
             {
@@ -212,51 +208,4 @@ uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer)
     return OK;
 }
 
-/********************************************************************************
- *Blower Diagnostic
- ********************************************************************************/
-uint32_t SetComponentValueRequestRequestFunc(MessageContainer* requestContainer)
-{
-    MessageContainer responseContainer;
-    uint8_t* container_buffer;
-    uint32_t status = 0;
-    uint32_t intvoltage;
-    SetComponentValueRequest* request = set_component_value_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-
-
-    SetComponentValueResponse response = SET_COMPONENT_VALUE_RESPONSE__INIT;
-
-    responseContainer = createContainer(MESSAGE_TYPE__SetComponentValueResponse, requestContainer->token, true, &response, &set_component_value_response__pack, &set_component_value_response__get_packed_size);
-    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-
-
-    switch (request->component)
-    {
-        case VALUE_COMPONENT__BlowerVoltage:
-              blowervolatgedisplay = true;
-              voltage = request->value;
-              if (voltage == 0.0)
-                  Turn_the_Blower_Off();
-              else
-              {
-                  Turn_the_Blower_On();
-                  intvoltage = voltage;
-                  Control_Voltage_To_Blower(intvoltage);
-              }
-            break;
-        default:
-            break;
-    }
-
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-    //free(container_buffer);
-    //free(requestContainer);
-    set_component_value_request__free_unpacked(request,NULL);
-
-    return OK;
-}
-
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
index 185d4ac66..b035ff97b 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
@@ -69,6 +69,8 @@ float CalculateDispenserPressure (int DispenserId)
     //DispenserPressure[DispenserId] *=10000000;        //uBar;
     //DispenserPressure[DispenserId] *=145.0377;  //PSI;
 
+    DispenserPressure[DispenserId] *= 10; //MPascal -> Bar
+
     return(DispenserPressure[DispenserId]);
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
index 581a27f1f..68b79edeb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -12,7 +12,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-
+//#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Stub_Status.h"
 
@@ -25,6 +25,20 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 
 	//request->cartridgeid
 
+    //writeLine("cartridge Request: ");
+
+    //writeFloat(request->cartridgeid);
+
+    /*
+      int i;
+      for( i=0;i<8;i++)
+      {
+            Read_MidTank_Pressure_Sensor(i);
+            SysCtlDelay(1);
+      }
+
+    */
+
     StubCartridgeReadResponse response =   STUB_CARTRIDGE_READ_RESPONSE__INIT;
 	
 	response.cartridgeid = request->cartridgeid;
@@ -43,8 +57,20 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 	response.has_cartridgeused = false;
 	
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+/*
+    writeLine("Sending Response: ");
 
-
+    writeFloat(response.cartridgeid);
+    writeString(", ");
+    writeFloat(response.cartridgecolor);
+    writeString(", ");
+    writeFloat(response.cartridgeversion);
+    writeString(", ");
+    writeFloat(response.cartridgedata);
+    writeString(", ");
+    writeFloat(response.cartridgeused);
+    writeString(", ");
+*/
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeReadResponse, requestContainer->token, true, &response, &stub_cartridge_read_response__pack, &stub_cartridge_read_response__get_packed_size);
@@ -71,8 +97,19 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 	//request->cartridgeversion
 	//request->cartridgedata
 	//request->cartridgeused
+/*
+    writeLine("Cartridge Request: ");
 
-	
+    writeFloat(request->cartridgeid);
+    writeString(", ");
+    writeFloat(request->cartridgecolor);
+    writeString(", ");
+    writeFloat(request->cartridgeversion);
+    writeString(", ");
+    writeFloat(request->cartridgedata);
+    writeString(", ");
+    writeFloat(request->cartridgeused);
+*/
     StubCartridgeWriteResponse response =   STUB_CARTRIDGE_WRITE_RESPONSE__INIT;
 	
 	response.cartridgeid = request->cartridgeid;
@@ -83,7 +120,13 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 //    response.statusword = OK;
 //    response.has_statusword = true;
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+/*
+    writeLine("Sending Response: ");
 
+    writeFloat(response.cartridgeid);
+    writeString(", ");*/
+//    writeFloat(response.statusword);
+//    WRITELINESTATUS;
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeWriteResponse, requestContainer->token, true, &response, &stub_cartridge_write_response__pack, &stub_cartridge_write_response__get_packed_size);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
index 0bcc9f7c9..7c0a4c980 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -9,6 +9,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 #include "drivers/adc_sampling/adc.h"
+#include "modules/ids/ids_ex.h"
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
index f478e9428..51c92ed8c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
@@ -300,10 +300,10 @@ void Stub_ExtFlashWriteWordsRequest(MessageContainer* requestContainer)
 
     StubExtFlashWriteWordsResponse response =   STUB_EXT_FLASH_WRITE_WORDS_RESPONSE__INIT;
 
-    response.address = 0;// alwayes send sddress 0
-    response.has_address = true;
+    uint32_t Current_Start_address = ExtFlashWriteBuf(/*0,*/request->n_wordtwrite, request->wordtwrite);// alwayes send sddress 0
 
-    uint32_t Address = ExtFlashWriteBuf(0,request->n_wordtwrite, request->wordtwrite);// alwayes send sddress 0
+    response.address = Current_Start_address;
+    response.has_address = true;
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
@@ -331,6 +331,9 @@ void Stub_ExtFlashReadWordsRequest(MessageContainer* requestContainer)
     response.readbytes =  ExtFlashReadBuf(request->address,request->number_of_words);
     response.n_readbytes = request->number_of_words;
 
+    response.address = request->address;
+    response.has_address = true;
+
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashReadWordsResponse, requestContainer->token, true, &response, &stub_ext_flash_read_words_response__pack, &stub_ext_flash_read_words_response__get_packed_size);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
index a433be2ce..eea594817 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
@@ -34,6 +34,7 @@
 #include "drivers/SPI/SPI_Comm.h"
 #include "drivers/FPGA/FPGA_SSI_Comm.h"
 #include "Modules/Thread/Thread_ex.h"
+#include <Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.h>
 
 
 #include "Modules/thread/thread.h"