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

6 files changed, 66 insertions, 21 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 931b6674f..73532a7d2 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -669,6 +669,8 @@ uint32_t AlarmHandling_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue)
 
     return OK;
 }
+void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value);
+
 void AlarmHandlingSetAlarm(uint32_t AlarmId, bool value)
 {
     AlarmHandlingInternalSetAlarm( AlarmId, value);
@@ -1024,12 +1026,12 @@ void AlarmHandlingTask(UArg arg0, UArg arg1)
     }
 }
 //StartEventsNotificationResponse StartEventsNotification = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
-StartEventsNotificationResponse response = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
+StartEventsNotificationResponse EventsResponse = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
 int LargeMessagesAH = 0;
 void SendEventNotifications(void)
 {
     MessageContainer responseContainer;
-    //StartEventsNotificationResponse response = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
+    //StartEventsNotificationResponse EventsResponse = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
     int i,e=0;
 
     if (AlarmHandlingActive == false)
@@ -1042,20 +1044,20 @@ void SendEventNotifications(void)
         return;
     }
 
-    response.n_events = 0;
+    EventsResponse.n_events = 0;
     UInt Key = Task_disable();
     for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
     {
         if (AlarmState[i].Status == true)
         {
-            response.n_events++;
+            EventsResponse.n_events++;
         }
     }
 
-    if (response.n_events)
+    if (EventsResponse.n_events)
     {
-        response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
-        if(response.events)
+        EventsResponse.events = (Event **)my_malloc(sizeof(Event*)*EventsResponse.n_events);
+        if(EventsResponse.events)
         {
             for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
             {
@@ -1063,7 +1065,7 @@ void SendEventNotifications(void)
                 {
                     if (AlarmState[i].EventPtr)
                     {
-                        response.events[e]=AlarmState[i].EventPtr;
+                        EventsResponse.events[e]=AlarmState[i].EventPtr;
                         e++;
                     }
                 }
@@ -1071,17 +1073,17 @@ void SendEventNotifications(void)
         }
         else
         {
-            LOG_ERROR(response.n_events,"events malloc error");
+            LOG_ERROR(EventsResponse.n_events,"events malloc error");
             Task_restore(Key);
             return;
         }
     }
     else
     {
-        response.events = NULL;
+        EventsResponse.events = NULL;
     }
     Task_restore(Key);
-    responseContainer = createAllocatedContainer(MESSAGE_TYPE__StartEventsNotificationResponse,  AlarmHandlingToken, false, &response, &start_events_notification_response__pack, &start_events_notification_response__get_packed_size,&alarm_response_buffer);
+    responseContainer = createAllocatedContainer(MESSAGE_TYPE__StartEventsNotificationResponse,  AlarmHandlingToken, false, &EventsResponse, &start_events_notification_response__pack, &start_events_notification_response__get_packed_size,&alarm_response_buffer);
     responseContainer.continuous = true;
 
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
@@ -1096,8 +1098,8 @@ void SendEventNotifications(void)
             my_free(container_buffer);
         }
     }
-    if (response.events)
-        my_free(response.events);
+    if (EventsResponse.events)
+        my_free(EventsResponse.events);
     if (responseContainer.data.data)
         my_free(responseContainer.data.data);
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 184aa52be..b89fa43ed 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -22,6 +22,7 @@
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
 #include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/valves/valve.h"
 
 #include "modules/ids/ids_ex.h"
 #include "Modules/Control/MillisecTask.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 6fc728934..9c7e84bc2 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -416,6 +416,8 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
 
     status = HWConfiguration(UploadRequest);
 
+    GeneralHwReady = true;
+
     responseContainer = createContainer(MESSAGE_TYPE__UploadHardwareConfigurationResponse, requestContainer->token, true, &response, &upload_hardware_configuration_response__pack, &upload_hardware_configuration_response__get_packed_size);
     if (status!= OK)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index d312dcb78..0907c4a67 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -205,6 +205,10 @@ uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
     Disable_MidTank_Pressure_Reading(DispenserId);
     Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
     Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+    if (DispenserId == LUBRICANT_DISPENSER)
+    {
+        Lubricant_2Way_Valve (START);
+    }
 
     MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
     CurrentDispenserSpeed[DispenserId] = 0;
@@ -227,6 +231,36 @@ uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id)
     else
         return FPGA_Read_limit_Switches(Dispenser_Id_to_Alarm_LS_Id[LS_Id]);
 }
+uint32_t IDS_EmptyDispenserCallback(uint32_t motorId, uint32_t ReadValue)
+{
+    uint8_t DispenserId = motorId-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+
+    Read_MidTank_Pressure_Sensor(DispenserId);
+    //close dry air valve in the dispenser
+    Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
+    Disable_MidTank_Pressure_Reading(DispenserId);
+
+    MotorStop(motorId,Hard_Hiz);
+    CurrentDispenserSpeed[DispenserId] = 0;
+    MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+    HomingActive[DispenserId]= false;
+    if (DispenserId == LUBRICANT_DISPENSER)
+    {
+        Lubricant_2Way_Valve (STOP);
+    }
+
+    Report("End Priming",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
+    //MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+    if (HomingRequestCallback[DispenserId])
+    {
+        HomingRequestCallback[DispenserId](DispenserId,0);
+        HomingRequestCallback[DispenserId] = NULL;
+    }
+
+
+return OK;
+
+}
 
 uint32_t IDS_EmptyDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr callback)
 {
@@ -254,8 +288,13 @@ uint32_t IDS_EmptyDispenser (uint32_t DispenserId, uint32_t speed , callback_fpt
         IDS_Dispenser_RefillStarted(DispenserId);
         IDS_Dispenser_MovingDirection(DispenserId,UP);
 
+        if (DispenserId == LUBRICANT_DISPENSER)
+        {
+            Lubricant_2Way_Valve (START);
+        }
+
 
-        MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Empty_Id[DispenserId], IDS_HomeDispenserCallback,0);
+        MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Empty_Id[DispenserId], IDS_EmptyDispenserCallback,0);
         CurrentDispenserSpeed[DispenserId] = speed;
         return OK;
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 1d395ec8c..aea16bb60 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -7,6 +7,7 @@
 #include "ids.h"
 #include "ids_ex.h"
 #include "../control/control.h"
+#include "../control/MillisecTask.h"
 #include "../general/process.h"
 #include "../control/pidalgo.h"
 #include "../thread/thread.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 9ebc32f57..a68995168 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -223,7 +223,7 @@ double WinderReferenceSpeed=0;
 double  TotalWinderSpeed=0;
 bool Add100 = false;
 double Rotations = 6.0;
-bool flipflop = false;
+int flipflop = 0;
 uint32_t motspeed;
 float speedf;
 int WinderCalculation = 0;
@@ -250,20 +250,20 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             WinderMotorSpeedRollOver=true;
         }
 //    }
-    if (flipflop)
+    if (flipflop == 0)
     {
-        speedf = MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+        MotorGetSpeedFromFPGA1(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
     }
-    else
+    else if (flipflop == 1)
     {
-        MotorGetSpeedFromFPGA1(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+        speedf = MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
     }
-    flipflop = 1-flipflop;
+    flipflop ++;
 
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
         return OK;
     //deley TODO
-
+    flipflop = 0;
 
     ScrewCurrentDirection = 1-ScrewCurrentDirection;
     CalculationDirectionChangeCounter++;