merge - all thread module related, used my code

9 files changed, 181 insertions, 36 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 5ec7c6b16..9dc03601c 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -26,6 +26,7 @@
 
 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);
@@ -56,6 +57,13 @@ void AlarmHandlingInit(void)
 
     //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;
 }
 void AlarmHandlingIterate(UArg arg0)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index a1de29b08..847b777fa 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -31,6 +31,7 @@
 #include "drivers/FPGA/FPGA.h"
 
 #include "modules/thread/thread_ex.h"
+#include "Drivers/Peripheral_GPIO/GPIO.h"
 
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
@@ -236,7 +237,6 @@ uint32_t MillisecLoop(uint32_t tick)
         FPGA_Read_limit_Switches_Registers();
         //Read_FPGA_GPI_Rgisters();//FPGA_Read_limit_Switches();
 #endif
-
         temp += MotorActivity;
    if (MotorActivity)
    {
@@ -340,6 +340,7 @@ uint32_t MillisecLoop(uint32_t tick)
     {
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
             MillisecReadFromTempSensor(Sensor_i, NULL);
+        ACTIVITY_RED_LED_CHANGE_MODE;
     }
 
     if (Onesecond_Tick)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 69ff06880..ff9acdb94 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -486,7 +486,7 @@ uint32_t HeatersControlLoop(uint32_t tick)
 {
     //char str[100];
     //uint8_t len = 0;
-    int DcHeaterId;
+    int DcHeaterId,HeaterSliceCounter;
     /*len = usnprintf(str, 100, "\r\n EightMilliSecondHeatersInterrupt SliceCounter %d Owner %d H1000 %d  H2000 %d"
                     ,SliceCounter,TimeSliceAllocation[SliceCounter],HeatersRestart,NumberOFSlicesInUse);
     Report(str, __FILE__,__LINE__,0, RpMessage, SliceCounter, TimeSliceAllocation[SliceCounter]);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index abd9794b8..6739619a7 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -35,7 +35,6 @@ double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
 
 HardwarePidControlType ThreadDispenserIdToControlId[MAX_SYSTEM_DISPENSERS] = {  HARDWARE_PID_CONTROL_TYPE__Dispenser1,HARDWARE_PID_CONTROL_TYPE__Dispenser2,HARDWARE_PID_CONTROL_TYPE__Dispenser3,HARDWARE_PID_CONTROL_TYPE__Dispenser4,HARDWARE_PID_CONTROL_TYPE__Dispenser5,HARDWARE_PID_CONTROL_TYPE__Dispenser6,HARDWARE_PID_CONTROL_TYPE__Dispenser7,HARDWARE_PID_CONTROL_TYPE__Dispenser8};
 
-bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
 
 /******************** STRUCTURES AND ENUMs  ********************************************/
 /******************** GLOBAL PARAMETERS  ********************************************/
@@ -84,7 +83,7 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 //callback - calls printing stm with the result
 
 // registration - 10 msec, dispenser pressure sensor
-//    AddControlCallback(DeviceId2Dispenser[DispenserId], DispenserControlCBFunction, eHundredMillisecond);
+//    AddControlCallback(DeviceId2Heater[HeaterId], HeaterControlCBFunction, eHundredMillisecond);
 // start the dispenser pressure building - move up in a TBD speed, valve closed
 //Dispenser Speed control
 //callback - handles speed
@@ -95,7 +94,7 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 //********************************************************************************************************************
  uint32_t IDSPrepareState(void *JobDetails)
 {
-    int Motor_i, HW_Motor_Id, Pid_Id,i;
+    int Motor_i, HW_Motor_Id, Pid_Id;
     //start IDS control for all motors
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
@@ -118,11 +117,6 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 
             MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); //set the dispenser to the
 #warning activate valve
-            /*Start the dispensers to build initial pressure
-             * check different handling for dispensers that participate in the first segment and idle dispensers
-             * start control for initial pressure
-             *
-             */
             //ValveCommand (Enable,MixerDirection);
     #ifdef DEBUG_TEST_FUNCTIONS
 // add control here
@@ -130,33 +124,16 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
     #endif
     }
     //set 3 dancers to the profile positions
-    for (i = 0; i < MAX_SYSTEM_DISPENSERS; i++)
-    {
-        DispenserReady[i] = true;
-    }
 
     return OK;
 }
- void DispenserPrepareReady(void)
- {
-     int i;
-     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
-     {
-         if (DispenserReady[i] == false)
-         {
-             return; //not all configured Dispensers are ready
-         }
-     }
-     PrepareReady(Module_IDS,ModuleDone);
- }
 
 //********************************************************************************************************************
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 {
 //set the speed only before the first segment, speed is constant accros job
     JobTicket* JobTicket = JobDetails;
-    int Dispenser_i;
-    TimerMotors_t HW_Motor_Id;
+    int Dispenser_i, HW_Motor_Id;
     int segmentfirst_speed;
 int CurrentSegment = 0;
     JobBrushStopId = 0;
@@ -171,12 +148,12 @@ int CurrentSegment = 0;
         OriginalDispenserSpd_2PPS[Dispenser_i] = (int)Dispenser_speed;
     }
     //ControlStart();
+    // set the new speed in the dryer Dispenser to the speed of the new segment
     MotorSetSpeed(HW_Motor_Id, OriginalDispenserSpd_2PPS[HW_Motor_Id]);
 
     // activate control fr all motors
-    /* wait for all dispensers  to get to the required pressure
-     * move the presegment ready when all dispensers are ready.
-     */
+    //set speed for both rocker motors
+    //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
     PreSegmentReady(Module_IDS,ModuleDone);
 
@@ -193,10 +170,12 @@ int CurrentSegment = 0;
  uint32_t IDSEndState(void *JobDetails)
 {
      int Motor_i;
-     for ( Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
+     for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
      {
-        StopMotor(DispenserIdToMotorId[Motor_i],Hard_Hiz);
+        StopMotor(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
      }
+     StopMotor(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
+     StopMotor(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz);
 
     return OK;
 }
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 49c7d0d3b..669df84a5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -16,6 +16,8 @@
 
 #include "Stub_Status.h"
 
+#include "drivers/Motors/Motor.h"
+
 void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 {
     uint32_t status = NOT_SUPPORTED;
@@ -23,7 +25,12 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 
     StubCartridgeReadRequest* request = stub_cartridge_read_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-	//request->cartridgeid
+    MillisecStart();
+    ControlStart();
+
+    //MotorMovetoLimitSwitch (14,1, 1000, 32, MotorSetSpeedCallBackFunction);
+    MotorSetSpeed( 15,  1000);
+    //request->cartridgeid
 
     writeLine("cartridge Request: ");
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
index 11030f9c6..9584ee39b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
@@ -4,6 +4,13 @@
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubI2CRequest.pb-c.h>
 #include <PMR/Stubs/StubI2CResponse.pb-c.h>
+
+#include <PMR/Stubs/StubI2CWriteBytesRequest.pb-c.h>
+#include <PMR/Stubs/StubI2CWriteBytesResponse.pb-c.h>
+
+#include <PMR/Stubs/StubI2CReadBytesRequest.pb-c.h>
+#include <PMR/Stubs/StubI2CReadBytesResponse.pb-c.h>
+
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -23,6 +30,7 @@
 
 void Stub_I2CRequest(MessageContainer* requestContainer)
 {
+
     uint32_t status = PASSED;
     MessageContainer responseContainer;
 
@@ -35,7 +43,24 @@ void Stub_I2CRequest(MessageContainer* requestContainer)
 
 	response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
 	response.has_readbyte= true;
+/*
+	//--------------------------
+
+    response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+    response.has_readbyte= true;
 
+	uint32_t I2C_W_buf[256] = {0},i;
+
+	for(i = 0; i < request->n_bytestwrite;i++)
+	{
+	    I2C_W_buf[i] = request->bytestwrite[i];
+	}
+
+	response.readbytes = I2C_W_buf;
+	response.n_readbytes = request->n_bytestwrite;
+
+	//-------------------------------
+*/
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
     writeLine("Sending Response: ");
@@ -52,4 +77,127 @@ void Stub_I2CRequest(MessageContainer* requestContainer)
     SendChars((char*)container_buffer, container_size);
 
     stub_i2_crequest__free_unpacked(request,NULL);
+
 }
+
+
+void Stub_I2CWriteBytesRequest(MessageContainer* requestContainer)
+{
+
+    uint32_t status = PASSED;
+    MessageContainer responseContainer;
+
+    StubI2CWriteBytesRequest* request = stub_i2_cwrite_bytes_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubI2CWriteBytesResponse response =   STUB_I2_CWRITE_BYTES_RESPONSE__INIT;
+
+    response.i2cid = request->i2cid;
+    response.has_i2cid = true;
+    response.slaveaddress = request->slaveaddress;
+    response.has_slaveaddress = true;
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+    //response.has_readbyte= true;
+
+    //--------------------------
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+    //response.has_readbyte= true;
+
+    uint8_t I2C_W_buf[256] = {0},i;
+
+    for(i = 0; i < request->n_bytestwrite;i++)
+    {
+        I2C_W_buf[i] = (uint8_t)(request->bytestwrite[i] & 0xff);
+    }
+
+    //response.readbytes = I2C_W_buf;
+    //response.n_readbytes = request->n_bytestwrite;
+
+    //-------------------------------
+
+
+    //----------------------
+
+    status = I2C_Write(request->i2cid, request->slaveaddress, I2C_W_buf, request->n_bytestwrite);
+
+    //--------------------------
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    writeLine("Sending Response: ");
+//
+
+    Write_status_response(status);
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubI2CWriteBytesResponse, requestContainer->token, true, &response, &stub_i2_cwrite_bytes_response__pack, &stub_i2_cwrite_bytes_response__get_packed_size);
+
+    //-------------------------------------------------------------------------------------------
+    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);
+    SendChars((char*)container_buffer, container_size);
+
+    stub_i2_cwrite_bytes_request__free_unpacked(request,NULL);
+
+}
+
+void Stub_I2CReadBytesRequest(MessageContainer* requestContainer)
+{
+    uint8_t I2C_R_buf[256] = {0},i;
+    uint32_t I2C_R32_buf[256] = {0};
+
+    uint32_t status = PASSED;
+    MessageContainer responseContainer;
+
+    StubI2CReadBytesRequest* request = stub_i2_cread_bytes_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubI2CReadBytesResponse response =   STUB_I2_CREAD_BYTES_RESPONSE__INIT;
+
+    response.i2cid = request->i2cid;
+    response.has_i2cid = true;
+    response.slaveaddress = request->slaveaddress;
+    response.has_slaveaddress = true;
+
+    status = I2C_Read(request->i2cid, request->slaveaddress, I2C_R_buf, request->numberofbytestoread);
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+    //response.has_readbyte= true;
+
+    //--------------------------
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+    //response.has_readbyte= true;
+
+    //uint32_t I2C_W_buf[256] = {0},i;
+
+    for(i = 0; i < request->numberofbytestoread;i++)
+    {
+        I2C_R32_buf[i]= (uint32_t)I2C_R_buf[i] ;
+    }
+
+    response.readbytes = I2C_R32_buf;
+    response.n_readbytes = request->numberofbytestoread;
+
+    //-------------------------------
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    writeLine("Sending Response: ");
+//
+
+    Write_status_response(status);
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubI2CReadBytesResponse, requestContainer->token, true, &response, &stub_i2_cread_bytes_response__pack, &stub_i2_cread_bytes_response__get_packed_size);
+
+    //-------------------------------------------------------------------------------------------
+    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);
+    SendChars((char*)container_buffer, container_size);
+
+    stub_i2_cread_bytes_request__free_unpacked(request,NULL);
+}
+
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
index b2d6e0dbc..e91a5fd09 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
@@ -2,5 +2,7 @@
 #define STUB_MOTORENCODER_H
 
 void Stub_I2CRequest(MessageContainer* requestContainer);
+void Stub_I2CReadBytesRequest(MessageContainer* requestContainer);
+void Stub_I2CWriteBytesRequest(MessageContainer* requestContainer);
 
 #endif //STUB_STUB_MOTORENCODER_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 d27036523..01c91c72b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -43,7 +43,7 @@
 #include "driverlib/ssi.h"
 #include "drivers/SPI/SPI_Comm.h"
 #include "Modules/Thread/Thread_ex.h"
-#include "drivers/Motors/Motor.h"
+
 
 #include "Modules/thread/thread.h"
 #include "Drivers/Motors/Motor.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 8e8ea60e0..b7401c77f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -22,7 +22,7 @@ uint32_t ThreadInitialTestStub();
 
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 uint32_t Winder_Init(void);
-uint32_t Winder_Prepare(void *JobDetails);
+uint32_t Winder_Prepare(void);
 uint32_t Winder_Presegment(void *JobDetails);
 uint32_t Winder_End(void);