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

6 files changed, 18 insertions, 13 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 3066153ab..1f48d5953 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -30,6 +30,8 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA.h"
+#include "drivers/Valves/Valve.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
 #include "modules/thread/thread_ex.h"
 #include "modules/ids/ids_ex.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 807b81e98..3f0b5f1f9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -17,6 +17,7 @@ typedef  uint32_t (* MSecFptr)(uint32_t deviceID, uint32_t ReadValue);
 int32_t MillisecWriteToMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
 int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
 int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
+int MillisecFlushMsgQ(TimerMotors_t MotorId);
 
 int32_t MillisecReadFromTempSensor(uint32_t TempSensorId, MSecFptr Callback);
 int MillisecFlushMsgQ(TimerMotors_t MotorId);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index bc9e11749..c96078771 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -14,6 +14,7 @@
 uint32_t IDSPrepareState(void *JobDetails);
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId);
 uint32_t IDSSegmentState(void *JobDetails, int SegmentId);
+uint32_t IDSEndState(void *JobDetails);
 
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 66cfb3c7d..4b7648e96 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -93,6 +93,18 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 // registration - 10msec, dispenser speed senseo
 // start the dispensing - move up according to the segment defined speed and microstepping, valve opened
 //
+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 IDSPrepareState(void *JobDetails)
@@ -135,18 +147,6 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
     DispenserPrepareReady();
     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);
- }
 
 //********************************************************************************************************************
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
index cd53c5208..af46e4193 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -15,6 +15,7 @@
 #include "driverlib/gpio.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
+#include "drivers/Valves/Valve.h"
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 444a9fb5d..f5462e398 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -544,7 +544,7 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
      if (SpeedControlId != 0xFF)
      {
          RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
-         SpeedControlId == 0xFF;
+         SpeedControlId = 0xFF;
      }
      for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
      {