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

4 files changed, 135 insertions, 69 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 754c4c197..2a23dd87c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -86,8 +86,8 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 //**********************************************************************
 /******************** CODE  ********************************************/
 //**********************************************************************
-uint32_t MSBacklog[1000]={0};
-uint8_t Motor_Id[1000]={0};
+uint32_t MSBacklog[200]={0};
+uint8_t Motor_Id[200]={0};
 uint16_t MsecLogindex = 0;
 
 void MillisecInit(void)
@@ -144,13 +144,17 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
 {
     MillisecMessageStruc Message;
     ROM_IntMasterDisable();
+    ROM_TimerIntClear(Millisec_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     if (MillisecRestart == true)
     {
         ROM_TimerLoadSet(Millisec_timerBase, TIMER_A,120000/*one millisecond*/);
     }
     else
+	{
         ROM_TimerDisable(Millisec_timerBase,TIMER_A);
-
+	    ROM_IntMasterEnable();
+		return;
+	}
     //send message to the Millisec task
     Message.messageId = OneMillisec;
     Message.tick = msec_millisecondCounter++;;
@@ -158,7 +162,6 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
     if (MillisecMsgQ != NULL)
         Mailbox_post(MillisecMsgQ , &Message, BIOS_NO_WAIT);
 
-    ROM_TimerIntClear(Millisec_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     //
     // Enable all interrupts.
     //
@@ -187,7 +190,7 @@ int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Len
     MSBacklog[MsecLogindex]=Data;
     Motor_Id[MsecLogindex]=MotorId;
     MsecLogindex++;
-    if (MsecLogindex>=999)
+    if (MsecLogindex>=199)
         MsecLogindex = 0;
     //==========================
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index b7e063a87..60322b4d7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -255,12 +255,19 @@ void OneMilliSecondControlInterrupt(UArg arg0)
 {
     ControlMessageStruc Message;
     ROM_IntMasterDisable();
+    ROM_TimerIntClear(Control_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
+
     if (ControlRestart == true)
     {
         ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000/*one millisecond*/);
     }
     else
-        ROM_TimerDisable(Control_timerBase, TIMER_A);
+    {
+        ROM_IntDisable(INT_TIMER0A);
+	    ROM_IntMasterEnable();
+        //ROM_TimerDisable(Control_timerBase, TIMER_A);
+        return;
+    }
 
     //send message to the control task
     Message.messageId = OneMillisec;
@@ -270,7 +277,6 @@ void OneMilliSecondControlInterrupt(UArg arg0)
         Mailbox_post(ControlMsgQ , &Message, BIOS_NO_WAIT);
     if (millisecondCounter == 1000000000)
         millisecondCounter = 0;
-    ROM_TimerIntClear(Control_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     //
     // Enable all interrupts.
     //
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index c12066eee..7cd70067d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -47,8 +47,8 @@ uint32_t    ControlIdtoHeaterId [MAX_HEATERS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF,0x
 uint32_t    DryerHeaterMaxTempControl = 0xFF;
 #warning the PT100 id for the dryer control is number2 - dryer internal ambient sensor.
 
-uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {TEMP_SENSE_ANALOG_DRYER_TEMP2,TEMP_SENSE_ANALOG_DRYER_TEMP1,TEMP_SENSE_ANALOG_DRYER_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,TEMP_SENSE_ANALOG_MIXCHIP_TEMP};
-uint32_t    DryerInternalPT100Id = TEMP_SENSE_ANALOG_DRYER_TEMP1;
+uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {TEMP_SENSE_ANALOG_DRYER_TEMP1,TEMP_SENSE_ANALOG_DRYER_TEMP1,TEMP_SENSE_ANALOG_DRYER_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,TEMP_SENSE_ANALOG_MIXCHIP_TEMP};
+uint32_t    DryerInternalPT100Id = TEMP_SENSE_ANALOG_DRYER_TEMP2;
 bool HeatersRestart = false;
 
 bool HeaterMaxTempFlag[MAX_HEATERS_NUM] = {false,false,false,false,false,false,false,false,false,false};
@@ -523,7 +523,7 @@ void EightMilliSecondHeatersInterrupt(UArg arg0)
 
     ROM_TimerIntClear(Heater_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
 
-    //ROM_IntMasterDisable();
+    ROM_IntMasterDisable();
     HeatersControlMessageStruc Message;
     //bool retcode = false;
 
@@ -539,12 +539,13 @@ void EightMilliSecondHeatersInterrupt(UArg arg0)
         ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep);
     }
     else
+	{
         TimerDisable(Heater_timerBase, TIMER_A);
-
+	}
     //
     // Enable all interrupts.
     //
-    //ROM_IntMasterEnable();
+    ROM_IntMasterEnable();
     return ;
 }
 
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 eb58c48ac..f7152b21b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
@@ -41,7 +41,7 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
 
     StubExtFlashWriteRequest* request = stub_ext_flash_write_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-	
+
     WriteBuf[0] = request->wordtowrite1;
     WriteBuf[1] = request->wordtowrite2;
     WriteBuf[2] = request->wordtowrite3;
@@ -54,7 +54,7 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
     writeFloat(request->wordtowrite2);
     writeString(", ");
     writeFloat(request->wordtowrite3);
-	writeString(", ");
+    writeString(", ");
     writeFloat(request->wordtowrite4);
     writeString(", ");
     writeFloat(request->wordtowrite5);
@@ -62,7 +62,7 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
     Ext_Flash_Operation(0X00,TX, Max_words, WriteBuf, NULL );
 
     StubExtFlashWriteResponse response =   STUB_EXT_FLASH_WRITE_RESPONSE__INIT;
-	
+
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashWriteResponse, requestContainer->token, true, &response, &stub_ext_flash_write_response__pack, &stub_ext_flash_write_response__get_packed_size);
@@ -110,42 +110,42 @@ void Stub_ExtFlashReadRequest(MessageContainer* requestContainer)
     
 
     StubExtFlashReadResponse response =   STUB_EXT_FLASH_READ_RESPONSE__INIT;
-	
+
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-	response.has_readword_5 = false;
-	response.has_readword_4 = false;
-	response.has_readword_3 = false;
-	response.has_readword_2 = false;
-	response.has_readword_1 = false;
+    response.has_readword_5 = false;
+    response.has_readword_4 = false;
+    response.has_readword_3 = false;
+    response.has_readword_2 = false;
+    response.has_readword_1 = false;
 
-	switch(No_Words)
-	{
-	    case 5:
-	        response.readword_5 = ReadBuf[4];
-	        response.has_readword_5 = true;
-	    case 4:
-	        response.readword_4 = ReadBuf[3];
-	        response.has_readword_4 = true;
-	    case 3:
-	        response.readword_3 = ReadBuf[2];
-	        response.has_readword_3 = true;
-	    case 2:
-	        response.readword_2 = ReadBuf[1];
-	        response.has_readword_2 = true;
-	    case 1:
-	        response.readword_1 = ReadBuf[0];
-	        response.has_readword_1 = true;
-	        break;
-	    default:
-	        break;
-	}
+    switch(No_Words)
+    {
+        case 5:
+            response.readword_5 = ReadBuf[4];
+            response.has_readword_5 = true;
+        case 4:
+            response.readword_4 = ReadBuf[3];
+            response.has_readword_4 = true;
+        case 3:
+            response.readword_3 = ReadBuf[2];
+            response.has_readword_3 = true;
+        case 2:
+            response.readword_2 = ReadBuf[1];
+            response.has_readword_2 = true;
+        case 1:
+            response.readword_1 = ReadBuf[0];
+            response.has_readword_1 = true;
+            break;
+        default:
+            break;
+    }
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashReadResponse, requestContainer->token, true, &response, &stub_ext_flash_read_response__pack, &stub_ext_flash_read_response__get_packed_size);
     //clear();
-	writeLine("Sending Response: ");
+    writeLine("Sending Response: ");
 
-	Write_status_response(status);
+    Write_status_response(status);
     writeString(", ");
     writeFloat(response.readword_1);
     writeString(", ");
@@ -169,8 +169,9 @@ void Stub_ExtFlashReadRequest(MessageContainer* requestContainer)
 
 }
 //-------------------------------------------------------------------------------------
-#define MaxFlashWords 1024
-#define MaxFlashBytes MaxFlashWords*4
+/*
+#define MaxFlashWords 1024 //1K
+#define MaxFlashBytes MaxFlashWords*4 //4K Byte
 
 typedef union
 {
@@ -179,23 +180,20 @@ typedef union
 }Flash_Union;
 
 Flash_Union Flash_RW;
-//Flash_Union Flash_R;
 
 uint32_t WriteBuf[MaxFlashBytes];
 uint32_t ReadBuf[MaxFlashBytes];
 
-#define MaxBytesForAddress 256;// The addresses to be programmed must not span a 256-byte boundary
+#define MaxBytesForAddress 256 //The addresses to be programmed must not span a 256-byte boundary
+*/
 
+/*
 //---------------------------------------------------------------------------------------------
 void Stub_ExtFlashWriteWordsRequest(MessageContainer* requestContainer)
 {
 
-    
-
     uint32_t status = PASSED;
 
-    
-
     uint32_t i;
     uint32_t No_Words,No_Bytes;
 
@@ -218,24 +216,23 @@ void Stub_ExtFlashWriteWordsRequest(MessageContainer* requestContainer)
         Flash_RW.DWords[i] = request->wordtwrite[i];
     }
 
-
     for(i = 0; i < No_Bytes;i++)
     {
         WriteBuf[i] =  Flash_RW.Bytes[i];
     }
 
-    if(No_Bytes >256)
+    if(No_Bytes >MaxBytesForAddress)
     {
-        uint32_t number = No_Bytes / 256;
-        uint32_t Remainder = No_Bytes % 256;
+        uint32_t number = No_Bytes / MaxBytesForAddress;
+        uint32_t Remainder = No_Bytes % MaxBytesForAddress;
 
         for(i=0;i<number;i++)
         {
-            Ext_Flash_Operation(0X00 + (0X100*i) , TX, 256 , WriteBuf+ (256*i), NULL );
+            Ext_Flash_Operation(0X00 + (0X100*i) , TX, MaxBytesForAddress , WriteBuf+ (MaxBytesForAddress*i), NULL );
         }
         if(Remainder)
         {
-            Ext_Flash_Operation(0X00 + (0X100*i) , TX, Remainder , WriteBuf+ (256*i), NULL );
+            Ext_Flash_Operation(0X00 + (0X100*i) , TX, Remainder , WriteBuf+ (MaxBytesForAddress*i), NULL );
         }
     }
     else
@@ -258,38 +255,35 @@ void Stub_ExtFlashWriteWordsRequest(MessageContainer* requestContainer)
     SendChars((char*)container_buffer, container_size);
 
     stub_ext_flash_write_words_request__free_unpacked(request,NULL);
-
 }
 
 void Stub_ExtFlashReadWordsRequest(MessageContainer* requestContainer)
 {
     uint32_t status = PASSED;
+    uint32_t i;
+    uint32_t No_Words,No_Bytes;
+
     MessageContainer responseContainer;
 
     memset(&Flash_RW,0,sizeof(Flash_RW));
 
-    uint32_t i;
-
     StubExtFlashReadWordsRequest* request = stub_ext_flash_read_words_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    uint32_t No_Words,No_Bytes;
-    
-
     No_Words = request->number_of_words;
     No_Bytes = request->number_of_words *4;
 
-    if(No_Bytes >256)
+    if(No_Bytes >MaxBytesForAddress)
     {
-        uint32_t number = No_Bytes / 256;
-        uint32_t Remainder = No_Bytes % 256;
+        uint32_t number = No_Bytes / MaxBytesForAddress;
+        uint32_t Remainder = No_Bytes % MaxBytesForAddress;
 
         for(i=0;i<number;i++)
         {
-            Ext_Flash_Operation(0X00 + (0X100*i), RX, 256, NULL, ReadBuf + (256*i) );
+            Ext_Flash_Operation(0X00 + (0X100*i), RX, MaxBytesForAddress, NULL, ReadBuf + (MaxBytesForAddress*i) );
         }
         if(Remainder)
         {
-            Ext_Flash_Operation(0X00 + (0X100*i), RX, Remainder, NULL, ReadBuf + (256*i) );
+            Ext_Flash_Operation(0X00 + (0X100*i), RX, Remainder, NULL, ReadBuf + (MaxBytesForAddress*i) );
         }
     }
     else
@@ -319,5 +313,67 @@ void Stub_ExtFlashReadWordsRequest(MessageContainer* requestContainer)
     stub_ext_flash_read_words_request__free_unpacked(request,NULL);
 }
 
+*/
+
+
+//---------------------------------------------------------------------------------------------
+void Stub_ExtFlashWriteWordsRequest(MessageContainer* requestContainer)
+{
+
+    uint32_t status = PASSED;
+
+    MessageContainer responseContainer;
+
+    StubExtFlashWriteWordsRequest* request = stub_ext_flash_write_words_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubExtFlashWriteWordsResponse response =   STUB_EXT_FLASH_WRITE_WORDS_RESPONSE__INIT;
+
+    response.address = request->address;
+    response.has_address = true;
+
+    ExtFlashWriteBuf(0,request->n_wordtwrite, request->wordtwrite);
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashWriteWordsResponse, requestContainer->token, true, &response, &stub_ext_flash_write_words_response__pack, &stub_ext_flash_write_words_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    Write_status_response(status);
+
+    //-------------------------------------------------------------------------------------------
+    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_ext_flash_write_words_request__free_unpacked(request,NULL);
+}
+
+void Stub_ExtFlashReadWordsRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = PASSED;
+
+    MessageContainer responseContainer;
+
+    StubExtFlashReadWordsRequest* request = stub_ext_flash_read_words_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubExtFlashReadWordsResponse response =   STUB_EXT_FLASH_READ_WORDS_RESPONSE__INIT;
+    response.readbytes =  ExtFlashReadBuf(0,request->number_of_words);
+    response.n_readbytes = request->number_of_words;
+
+    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);
+
+    //-------------------------------------------------------------------------------------------
+    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_ext_flash_read_words_request__free_unpacked(request,NULL);
+}
+
+