Merge trial

3 files changed, 44 insertions, 25 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 0ab763a3f..12603b5ee 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -225,8 +225,9 @@ uint32_t MillisecLoop(uint32_t tick)
 
     //gather Motor data from FPGA
 #ifndef EVALUATION_BOARD
-    FPGA_GetBusy();  //load the busy motor information to all motors
+        FPGA_GetBusy();  //load the busy motor information to all motors
 #endif
+
     for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
     {
         if (MotorDriverResponse[Motor_i].Busy == true)
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 0b78988de..e7b75cc9d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -508,8 +508,17 @@ void Stub_MotorPositionRequest(MessageContainer* requestContainer)
 
     response.motor_id = request->motor_id;
     response.has_motor_id = true;
+    #ifdef EVALUATION_BOARD
+        response.position = Get_Param(x_ABS_POS);
 
-    response.position = Get_Param(x_ABS_POS);
+    #else
+        TimerMotors_t Motor_Id  = (TimerMotors_t)request->motor_id; //to remove warning
+        MotorGetPositionFromFPGA(Motor_Id);
+        //deley TODO
+        SysCtlDelay(10000);
+        response.position = MotorGetPositionFromFPGA_Res(Motor_Id);
+
+    #endif
     response.has_position = true;
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorPositionResponse, requestContainer->token, true, &response, &stub_motor_position_response__pack, &stub_motor_position_response__get_packed_size);
@@ -537,37 +546,43 @@ void Stub_MotorMovRequest(MessageContainer* requestContainer)
     Pos_Value = request->position;
     Direction = request->direction;
 
-    Mot_Mov();
+    #ifdef EVALUATION_BOARD
+        Mot_Mov();
+    #else
+        TimerMotors_t Motor_Id  = (TimerMotors_t)request->motor_id; //to remove warning
+
+        MotorMove(Motor_Id, Direction, Pos_Value );
+    #endif
 
     StubMotorMovResponse response =   STUB_MOTOR_MOV_RESPONSE__INIT;
 
     response.motor_id = request->motor_id;
     response.has_motor_id = true;
 
+    #ifdef EVALUATION_BOARD
+        response.position = Get_Param(x_ABS_POS);
+        response.has_position = true;
 
-    response.position = Get_Param(x_ABS_POS);
-    response.has_position = true;
-
-    while(SSIBusy(SSI2_BASE)){};
-
-    read_status = Get_and_Clear_Status();
+        while(SSIBusy(SSI2_BASE)){};
 
+        read_status = Get_and_Clear_Status();
 
-    response.status_reg = read_status;
-    response.has_status_reg = true;
 
-    response.direction = ((read_status & x_STATUS_DIR)>>4);
-    response.has_direction = true;
+        response.status_reg = read_status;
+        response.has_status_reg = true;
 
-    response.step_loss_a = ((read_status & x_STATUS_STEP_LOSS_A)>>13);
-    response.has_step_loss_a = true;
-    response.step_loss_b = ((read_status & x_STATUS_STEP_LOSS_B)>>14);
-    response.has_step_loss_b = true;
+        response.direction = ((read_status & x_STATUS_DIR)>>4);
+        response.has_direction = true;
 
+        response.step_loss_a = ((read_status & x_STATUS_STEP_LOSS_A)>>13);
+        response.has_step_loss_a = true;
+        response.step_loss_b = ((read_status & x_STATUS_STEP_LOSS_B)>>14);
+        response.has_step_loss_b = true;
 
-    response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
-    response.has_mot_status = true;
 
+        response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
+        response.has_mot_status = true;
+    #endif
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorMovResponse, requestContainer->token, true, &response, &stub_motor_mov_response__pack, &stub_motor_mov_response__get_packed_size);
 
     //free(request);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
index ef2d7321c..ee4aca19d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
@@ -44,12 +44,14 @@ void Stub_TivaReadRegRequest(MessageContainer* requestContainer)
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
 
-        volatile short *ptr;
-        ptr = (volatile short *) (request->address);
+        //volatile short *ptr;
+        //ptr = (volatile short *) (request->address);
+        //response.value = *ptr;
 
         response.address = request->address;
         response.has_address = true;
-        response.value = *ptr;
+
+        response.value = HWREG(request->address);
         response.has_value = true;
 
 
@@ -79,9 +81,10 @@ void Stub_TivaWriteRegRequest(MessageContainer* requestContainer)
     StubTivaWriteRegRequest* request = stub_tiva_write_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
 
-        volatile short *ptr;
-        ptr = (volatile short *) (request->address);
-        *ptr = (request->value & 0xFFFF);
+        //volatile short *ptr;
+        //ptr = (volatile short *) (request->address);
+        //*ptr = (request->value & 0xFFFF);
+    HWREG(request->address) = request->value;
 
     StubTivaWriteRegResponse response =   STUB_TIVA_WRITE_REG_RESPONSE__INIT;