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

4 files changed, 94 insertions, 87 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 477fc0732..a85e1cfde 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -50,12 +50,17 @@ uint32_t Diagnostics_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t Diagnostics_TenMiliControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 
 
+DiagnosticsMonitors DiagnosticsMonitor = DIAGNOSTICS_MONITORS__INIT;
+
 #define DIAGNOSTICS_LIMIT 10
 #define DIAGNOSTICS_DANCER_LIMIT 100
 int DiagnosticsIndex = 0;
 int DiagnosticCollectionLimit = 3;  //number of data samples to collect before sending to the host
-int DiagnosticLimit = eHundredMillisecond; //frequency of data collection
+//int DiagnosticLimit = eHundredMillisecond; //frequency of data collection
+//int DiagnosticFastLimit = eTenMillisecond; //frequency of data collection
+int DiagnosticLimit =eHundredMillisecond; //frequency of data collection
 int DiagnosticFastLimit = eTenMillisecond; //frequency of data collection
+
 //DigitalPin DigitalPinArray[1][DIAGNOSTICS_LIMIT];
 double dancer1angle[DIAGNOSTICS_LIMIT];
 double dancer2angle[DIAGNOSTICS_LIMIT];
@@ -81,6 +86,9 @@ double dryerzone3temperature[DIAGNOSTICS_LIMIT];
 double dispensermotorfrequency[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT];
 double dispenserspressure[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT];
 
+DoubleArray DispenserFreq[MAX_SYSTEM_DISPENSERS];
+DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS];
+
 /*double dispenser1motorfrequency[DIAGNOSTICS_LIMIT];
 double dispenser2motorfrequency[DIAGNOSTICS_LIMIT];
 double dispenser3motorfrequency[DIAGNOSTICS_LIMIT];
@@ -116,12 +124,23 @@ typedef struct DiagnosticsMessage{
 
 void DiagnosticsInit(void)
 {
+    int i;
     Error_Block eb;
 
     Error_init(&eb);
 
     DiagnosticsMsgQ = Mailbox_create(sizeof(DiagnosticsMessageStruc), 20, NULL,&eb);
 
+    DiagnosticsMonitor.dispensersmotorsfrequency = (DoubleArray**)malloc(sizeof(DoubleArray *)*8);
+    DiagnosticsMonitor.dispenserspressure = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
+    DiagnosticsMonitor.dispenserslinearpositions = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
+    DiagnosticsMonitor.dispensersangularencoders = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
+    for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+    {
+        double_array__init(&DispenserFreq[i]);
+        double_array__init(&DiagnosticsDispenserPressure[i]);
+    }
+
     return;
 }
 uint8_t HeaterCounterIndex[MAX_HEATERS_NUM]= {0,0,0,0,0,0,0,0,0,0};
@@ -161,7 +180,7 @@ void DiagnosticLoadTemperature(int HeaterId, int temperature)
 }
 void DiagnosticLoadSpeedSensor(uint32_t value)
 {
-    SpeedValue[SpeedCounterIndex] = value/100;
+    SpeedValue[SpeedCounterIndex] = value;
     SpeedCounterIndex++;
     if (SpeedCounterIndex>=DIAGNOSTICS_DANCER_LIMIT )
         SpeedCounterIndex = 0;
@@ -183,8 +202,8 @@ void DiagnosticTenMsecCollection(void)
 {
     if (DiagnosticsActive == false)
         return;
-    if (JobIsActive()== false)
-        return;
+    /*if (JobIsActive()== false)
+        return;*/
     DiagnosticLoadDancer(WINDER_DANCER,Control_Read_Dancer_Position(WINDER_DANCER, 0,0));
     DiagnosticLoadDancer(POOLER_DANCER,Control_Read_Dancer_Position(POOLER_DANCER, 0,0));
     DiagnosticLoadDancer(FEEDER_DANCER,Control_Read_Dancer_Position(FEEDER_DANCER, 0,0));
@@ -201,7 +220,7 @@ void Diagnostic100msecCollection(void)
 //    dancer2angle[DiagnosticsIndex] =  Control_Read_Dancer_Position(POOLER_DANCER, 0,0);
 //    dancer3angle[DiagnosticsIndex] =  Control_Read_Dancer_Position(FEEDER_DANCER, 0,0);
 
-    if (JobIsActive())
+    //if (JobIsActive())
     {
 /*        DiagnosticLoadMotor(FEEDER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING)); ThreadGetMotorSpeed
         DiagnosticLoadMotor(DRYER_MOTOR, MotorGetSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING));
@@ -287,11 +306,9 @@ void DiagnosticsReset(void)
     DiagnosticsIndex = 0;
 
 }
-DiagnosticsMonitors DiagnosticsMonitor = DIAGNOSTICS_MONITORS__INIT;
-//Double *DispenserFreq[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
-//Double *DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
-DoubleArray DispenserFreq[MAX_SYSTEM_DISPENSERS] = {DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT};
-DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS] = {DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT,DOUBLE_ARRAY__INIT};
+int j=0;
+MessageContainer diagnosticsresponseContainer;
+uint8_t* diagnosticscontainer_buffer;
 void SendDiagnostics(void)
 {
     MessageContainer responseContainer;
@@ -303,7 +320,7 @@ void SendDiagnostics(void)
 
 
 
-    if (JobIsActive())
+    //if (JobIsActive())
     {
         DiagnosticsMonitor.n_dispenser1motorfrequency = DiagnosticsIndex;
         DiagnosticsMonitor.n_dispenser2motorfrequency = DiagnosticsIndex;
@@ -330,7 +347,7 @@ void SendDiagnostics(void)
     DiagnosticsMonitor.dancer2angle = dancer2angle;
     DiagnosticsMonitor.dancer3angle = dancer3angle;
 */
-    if (JobIsActive())
+    //if (JobIsActive())
     {
         DiagnosticsMonitor.n_dancer1angle =  DancerCounterIndex[0];
         DiagnosticsMonitor.n_dancer2angle =  DancerCounterIndex[1];
@@ -382,34 +399,43 @@ void SendDiagnostics(void)
     DiagnosticsMonitor.blowervoltage = &voltage;
     memset(HeaterCounterIndex,0,sizeof(HeaterCounterIndex));
 
-/*
-    if (JobIsActive())
+    int i;
+    DiagnosticsMonitor.n_dispensersmotorsfrequency = 0;
+    /**/
+	//if (JobIsActive())
     {
-
+        j++;
         DiagnosticsMonitor.n_dispensersmotorsfrequency = MAX_SYSTEM_DISPENSERS;
-        DiagnosticsMonitor.dispensersmotorsfrequency = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
-
-        for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+        if (DiagnosticsMonitor.dispensersmotorsfrequency)
         {
-            //double_array__init(&DispenserFreq[i]);
-            //DispenserFreq[i] = dispensermotorfrequency[i];
-            DispenserFreq[i].data = dispensermotorfrequency[i];
-            DispenserFreq[i].n_data = DiagnosticsIndex;
-            DiagnosticsMonitor.dispensersmotorsfrequency[i] = &DispenserFreq[i];
+            for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+            {
+                //double_array__init(&DispenserFreq[i]);
+                //DispenserFreq[i] = dispensermotorfrequency[i];
+                DispenserFreq[i].data = dispensermotorfrequency[i];
+                DispenserFreq[i].n_data = DiagnosticsIndex;
+                DiagnosticsMonitor.dispensersmotorsfrequency[i] = &DispenserFreq[i];
+            }
         }
     }
-
-    DiagnosticsMonitor.n_dispenserspressure = MAX_SYSTEM_DISPENSERS;
-    DiagnosticsMonitor.dispenserspressure = (DoubleArray**)malloc(sizeof(DoubleArray)*8);
-    for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+    /**/
+    DiagnosticsMonitor.n_dispenserspressure = 0;
+    /**/
+	DiagnosticsMonitor.n_dispenserspressure = MAX_SYSTEM_DISPENSERS;
+    if (DiagnosticsMonitor.dispenserspressure)
     {
-        //DiagnosticsDispenserPressure[i] = dispenserspressure[i];
-        //double_array__init(&DiagnosticsDispenserPressure[i]);
-        DiagnosticsDispenserPressure[i].data = dispenserspressure[i];
-        DiagnosticsDispenserPressure[i].n_data = DiagnosticsIndex;
-        DiagnosticsMonitor.dispenserspressure[i] = &DiagnosticsDispenserPressure[i];
+        for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
+        {
+            //DiagnosticsDispenserPressure[i] = dispenserspressure[i];
+            //double_array__init(&DiagnosticsDispenserPressure[i]);
+            DiagnosticsDispenserPressure[i].data = dispenserspressure[i];
+            DiagnosticsDispenserPressure[i].n_data = DiagnosticsIndex;
+            DiagnosticsMonitor.dispenserspressure[i] = &DiagnosticsDispenserPressure[i];
+        }
     }
-*/
+    /**/
+    DiagnosticsMonitor.n_dispenserslinearpositions = 0;
+    DiagnosticsMonitor.n_dispensersangularencoders = 0;
 
     DiagnosticsMonitor.n_dispenser1pressure = DiagnosticsIndex;
     DiagnosticsMonitor.dispenser1pressure = dispenserspressure[0];
@@ -447,21 +473,29 @@ void SendDiagnostics(void)
         }
     }
 */
-    responseContainer = createContainer(MESSAGE_TYPE__StartDiagnosticsResponse,  DiagnosticsToken, false, &response, &start_diagnostics_response__pack, &start_diagnostics_response__get_packed_size);
-    responseContainer.continuous = true;
-
-    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);
-    free(DiagnosticsMonitor.dispenserspressure);
-    free(DiagnosticsMonitor.dispensersmotorsfrequency);
-
-    DiagnosticsReset();
+    diagnosticsresponseContainer = createContainer(MESSAGE_TYPE__StartDiagnosticsResponse,  DiagnosticsToken, false, &response, &start_diagnostics_response__pack, &start_diagnostics_response__get_packed_size);
+    diagnosticsresponseContainer.continuous = true;
 
-    if (SendChars(container_buffer, container_size) == false) //comm tx mailbox full
+    diagnosticscontainer_buffer = 0;
+    diagnosticscontainer_buffer = malloc(message_container__get_packed_size(&diagnosticsresponseContainer));
+    if (diagnosticscontainer_buffer)
     {
-        DiagnosticsStop();
+        size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer);
+        //memmap();
+        free(diagnosticsresponseContainer.data.data);
+        //free(DiagnosticsMonitor.dispenserspressure);
+        //free(DiagnosticsMonitor.dispensersmotorsfrequency);
+        if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full
+        {
+            DiagnosticsStop();
+        }
     }
+    else
+    {
+        LOG_ERROR(Task_self(),"malloc failed");
+    }
+    DiagnosticsReset();
+
 }
 uint32_t DiagnosticsControlId = 0xff;
 uint32_t Diagnostics10MSControlId = 0xff;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 03cdea5e9..c40d018c3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -240,6 +240,10 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
     }
     else if ((HeaterState == HEATER_ON)&& (OnOff == HEATER_ON)) //set temperature
     {
+        if (HeaterPIDConfig[HeaterId].m_SetParam < HeaterCmd[HeaterId].targettemperatue)  //#bug 221
+        {
+            PrepareHeater(HeaterId,Temperature);  //prepare the heaters control info
+        }
         HeaterPIDConfig[HeaterId].m_SetParam = HeaterCmd[HeaterId].targettemperatue;
         // if the heater is not on return (?).
         //set the target operation temperature
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index 997d67973..22c8432b6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -46,20 +46,24 @@ void Stub_RealTimeUsageRequest(MessageContainer* requestContainer)
     StubRealTimeUsageResponse response =   STUB_REAL_TIME_USAGE_RESPONSE__INIT;
 
 
-    responseContainer = createContainer(MESSAGE_TYPE__StubRealTimeUsageResponse, requestContainer->token, true, &response, &stub_real_time_usage_response__pack, &stub_real_time_usage_response__get_packed_size);
     uint32_t Percentile[101] = {0};
-    IdleTaskGetLoadTable(Percentile);
 
     response.n_percentile = 100;
-    response.percentile = Percentile;
+    response.percentile = malloc(sizeof(response.percentile)*response.n_percentile);
+    if (response.percentile)
+        IdleTaskGetLoadTable(response.percentile);
+    else
+        response.n_percentile = 0;
     //free(request);
     //-------------------------------------------------------------------------------------------
+    responseContainer = createContainer(MESSAGE_TYPE__StubRealTimeUsageResponse, requestContainer->token, true, &response, &stub_real_time_usage_response__pack, &stub_real_time_usage_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);
-    //free(container_buffer);
-    //free(requestContainer);
+    if (response.percentile)
+        free(response.percentile);
+
     stub_real_time_usage_request__free_unpacked(request,NULL);
 }
 
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 68b79edeb..6bd4e6f48 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -12,8 +12,6 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-//#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include "Stub_Status.h"
 
 void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
@@ -25,10 +23,6 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 
 	//request->cartridgeid
 
-    //writeLine("cartridge Request: ");
-
-    //writeFloat(request->cartridgeid);
-
     /*
       int i;
       for( i=0;i<8;i++)
@@ -57,20 +51,8 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 	response.has_cartridgeused = false;
 	
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
-/*
-    writeLine("Sending Response: ");
 
-    writeFloat(response.cartridgeid);
-    writeString(", ");
-    writeFloat(response.cartridgecolor);
-    writeString(", ");
-    writeFloat(response.cartridgeversion);
-    writeString(", ");
-    writeFloat(response.cartridgedata);
-    writeString(", ");
-    writeFloat(response.cartridgeused);
-    writeString(", ");
-*/
+
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeReadResponse, requestContainer->token, true, &response, &stub_cartridge_read_response__pack, &stub_cartridge_read_response__get_packed_size);
@@ -97,19 +79,8 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 	//request->cartridgeversion
 	//request->cartridgedata
 	//request->cartridgeused
-/*
-    writeLine("Cartridge Request: ");
 
-    writeFloat(request->cartridgeid);
-    writeString(", ");
-    writeFloat(request->cartridgecolor);
-    writeString(", ");
-    writeFloat(request->cartridgeversion);
-    writeString(", ");
-    writeFloat(request->cartridgedata);
-    writeString(", ");
-    writeFloat(request->cartridgeused);
-*/
+	
     StubCartridgeWriteResponse response =   STUB_CARTRIDGE_WRITE_RESPONSE__INIT;
 	
 	response.cartridgeid = request->cartridgeid;
@@ -120,13 +91,7 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 //    response.statusword = OK;
 //    response.has_statusword = true;
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
-/*
-    writeLine("Sending Response: ");
 
-    writeFloat(response.cartridgeid);
-    writeString(", ");*/
-//    writeFloat(response.statusword);
-//    WRITELINESTATUS;
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeWriteResponse, requestContainer->token, true, &response, &stub_cartridge_write_response__pack, &stub_cartridge_write_response__get_packed_size);