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

8 files changed, 69 insertions, 29 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
index c745436ad..d339ab66b 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
@@ -16,18 +16,23 @@ static const float speedCoef = 5.3051647697298445256294587790838f;//(200 micro s
 
 //*****************************************************************************
 
-#define MAX_MEM_LOG 200
-int freeIndex=0,malloc_index=0;
+#define MAX_MEM_LOG 300
+int free_index=0,malloc_index=0;
+int zero_mallocs=0,null_free=0;
 uint32_t malloc_size[MAX_MEM_LOG];
 uint32_t malloc_time[MAX_MEM_LOG];
 void * malloc_addr[MAX_MEM_LOG];
-//void * free_addr[MAX_MEM_LOG];
+void * free_addr[MAX_MEM_LOG];
 //uint32_t total_allocated = 0;
 void  *my_malloc(size_t _size)
 {
     void * addr =  malloc (_size);
-    if (_size == 0) return addr;
-    int i;
+    if (_size == 0)
+        {
+            zero_mallocs++;
+            return addr;
+        }
+    /*int i;
     for (i=0; i< MAX_MEM_LOG;i++)
     {
         if (malloc_time[i] == 0)
@@ -42,12 +47,12 @@ void  *my_malloc(size_t _size)
         malloc_addr[malloc_index] = addr;
         malloc_size[malloc_index] = _size;
         malloc_time[malloc_index] = msec_millisecondCounter;
-    }
-    //malloc_addr[malloc_index] = addr;
-    //malloc_size[malloc_index] = _size;
-    //malloc_time[malloc_index] = HibernateRTCSSGet();
-    //if (malloc_index++>=MAX_MEM_LOG)
-    //    malloc_index = 0;
+    }*/
+    malloc_addr[malloc_index] = addr;
+    malloc_size[malloc_index] = _size;
+    malloc_time[malloc_index] = msec_millisecondCounter;
+    if (malloc_index++>=MAX_MEM_LOG)
+        malloc_index = 0;
     return addr;
 }
 int allocated_size = 0;
@@ -57,7 +62,7 @@ void   my_free(void *_ptr)
     free(_ptr);
     if (_ptr)
     {
-        for (i=0; i< MAX_MEM_LOG;i++)
+/*        for (i=0; i< MAX_MEM_LOG;i++)
         {
             if ( malloc_addr[i] == _ptr)
             {
@@ -75,7 +80,14 @@ void   my_free(void *_ptr)
         allocated_size = 0;
 //        for (i=0; i< MAX_MEM_LOG;i++)
 //            allocated_size+=malloc_size[i];
+*/
+        free_addr[free_index] = _ptr;
+        if (free_index++>=MAX_MEM_LOG)
+            free_index = 0;
+
     }
+    else
+        null_free++;
 }
 
 //*****************************************************************************
diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index 46a3affd6..cbc754a7e 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -240,7 +240,7 @@ Void reportService(UArg arg0, UArg arg1)
 	int DistTableEntry;//,msgLen,  errCode, par1, par2;
 
     ReportInitParams InitParams;
-    InitParams.DistributorQueueMaxMsgs = 20;
+    InitParams.DistributorQueueMaxMsgs = 15;
     InitParams.DistributorTaskPriority = 6;
     InitParams.MaxNumOfFilterNames = 1;
     InitParams.MaxNumberOfPrivateDistributors = 2;
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index 2b551108d..b27ab687d 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -15,7 +15,7 @@ static void (*callback)(char* buffer, size_t length);
 
 Mailbox_Handle          CommunicationRxMsgQ = NULL;
 Mailbox_Handle          CommunicationTxMsgQ = NULL;
-#define COMMUNICATION_NUM_MSGS 15
+#define COMMUNICATION_NUM_MSGS 20
 typedef struct CommRxMessage{
     //uint16_t messageId;
     uint16_t msgSize;
@@ -157,7 +157,7 @@ void communicationTask(UArg arg0, UArg arg1)
     }
 
 }
-int UnSentMessages=0;
+int UnSentMessages=0, deliveryfailure = 0;
 bool CommunicationTaskSendMessage(char* buffer,size_t length)
 {
     CommTxMessageStruc Message;
@@ -173,11 +173,14 @@ bool CommunicationTaskSendMessage(char* buffer,size_t length)
     if (retcode == false)
     {
         my_free(buffer);
+        deliveryfailure++;
+        CommunicationMailboxFlush();
     }
 
 
     return retcode;
 }
+int memoryrelease = 0;
 void CommunicationMailboxFlush(void)
 {
     int i;
@@ -189,6 +192,7 @@ void CommunicationMailboxFlush(void)
             UnSentMessages--;
             LOG_ERROR(Message.msgSize,"Flushing Message");
             my_free(Message.Buff);
+            memoryrelease+=Message.msgSize;
         }
     }
 }
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index 408e88a3d..337e7c368 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -44,12 +44,13 @@
 #include "Common/report/report.h"
 #include "Connection.h"
 
-/*
-uint32_t TxmsgId[50] = {0};
-uint32_t TxLength[50] = {0};
-uint32_t TxAddr[50] = {0};
+#define  MAX_CONT_LOG 300
+
+uint32_t TxmsgId[MAX_CONT_LOG+1] = {0};
+uint32_t TxLength[MAX_CONT_LOG+1] = {0};
+uint32_t TxAddr[MAX_CONT_LOG+1] = {0};
 byte Txindex = 0;
-uint32_t msgId[50] = {0};
+/*uint32_t msgId[50] = {0};
 uint32_t Length[50] = {0};
 uint32_t DataLength[50] = {0};
 byte index = 0;
@@ -75,12 +76,12 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole
         container.data.data = response_buffer;
         container.data.len = response_size;
 
-    /*TxmsgId[Txindex] = type;
+    TxmsgId[Txindex] = type;
     TxLength[Txindex] = response_size;
     TxAddr[Txindex] = response_buffer;
-    if (Txindex++>=50)
+    if (Txindex++>=MAX_CONT_LOG)
         Txindex = 0;
-*/
+
     //free(response);
     return container;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 3fcd988bd..1bd37d15c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -129,6 +129,11 @@ typedef struct DiagnosticsMessage{
     uint8_t messageData[20];
 }DiagnosticsMessageStruc;
 
+#define MAX_DIAG_LOG 100
+int diag_index=0;
+uint32_t diag_size[MAX_DIAG_LOG];
+uint32_t diag_time[MAX_DIAG_LOG];
+
 /******************** CODE  ********************************************/
 //**********************************************************************
 
@@ -587,7 +592,17 @@ void SendDiagnostics(void)
             {
                 LOG_ERROR(Task_self(),"my_malloc failed");
                 DiagnosticsStop();
+                CommunicationMailboxFlush();
+            }
+            else
+            {
+                //Report("Diagnostic Messgage",__FILE__,__LINE__,container_size,RpWarning,msec_millisecondCounter,  msec_millisecondCounter);
             }
+            diag_size[diag_index] = container_size;
+            diag_time[diag_index] = msec_millisecondCounter;
+            if (diag_index++>=MAX_DIAG_LOG)
+                diag_index = 0;
+
         }
         else
         {
@@ -612,8 +627,14 @@ uint32_t DiagnosticsStart(void)
         if (DiagnosticRequestAccepted == true)
         {
             DiagnosticsActive = true;
-            DiagnosticsControlId = AddControlCallback(Diagnostics_ControlTrigger,DiagnosticLimit,DiagnosticsEmptyCBFunction,0,0,0);
-            Diagnostics10MSControlId = AddControlCallback(Diagnostics_TenMiliControlTrigger,DiagnosticFastLimit,DiagnosticsEmptyCBFunction,0,0,0);
+            if (DiagnosticsControlId == 0xFF)
+                DiagnosticsControlId = AddControlCallback(Diagnostics_ControlTrigger,DiagnosticLimit,DiagnosticsEmptyCBFunction,0,0,0);
+            else
+                LOG_ERROR(DiagnosticsControlId,"Diagnostics restarted");
+            if (Diagnostics10MSControlId == 0xFF)
+                Diagnostics10MSControlId = AddControlCallback(Diagnostics_TenMiliControlTrigger,DiagnosticFastLimit,DiagnosticsEmptyCBFunction,0,0,0);
+            else
+                LOG_ERROR(DiagnosticsControlId,"Diagnostics restarted");
        }
     }
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index b3ed6fde0..58d05f383 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -163,7 +163,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
             {
                 if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI)
                 {
-                    MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback);
+                    MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback);
                     ustrncpy (HomingToken[MotorId], requestContainer->token,36);
                     return OK;
                 }
@@ -172,7 +172,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
             {
                 if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI)
                 {
-                    MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback);
+                    MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback);
                     ustrncpy (HomingToken[MotorId], requestContainer->token,36);
                     return OK;
                 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
index 5a709e4a4..bc3630698 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
@@ -65,10 +65,10 @@ uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
                 switch (request->direction)
                 {
                     case MOTOR_DIRECTION__Forward:
-                        direction = MotorsCfg[MotorId].directionthreadwize;
+                        direction = 1-MotorsCfg[MotorId].directionthreadwize;
                         break;
                     case MOTOR_DIRECTION__Backward:
-                        direction = 1-MotorsCfg[MotorId].directionthreadwize;
+                        direction = MotorsCfg[MotorId].directionthreadwize;
                         break;
                 }
                 MotorSetDirection(MotorId,direction);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 12c456e89..67cb7c666 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -461,6 +461,8 @@ void JobRequestFunc(MessageContainer* requestContainer)
         {
             //memcpy(CurrentJob, Ticket,TicketSize);
             CurrentJob = Ticket;
+            if (CurrentRequest!= NULL)
+                job_request__free_unpacked(CurrentRequest,NULL);
             CurrentRequest = request;
 
             status  = PASSED;