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

7 files changed, 36 insertions, 22 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 2f4afed73..ac2463f9e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -360,7 +360,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t _motorId,bool direction, uint32_t
     //SetMotorSpeed (deviceId, parameter);
     MotorMoveModuleCallback[_motorId] = callback;
 
-    MotorStop(_motorId,2 );
+    MotorStop(_motorId,Hard_Hiz );
     MotorMove(_motorId,direction,Steps );
     MotorMoveControlId[_motorId] = AddControlCallback( MotorMoveCallBackFunction,  eTenMilliSecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+_motorId), _motorId, 0 );
     return MotorMoveControlId[_motorId];
@@ -434,7 +434,7 @@ uint32_t MotorMoveToLimitSwitchCallBackFunction(uint32_t IfIndex, bool LimitSwit
         LOG_ERROR (IfIndex, "Wrong  Interface type");
         return 0xFFFFFFFF;
     }
-    MotorId = IfIndex&0xFF;
+    MotorId = (TimerMotors_t)(IfIndex&0xFF);
 
     if (MotorMovetoLimitSwitchControlId[MotorId] == 0xFF)
         return ERROR;
@@ -470,6 +470,6 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t _motorId,bool direction, uint32_t
     MotorMovetoLimitSwitchControlId[_motorId] = AddControlCallback( MotorMoveToLimitSwitchCallBackFunction, eOneMillisecond , FPGA_Read_limit_Switches,(IfTypeMotors*0x100+_motorId), LimitSwitchId, 0 );
     MotorMovetoLimitSwitchCallback[_motorId] = callback;
 
-    return MotorMoveControlId;
+    return (uint32_t)MotorMoveControlId;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 4056f0175..c6b6f936b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -154,14 +154,14 @@ void Valve_Command(Valves_t Valve_Id)
 
     if ((Valve_Id == VALVE_WASTE_TANK) | (Valve_Id == VALVE_MIXCHIP_WASTECH)) // Waste Valves
     {
-        F1_gpo_01 |= F1_GPO_Reg.ushort;
+        F1_gpo_01 = F1_GPO_Reg.ushort;
     }
     else if(/*(Valve_Id >= VALVE_DISPENSER_1) |*/ (Valve_Id <= VALVE_DISPENSER_8))
     {
-        F2_DISPENSER_VALVE_OUT |= Dispenser_Valve_GPO_Reg.ushort;
+        F2_DISPENSER_VALVE_OUT = Dispenser_Valve_GPO_Reg.ushort;
     }
     else
-        F3_VALVE_OUT |= Valve_GPO_Reg.ushort;
+        F3_VALVE_OUT = Valve_GPO_Reg.ushort;
 
 }
 
@@ -264,7 +264,7 @@ void EnableDisableDispenserValve(Valves_t Valve_Id, bool EnableOrDisable )
             break;
     }
 
-    F2_DISPENSER_VALVE_OUT |= Dispenser_Valve_GPO_Reg.ushort;
+    F2_DISPENSER_VALVE_OUT = Dispenser_Valve_GPO_Reg.ushort;
 }
 
 //
@@ -297,6 +297,7 @@ bool Valve3WayGetBusyState(uint32_t _ValveId, uint32_t parameter)
 //Internal handling
 uint32_t Valve3WayCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 {
+    bool Busy;
     uint32_t ValveId;
     if (IfIndex>>8 != IfTypeDisopenser)
     {
@@ -305,8 +306,11 @@ uint32_t Valve3WayCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     }
     ValveId = IfIndex&0xFF;
 
-       if (BusyFlag == NOTBUSY)
+    Busy = Valve3WayGetBusyState(ValveId, 0);
+
+       if (Busy == NOTBUSY)
        {
+           EnableDisableDispenserValve((Valves_t)ValveId, DISABLE);
            //stop this control loop
            RemoveControlCallback(Valve3WayControlId[ValveId], Valve3WayCallBackFunction );
 
@@ -321,22 +325,28 @@ uint32_t Valve3WayCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 //External call
 uint32_t Control3WayValvesWithCallback (Valves_t _ValveId, bool direction, callback_fptr callback) //direction: MidTank_Dispenser or Dispenser_Mixer
 {
-    uint8_t delay;
-    assert (callback);
 
     Valve3WayModuleCallback[_ValveId] = callback;
 
     EnableDisableDispenserValve(_ValveId, ENABLE);
 
-    for(delay=0;delay<100;delay++);//Need Small delay (0.1-1)ms
+    SysCtlDelay(1);//Need Small delay (0.1-1)ms
 
     Valve_Set(_ValveId, direction);
 
     Valve3WayControlId[_ValveId] = AddControlCallback( Valve3WayCallBackFunction,  eTenMilliSecond, FPGA_GetDispenserValveBusyOCD,(IfTypeDisopenser*0x100+_ValveId), _ValveId, 0 );
 
-    EnableDisableDispenserValve(_ValveId, DISABLE);
-
     return Valve3WayControlId[_ValveId];
 }
 
+void test_valve_3_way(Valves_t _ValveId, bool direction)
+{
+
+    static bool dir= 1;
+
 
+    EnableDisableDispenserValve(_ValveId, ENABLE );
+    SysCtlDelay(10);
+    Valve_Set(_ValveId, direction);
+    dir = dir ^ 0x01;
+}
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 8ec2008a7..5dac2717b 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -196,7 +196,7 @@ int main(void)
 
     IDLE_TASK_package_init();
 
-    //ControlStart();
+    ControlStart();
 
     BIOS_start();
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
index 81efa5662..d3d549063 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
@@ -18,7 +18,7 @@
 
 HardwareDispenser DispensersCfg[ MAX_SYSTEM_DISPENSERS];
 
-uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS] = {HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8};
+TimerMotors_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS] = {HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8};
 
 float DispenserPressure[MAX_SYSTEM_DISPENSERS] = {0};
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 0374cf639..f44f2d790 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -49,7 +49,7 @@ int JobBrushStopId = 0;
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 {
     int Dispenser_i,i;
-    int temp;
+    //int temp;
     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
     {
         if (ThreadDispenserIdToControlId[i] == request->hardwarepidcontroltype)
@@ -162,11 +162,11 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
      {
          if (DispenserPreSegmentReady[i] == false)
          {
-             return; //not all configured heaters are ready
+             return OK; //not all configured heaters are ready
          }
      }
      PreSegmentReady(Module_IDS,ModuleDone);
-
+  return OK; // all configured heaters are ready
  }
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 {
@@ -174,8 +174,6 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
     JobTicket* JobTicket = JobDetails;
     int Dispenser_i;
     TimerMotors_t HW_Motor_Id;
-    int segmentfirst_speed;
-    int CurrentSegment = 0;
 
     JobBrushStopId = 0;
 
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 ff545b516..81f147039 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -193,7 +193,9 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
 {
     //uint32_t status = FAILED;
 
+#ifdef EVALUATION_BOARD
     uint32_t read_status;
+#endif
 
     MessageContainer responseContainer;
 
@@ -278,7 +280,7 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
 
 void Stub_MotorStopRequest(MessageContainer* requestContainer)
 {
-    uint32_t read_status;
+    //uint32_t read_status;
     //uint32_t status = FAILED;
 
     MessageContainer responseContainer;
@@ -555,8 +557,9 @@ void Stub_MotorPositionRequest(MessageContainer* requestContainer)
 
 void Stub_MotorMovRequest(MessageContainer* requestContainer)
 {
+#ifdef EVALUATION_BOARD
     uint32_t read_status;
-
+#endif
     MessageContainer responseContainer;
 
     StubMotorMovRequest* request = stub_motor_mov_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
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 35dab1c27..cd53c5208 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -39,6 +39,9 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
     writeString(", ");
     writeFloat(request->valveon);
 
+    Control3WayValvesWithCallback (request->valveid, request->valveon, NULL);
+    //test_valve_3_way(request->valveid, request->valveon);
+
     StubValveResponse response =   STUB_VALVE_RESPONSE__INIT;
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);