program the alarm definitions and the IDS control to the internal flash. motor info did not work well - probably performance problem in thread PID

5 files changed, 19 insertions, 10 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c b/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c
index 6413c83b1..3528884bb 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c
@@ -94,7 +94,7 @@ extern void IDLE_TASK_package_init(void)
    idle_counter=0;
    taskParams.instance->name = IdleTaskName;
    taskParams.priority = SECOND_MIN_PRIORITY;
-   taskParams.stackSize = 2048;
+   taskParams.stackSize = 512;
    IdleTaskHandle = Task_create((Task_FuncPtr)idle_task, &taskParams, &eb);
    Error_init(&eb);
    Task_Params_init(&taskParams);
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
index 2fc66bcf3..c2b228ffb 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
@@ -31,6 +31,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     uint32_t ui32DataSize;
     uint32_t ui32Remaining;
     uint32_t ui32ProgAddr;
+    uint32_t ui32BufferAddr;
     volatile uint32_t ui32Idx;
     uint32_t ui32FlashEnd;
 
@@ -67,6 +68,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     // stick updater).
     //
     ui32ProgAddr = ui32FlashStart;
+    ui32BufferAddr = buffer;
     ui32Remaining = ui32FileSize;
     while(ui32Remaining)
     {
@@ -74,6 +76,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
         // Compute how much data was read from this sector and adjust the
         // remaining amount.
         //
+
         ui32DataSize = ui32Remaining >= 512 ? 512 : ui32Remaining;
         ui32Remaining -= ui32DataSize;
 
@@ -81,7 +84,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
         // Call the function to program a block of flash.  The length of the
         // block passed to the flash function must be divisible by 4.
         //
-        ROM_FlashProgram((uint32_t *)buffer, ui32ProgAddr,
+        ROM_FlashProgram((uint32_t *)ui32BufferAddr, ui32ProgAddr,
                          (ui32DataSize + 3) & ~3);
 
         //
@@ -92,6 +95,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
         if(ui32Remaining)
         {
             ui32ProgAddr += ui32DataSize;
+            ui32BufferAddr += ui32DataSize;
         }
 
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 6f8013557..d107154d0 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -124,8 +124,8 @@ AlarmStatusItem  AlarmState[MAX_SYSTEM_ALARMS];
 * or static variable whose declaration follows the pragma directive (only if using it without #define for example: #pragma location = MOTOR_MAP_IN_FLASH)
 * The variables must be declared either __no_init or const!
 */
-//FLASH_MAP  AlarmHandlingItemStruc  FlashAlarmItem[MAX_SYSTEM_ALARMS];
-const AlarmHandlingItemStruc  AlarmItem[MAX_SYSTEM_ALARMS]={
+AlarmHandlingItemStruc  *AlarmItem;
+const AlarmHandlingItemStruc  HardCodedAlarmItem[MAX_SYSTEM_ALARMS]={
  {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_1,0,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_1_EMPTY,"Dispenser 1 Empty"},
  {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_2,1,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_2_EMPTY,"Dispenser 2 Empty"},
  {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_3,2,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_3_EMPTY,"Dispenser 3 Empty"},
@@ -329,7 +329,10 @@ void AlarmHandlingInit(void)
         AlarmState[Alarm_i].DebounceCounter = 0;
         AlarmState[Alarm_i].EventPtr = NULL;
     }
-//    ReadAppAndProgram(ALARM_MAP_IN_FLASH, sizeof(AlarmHandlingItemStruc)*MAX_SYSTEM_ALARMS, AlarmItem);
+
+    AlarmItem = (AlarmHandlingItemStruc *)MOTOR_MAP_IN_FLASH;
+    ReadAppAndProgram(AlarmItem, sizeof(AlarmHandlingItemStruc)*MAX_SYSTEM_ALARMS, HardCodedAlarmItem);
+    LOG_ERROR(AlarmItem[2].EventName,"Flash Test");
 
     return;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 73402d1f4..dd9f8deae 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -237,7 +237,7 @@ uint32_t ProcessParamsInit(void)
                //memcpy (&ProcessParametersKeep,ProcessParams,sizeof(ProcessParameters));
                upload_process_parameters_request__free_unpacked(request,NULL);
            }
-       free (buffer);
+		   free (buffer);
         }
     }
     f_close(FileHandle);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index e8d0f2673..ed91f194a 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -17,6 +17,7 @@
 
 #include "modules/heaters/heaters.h"
 
+#include "drivers/Flash_ram/FlashProgram.h"
 
 typedef struct
 {
@@ -29,7 +30,7 @@ typedef struct
     bool                m_isReady;
     PID_Config_Params   m_params;
 }DispenserControlConfig_t;
-HardwarePidControl DispensersControl[MAX_SYSTEM_DISPENSERS] = {0};
+HardwarePidControl *DispensersControl = (HardwarePidControl *)GENHWCFG_MAP_IN_FLASH + 0x4000;;
 
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
@@ -66,9 +67,10 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
             break;
         }
     }
-    memcpy (&DispensersControl[Dispenser_i],request,sizeof(HardwarePidControl));
-    if (DispensersControl[Dispenser_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
-        DispensersControl[Dispenser_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
+    if (request->pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
+        request->pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
+    ReadAppAndProgram(&DispensersControl[Dispenser_i], sizeof(HardwarePidControl), request);
+
     for (i = 0;i < DispensersControl[Dispenser_i].pvinputfilterfactormode; i++)
         DispenserSamples[Dispenser_i][i] = 0;  //reset the samples value for control beginning
     /*DispenserNormalizedErrorCoEfficient[Dispenser_i] = (2*PI*DancersCfg[ThreadDispenserIdToDancerId[Dispenser_i]].armlength);