some 4 winders inmprovements, some RFID trace

6 files changed, 44 insertions, 5 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 77efa1cfd..f3d42b01a 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -119,7 +119,7 @@ uint32_t    FileUploadRequestFunc(MessageContainer* requestContainer)
                 CommRxTaskHandle = Task_self();
                 CommRxpri = Task_getPri(CommRxTaskHandle);
                 Task_setPri(CommRxTaskHandle, 11);
-                Report("Task_setPri", __FILE__, __LINE__, 4, RpWarning,   (int)CommRxTaskHandle, 0);
+                Report("Task_setPri", __FILE__, __LINE__, 11, RpWarning,   (int)CommRxTaskHandle, 0);
                 //Report("FileUploadRequestFunc 2", __FILE__, __LINE__, msec_millisecondCounter, RpWarning,   (int)0, 0);
                 Fresult = f_open(UploadFileHandle,request->path,FA_READ | FA_WRITE | FA_OPEN_ALWAYS | FA_CREATE_ALWAYS);
                 if (Fresult == FR_OK)
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index 080522d0d..c37bbc437 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -1136,9 +1136,10 @@ uint8_t Init_Machine_Leds()
 bool Is_AnyCartridge_presence()
 {
     bool IsAnyCartPresent = true;
+    uint16_t cartridgesPresence = BIT5 | BIT6 | BIT7;
 
     #ifndef EVALUATION_BOARD
-        if(F3_CARTx_PRES_02_Direct & (BIT5 | BIT6 | BIT7))
+        if(F3_CARTx_PRES_02_Direct & (cartridgesPresence)==cartridgesPresence)
             IsAnyCartPresent = false;
     #endif
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.c
index 79d31393b..5cfb7cf6c 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.c
@@ -317,6 +317,7 @@ void DispRFID_Task(UArg arg0, UArg arg1)
     while(1)
     {
         Mailbox_pend(RFID_ReadingMsgQ , &RFID_ReadingMessage, BIOS_WAIT_FOREVER);
+        Report("RFID task message",__FILE__,__LINE__,RFID_ReadingMessage.messageId ,RpWarning,(int) msec_millisecondCounter,0);
 
         /* select the correct I2C bus */
         if (RFID_ReadingMessage.messageId < RFID_End)
@@ -428,6 +429,8 @@ void DispRFID_Task(UArg arg0, UArg arg1)
             default:
                 break;
         }
+        Report("RFID  message end",__FILE__,__LINE__,RFID_ReadingMessage.messageId ,RpWarning,(int) msec_millisecondCounter,0);
+
     }
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c
index ef38f2b24..33f154492 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c
@@ -762,7 +762,7 @@ uint32_t RFIDTagComm_StateMachine(RFID_READER_ID readerID, StateMachineMode Mode
 
 
 
-                }while(RFIDRetValue != SUCCESS);
+                }while((RFIDRetValue != SUCCESS)&&(counterd_dis<10));
 
                 if(RFIDRetValue == SUCCESS)
                 {
@@ -775,6 +775,7 @@ uint32_t RFIDTagComm_StateMachine(RFID_READER_ID readerID, StateMachineMode Mode
                 {
                     follow_stages[TagStage[readerID]] = ERROR;
                     RFID_Status_Words[readerID].errors.TagDiscovery = S_FAILED;
+                    TagStage[readerID] = Tag_Idle;
                 }
                 delayms(1);
                 if(Mode == OneStep)
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 6c40b7916..3485a1de2 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -25,6 +25,7 @@
 #include "drivers/Motors/Motor.h"
 
 #include "Communication/CommunicationTask.h"
+#include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
 
 #include <xdc/runtime/Error.h>
 #include <xdc/runtime/System.h>
@@ -148,6 +149,10 @@ Void errHook(Error_Block *eb)
     STATUS_GREEN_LED_OFF;
     ACTIVITY_GREEN_LED_OFF;
     COMM_GREEN_LED_OFF;
+    Head_I2C_EXP1_0x40.ushort = 0;
+    Head_I2C_EXP2_0x42.ushort = 0;
+    Head_Write_IO_Reg(0x40,LOW_AND_HIGH);
+    Head_Write_IO_Reg(0x42,LOW);
 
     STATUS_RED_LED_ON;
     ACTIVITY_RED_LED_ON;
@@ -335,7 +340,8 @@ int main(void)
    I2C_DispRFIDTask_Init();//I2C Task for dispensers & RFID
 
     #if defined(USE_RFID_LOGIC) || defined(USE_RFID_STUB)
-       Trigger_RFID_Init();  //Init_IFS();//must be done after FPGA_Init
+       //Trigger_RFID_Init();  //Init_IFS();//must be done after FPGA_Init
+       Init_IFS();
     #else
        Check_IFS_Availability();
     #endif
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 8ecb3f404..011488c49 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -221,6 +221,7 @@ uint32_t Winder_Prepare(void *JobDetails)
     {
         //REPORT_MSG(LIMIT, "Winder_Prepare at limit");
         Winder_PrepareStage2(0,0);
+        Screw_wait_counter=1;
     }
     else
     {
@@ -229,15 +230,42 @@ uint32_t Winder_Prepare(void *JobDetails)
         //REPORT_MSG(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, "Winder_Prepare move to limit");
         Screw_wait_counter=1;
         status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2,2000);
+    }
 #ifdef FOUR_WINDERS
+    if (FPGA_Read_limit_Switches(GPI_LS_SPARE2_2)==LIMIT)
+    {
+        Winder_PrepareStage2(0,0);
+        Screw_wait_counter++;
+    }
+    else
+    {
+        Winder_ScrewHoming = true;
         Screw_wait_counter++;
         status = MotorMovetoLimitSwitch (SCREW_2_Motor,MotorsCfg[SCREW_2_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE2_2, Winder_PrepareStage2,2000);
+    }
+    if (FPGA_Read_limit_Switches(GPI_LS_SPARE1_2)==LIMIT)
+    {
+        Winder_PrepareStage2(0,0);
+        Screw_wait_counter++;
+    }
+    else
+    {
+        Winder_ScrewHoming = true;
         Screw_wait_counter++;
         status = MotorMovetoLimitSwitch (SCREW_3_Motor,MotorsCfg[SCREW_3_Motor].directionthreadwize, ScrewSpeed, GPI_LS_SPARE1_2, Winder_PrepareStage2,2000);
+    }
+    if (FPGA_Read_limit_Switches(GPI_LS_RDANCER_UP)==LIMIT)
+    {
+        Winder_PrepareStage2(0,0);
+        Screw_wait_counter++;
+    }
+    else
+    {
+        Winder_ScrewHoming = true;
         Screw_wait_counter++;
         status = MotorMovetoLimitSwitch (SCREW_4_Motor,MotorsCfg[SCREW_4_Motor].directionthreadwize, ScrewSpeed, GPI_LS_RDANCER_UP, Winder_PrepareStage2,2000);
-#endif
     }
+#endif
     return status;
 }
 /*