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

8 files changed, 159 insertions, 20 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 18550caa6..a7713a253 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -13,6 +13,8 @@
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include <ti/sysbios/knl/Task.h>
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+#include "Modules/AlarmHandling/AlarmHandling.h"
 
 extern TempSensorResponseStruct TempSensorResponse[MAX_TEMPERATURE_SENSOR_ID];
 #include <drivers/FPGA/FPGA_SSI_Comm.h>
@@ -654,6 +656,11 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
             break;
         }
+        else
+        {
+            LOG_ERROR (_motorId,"kvalhold / tvalhold is Zero");
+            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+        }
 
     case MOTOR_CONFIG_KVAL_TVAL_RUN:
         ConfigStages[_motorId]++;
@@ -672,6 +679,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
         }
 
+
         if((MotorDriverResponse[_motorId].DriverMode == Current) && (MotorDriverResponse[_motorId].DriverType == CombinrdMotDriver))
         {
             //in order use the same value as it is in L6472 (current limited to 4A instead of 10A in PowrStep01)
@@ -687,6 +695,11 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
             break;
         }
+        else
+        {
+            LOG_ERROR (_motorId,"kvalrun / tvalrun is Zero");
+            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+        }
 
     case MOTOR_CONFIG_KVAL_TVAL_ACC:
         ConfigStages[_motorId]++;
@@ -720,6 +733,11 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
             break;
         }
+        else
+        {
+            LOG_ERROR (_motorId,"kvalacc / tvalacc is Zero");
+            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+        }
 
     case MOTOR_CONFIG_KVAL_TVAL_DEC:
         ConfigStages[_motorId]++;
@@ -756,6 +774,12 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
             break;
         }
+        else
+        {
+            LOG_ERROR (_motorId,"kvaldec / tvaldec is Zero");
+            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+        }
+
     case MOTOR_CONFIG_ST_SLP_T_FAST:
         ConfigStages[_motorId]++;
         input_value = 0;
@@ -781,6 +805,12 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
             break;
         }
+        else
+        {
+            LOG_ERROR (_motorId,"stslp / tfast is Zero");
+            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+        }
+
     case MOTOR_CONFIG_INT_SPD:
         ConfigStages[_motorId]++;
         if(MotorsCfg[_motorId].intspd!=0)
@@ -816,6 +846,11 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
             break;
         }
+        else
+        {
+            LOG_ERROR (_motorId,"fnslpacc / tonmin is Zero");
+            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+        }
 
     case MOTOR_CONFIG_FN_SLP_DEC_TOFF_MIN:
         ConfigStages[_motorId]++;
@@ -842,14 +877,24 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 
             break;
         }
+        else
+        {
+            LOG_ERROR (_motorId,"fnslpdec / toffmin is Zero");
+            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+        }
 
     case MOTOR_CONFIG_OCD_TH:
         ConfigStages[_motorId]++;
         if(MotorsCfg[_motorId].overcurrentthreshold!=0)
         {
             temp = x_SET_PARAM | x_OCD_TH;
-        temp = temp << 24;
-        temp |= MotorsCfg[_motorId].overcurrentthreshold<<16;
+            temp = temp << 24;
+            if(MotorsCfg[_motorId].overcurrentthreshold == 0)
+            {
+                LOG_ERROR (_motorId,"OCD_TH is Zero");
+                AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+            }
+            temp |= MotorsCfg[_motorId].overcurrentthreshold<<16;
             if( MillisecWriteToMotor(_motorId, temp, 4, FPGA_MotorConfig_callback) < 0 ) return ERROR;
             break;
         }
@@ -860,6 +905,11 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
             temp = x_SET_PARAM | x_STALL_TH;
             temp = temp << 24;
             temp |= MotorsCfg[_motorId].stallthreshold<<16;
+            if(MotorsCfg[_motorId].stallthreshold == 0)
+            {
+                LOG_ERROR (_motorId,"STALL_TH is Zero");
+                AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,ON);
+            }
             if( MillisecWriteToMotor(_motorId, temp, 4, FPGA_MotorConfig_callback) < 0 ) return ERROR;
             break;
         }
@@ -1964,6 +2014,8 @@ uint32_t Power_Step_01_Mode(TimerMotors_t _motorId, MOTDRIVER_MODE New_Mode)
         {
             status = ERROR;
         }
+
+        ReportWithPackageFilter(ControlFilter,"Change PowerStep01 mode", __FILE__,__LINE__,_motorId,RpMessage,New_Mode,0);
     }
 
 
@@ -1971,3 +2023,14 @@ uint32_t Power_Step_01_Mode(TimerMotors_t _motorId, MOTDRIVER_MODE New_Mode)
 
 }
 
+uint32_t Power_Step_01_Dispenser_Mode(uint8_t Dispenser_ID, MOTDRIVER_MODE New_Mode)
+{
+    uint32_t status = OK;
+
+    status = Power_Step_01_Mode(Dispenser_ID + HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1, New_Mode);
+
+    return status;
+}
+
+
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
index 5520cd4f0..42acd3e9e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
@@ -47,7 +47,7 @@ uint32_t Power_Step_01_Mode(TimerMotors_t _motorId, MOTDRIVER_MODE New_Mode);
 
 void FPGA_SetMotPowerStep01GateCfg(TimerMotors_t _motorId);
 void FPGA_SetGoToDirPosition(TimerMotors_t _motorId);//GoTo_DIR command
-uint32_t Power_Step_01_Mode(TimerMotors_t _motorId, MOTDRIVER_MODE New_Mode);
+uint32_t Power_Step_01_Dispenser_Mode(uint8_t Dispenser_ID, MOTDRIVER_MODE New_Mode);
 
 extern bool Extended_Motor_Param;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
index 9839b1324..590cec568 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
@@ -25,6 +25,7 @@
 #include "drivers/ADC_Sampling/adc.h"
 
 #include "ADC_MUX.h"
+#include "Modules/AlarmHandling/AlarmHandling.h"
 
 bool MidTank_Pressure_Read_Enable[NUM_OF_MIDTANKS] = {true,true,true,true,true,true,true,true};
 double MidTank_Pressure[NUM_OF_MIDTANKS] = {1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0};
@@ -243,6 +244,60 @@ double  Calculate_MidTank_Liquid(uint32_t VsampleInBits, double Factor )//MidTan
     return LiquidLitter;
 }
 
+//Initial_Offset_A 2.5-3 [V]  +-10%
+double Deafault_Initial_Offset_A = 2.5;//TBD
+double Max_Initial_Offset_A = 3.3;//TBD
+double Min_Initial_Offset_A = 2.25;//TBD
+//Slope_B 0.5 [Litter/Volts] +-10%
+double Deafault_Slope_B = 0.5;//TBD
+double Max_Slope_B = 0.6;//TBD
+double Min_Slope_B = 0.4;//TBD
+
+
+double  Calc_Calibration_MidTank_Liquid(uint32_t VsampleInBits, MidTank_t MidTank_ID )
+{
+    double temp, VADC = 0.0 ,VSensor,LiquidLitter;
+    double Factor = 0.93;//Only for dispenser 8 (due to the material density)
+
+    //---- VBits -> VADC ----
+
+    //ADC 12 bit -> 4096 -> 2.5V
+
+    temp = VsampleInBits*2.5;
+    VADC =  temp / 4096;
+
+    //---- VADC -> VSensor ---
+
+    //VADC = 1.96 - 10k( VSensor - 1.96) / 46.4k (from the electrical scheme)
+    // VSensor = 0 V  -> VADC = 2.3824 V
+    // VSensor = 10 V -> VADC = 0.2272 V
+
+    VSensor = (1.96- VADC) * 4.64 + 1.96;
+
+    if( ( Initial_Offset_A[MidTank_ID] > Max_Initial_Offset_A) || ( Initial_Offset_A[MidTank_ID] < Min_Initial_Offset_A) ||
+        ( Slope_B[MidTank_ID] > Max_Initial_Offset_A)           || ( Slope_B[MidTank_ID] < Min_Slope_B)                       )
+    {
+        temp = VSensor - Deafault_Initial_Offset_A;
+        LiquidLitter = temp * Deafault_Slope_B;
+        LOG_ERROR (MidTank_ID,"Wrong MidTank Calibration parameters");
+    }
+    else
+    {
+        temp = VSensor - Initial_Offset_A[MidTank_ID]; //Volt
+        LiquidLitter = temp * Slope_B[MidTank_ID]; //Litter
+    }
+
+    if(MidTank_ID == MIDTANK_8)
+        temp *= Factor;//Only for dispenser 8 (due to the material density)
+
+    if(LiquidLitter < 0)
+        LiquidLitter = 0;
+
+    return LiquidLitter;
+}
+
+
+
 void Enable_MidTank_Pressure_Reading(MidTank_t MidTank_ID) //0-7
 {
     assert (MidTank_ID<NUM_OF_MIDTANKS);
@@ -322,6 +377,8 @@ double Read_MidTank_Pressure_Sensor(MidTank_t MidTank_ID) //0-7
 
     MidTank_Pressure[MidTank_ID] = Calculate_MidTank_Liquid(VsampleInBits , Factor);//According to Gal (email 28-Aug-19)
 
+    //Calc_Calibration_MidTank_Liquid(VsampleInBits, MidTank_ID );
+
    return MidTank_Pressure[MidTank_ID];
 }
 double Get_MidTank_Pressure_Sensor(MidTank_t MidTank_ID) //0-7
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h
index 9a1569098..e0aa9396f 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h
@@ -60,4 +60,5 @@ bool Get_Heaters_Current_Integer(HEATERS_CURRENT Heater_ID,int32_t* value );
 uint32_t Read_Heaters_Current(HEATERS_CURRENT Heater_ID);
 
 void ADC_MUX_Init();
+double  Calc_Calibration_MidTank_Liquid(uint32_t VsampleInBits, MidTank_t MidTank_ID );
 #endif /* DRIVERS_I2C_COMMUNICATION_ADC_MUX_ADC_MUX_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index 3ffb63508..b44cba8b4 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -54,7 +54,7 @@ uint32_t joggingMachine(  button *pBtn);    //uint8_t OnOffPB,
 uint32_t ButtonLoadCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t LoadStatMachine( button *pBtn);
-
+uint32_t LoadLongPress( button *pBtn);
 
 /*
 void Power_Reset();
@@ -63,6 +63,7 @@ uint8_t Buzzer(OPERATION_MODE Buzzer_Mode);
 bool Read_PWR_Button();//TODO move to GPIO folder
 */
 
+#define LOADLONGPRESS 3
 
 int PowerDown()
 {
@@ -197,7 +198,7 @@ uint32_t ButtonJogCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         //setJoggingEnableCondition(&jog);
         joggingMachine(&jog);
     }
-    return 0;
+    return OK;
 }
 
 
@@ -208,13 +209,23 @@ uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     if ((load.bttn_status == release) && (ReadValue == press))
     {
         REPORT_MSG(parameter," ------------ Start thread loading empty function  ----------------- ");
-        load.bttn_status = press;
+        //load.bttn_status = press;
         LoadStatMachine(&load);
-
+        load.count=1;
+    }
+    else if ((load.bttn_status == press) && (ReadValue == press) )
+    {
+        if (load.count == LOADLONGPRESS) // todo
+        {
+            load.count = 0;
+            LoadLongPress( &load );
+        }
+        else load.count++;
     }
-    else load.bttn_status = ReadValue;
 
-    return 0;
+
+    load.bttn_status = ReadValue;
+    return OK;
 }
 
 /*---------------------------------------------------------------------------------*/
@@ -301,7 +312,7 @@ uint32_t ShortLongOffPB(uint8_t OnOffPB,  button *pBtn)
        default:
            break;
     }
-    return 0;
+    return OK;
 }
 
 
@@ -388,7 +399,7 @@ uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
             default:
                 break;
         }
-return 0;
+return OK;
 }
 
 
@@ -520,7 +531,7 @@ uint32_t joggingMachine(  button *pBtn) //uint8_t OnOffPB,
 //
 //        }
 //    }
-return 0;
+return OK;
 }
 
 
@@ -657,3 +668,9 @@ void test_avi()
 
 }
 
+uint32_t LoadLongPress( button *pBtn)
+{
+
+    return OK;
+}
+
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 11ac84ea8..1baf9ceb9 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -150,7 +150,7 @@ uint32_t IDS_HomeDispenserBackMoveCallback(uint32_t motorId, uint32_t ReadValue)
         MotorStop(motorId,Hard_Hiz);
         CurrentDispenserSpeed[DispenserId] = 0;
         if (Extended_Motor_Param == true)
-            Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+            Power_Step_01_Dispenser_Mode(DispenserId,Voltage);
         MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
         HomingActive[DispenserId]= false;
         PrimingActive[DispenserId]= false;
@@ -226,7 +226,7 @@ uint32_t IDS_HomeDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr
         Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
         KeepMicrostep[DispenserId] = MotorsCfg[MotorId].microstep;
         if (Extended_Motor_Param == true)
-            Combined_dispenser_Driver_Mode(DispenserId,Current);
+            Power_Step_01_Dispenser_Mode(DispenserId,Current);
         MotorSetMicroStep(MotorId, 1);
         SysCtlDelay(180000);
         //open dry air valve in the dispenser
@@ -253,7 +253,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t DispenserId)
     Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
     Enable_MidTank_Pressure_Reading(DispenserId);
     if (Extended_Motor_Param == true)
-        Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+        Power_Step_01_Dispenser_Mode(DispenserId,Voltage);
     status |= MotorSetMicroStep(MotorId, KeepMicrostep[DispenserId]);
     status |= MotorStop(DispenserId, Hard_Hiz);
     CurrentDispenserSpeed[DispenserId] = 0;
@@ -298,7 +298,7 @@ uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
         }
         PrimingActive[DispenserId] = false;
         if (Extended_Motor_Param == true)
-            Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+            Power_Step_01_Dispenser_Mode(DispenserId,Voltage);
         MotorSetMicroStep(MotorId, KeepMicrostep[DispenserId]);
         CurrentDispenserSpeed[DispenserId] = 0;
         CurrentDispenserSpeed[DispenserId] = 0;
@@ -373,7 +373,7 @@ uint32_t IDS_EmptyDispenserCallback(uint32_t motorId, uint32_t ReadValue)
     MotorStop(motorId,Hard_Hiz);
     CurrentDispenserSpeed[DispenserId] = 0;
     if (Extended_Motor_Param == true)
-        Combined_dispenser_Driver_Mode(DispenserId,Voltage);
+        Power_Step_01_Dispenser_Mode(DispenserId,Voltage);
     MotorSetMicroStep(motorId, KeepMicrostep[DispenserId]);
     PrimingActive[DispenserId]= false;
     if (DispenserId == LUBRICANT_DISPENSER)
@@ -408,7 +408,7 @@ uint32_t IDS_EmptyDispenser (uint32_t DispenserId, uint32_t speed , callback_fpt
         //open dispenser valve dispenser to midtank direction
         Control3WayValvesWithCallback ((Valves_t)DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
         if (Extended_Motor_Param == true)
-            Combined_dispenser_Driver_Mode(DispenserId,Current);
+            Power_Step_01_Dispenser_Mode(DispenserId,Current);
         //Valve_Set((Valves_t) request->index, Dispenser_Mixer);
         KeepMicrostep[DispenserId] = MotorsCfg[MotorId].microstep;
         MotorSetMicroStep(MotorId, 1);
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
index ad66520ab..f00ba7849 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
@@ -22,7 +22,7 @@
 #define CARTRIDGE_INK_TIMEOUTx2         (SECONDS_600 / SECONDS_5)             /**< TimeOut (5 minutes) for second try finishing transfer the Ink from Ink cartridge to MidTank  */
 #define CartridgeInkTimeOutCallBackTime (eOneSecond * SECONDS_5)
 #define CartridgeInkCallBackTime        eOneSecond
-#define MidTank_Pressure_EMPTY          200  //todo get from Moti the correct number
+#define MidTank_Pressure_EMPTY          0.4  //todo get from Moti the correct number
 #define CARTRIDGE_CAPATICY 1500 //todo get from Moti the correct number
 #define FULL 1000   //todo get from Moti the correct number
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
index 3265fb56b..7796f09cf 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
@@ -897,7 +897,8 @@ bool WasteTankCBFunction()
                     cart1.color  = BLINK;
                     break;
             }
-            REPORT_MSG(WHS_full," ------------ close cartridge cover ----------------- ");
+#warning The messege removed (close cartridge cover)
+            //REPORT_MSG(WHS_full," ------------ close cartridge cover ----------------- ");
             IFS_info.INK_isOK_flag = true; // 1
 
             break;