Add option in intadc stub to receive the pressure of 4 dispensers at the same time (bits) + continue the head board modules

9 files changed, 242 insertions, 33 deletions

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index 70317c590..c46a8db73 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -169,6 +169,9 @@
 							<tool id="com.ti.rtsc.buildDefinitions.XDC_3.16.tool.877121938" name="XDCtools" superClass="com.ti.rtsc.buildDefinitions.XDC_3.16.tool.437055464"/>
 						</toolChain>
 					</folderInfo>
+					<sourceEntries>
+						<entry excluding="src" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+					</sourceEntries>
 				</configuration>
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 3c2cc4cf6..b2fcca305 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -22,6 +22,8 @@
 #define MAX_STRING_LEN              255 //Embedded  version + filter.c
 
 #define WATCHDOG
+
+//#define FPGA_WATCHDOG_DISABLE
 //#define Use_Head_Card //for real card only
 //#define Test_headCard_With_DispCard_I2C4_Add0xE2_DispID_0
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h
index bde51f093..73c7c444b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h
@@ -9,7 +9,56 @@
 #define DRIVERS_I2C_COMMUNICATION_HEAD_CARD_ADC_HEAD_ADC_H_
 
 
+enum
+{
+    //Maximum value: 1.3V, 1 LSB: 2500/4096 mA
+    HEAD_CURRENT_ZONE_1,  //0
+    HEAD_CURRENT_ZONE_2,  //1
+    HEAD_CURRENT_ZONE_3,  //2
+    HEAD_CURRENT_ZONE_4,  //3
+    HEAD_CURRENT_ZONE_5,  //4
+    HEAD_CURRENT_ZONE_6,  //5
+    HEAD_CURRENT_ZONE_7,  //6
+    HEAD_CURRENT_ZONE_8,  //7
 
+}HEAD_ADC1_0x50;
 
+enum
+{
+    //Maximum value: 1.3V, 1 LSB: 2500/4096 mA
+    HEAD_CURRENT_ZONE_9,  //0
+    HEAD_CURRENT_ZONE_10, //1
+    HEAD_CURRENT_ZONE_11, //2
+    HEAD_CURRENT_ZONE_12, //3
+
+    //Maximum value: 2.1V, 1 LSB: 5000/4096 mA
+    HEAD_CURRENT_HTIN_1,  //4
+    HEAD_CURRENT_HTIN_2,  //5
+    HEAD_CURRENT_HTIN_3,  //6
+    HEAD_CURRENT_HTIN_4,  //7
+
+}HEAD_ADC2_0x54;
+
+enum
+{
+    //Maximum value: 2.1V, 1 LSB: 5000/4096 mA
+    HEAD_CURRENT_HTOT_1,  //0
+    HEAD_CURRENT_HTOT_2,  //1
+    HEAD_CURRENT_HTOT_3,  //2
+    HEAD_CURRENT_HTOT_4,  //3
+
+    //Maximum value: 1.7V, 1 LSB: 2500/4096 mA
+    HEAD_CURRENT_MIXER,   //4
+
+    //Maximum value: 2.34V, 1 LSB: 4.9 mA
+    HEAD_CURRENT_HT_TOTAL,//5
+
+    //Maximum value: 0.5V, 1 LSB: 2500/4096 mA
+    HEAD_CURRENT_VALUE,   //6
+
+    //Maximum value: (2.05 -2.3) V, 1 LSB: 27500/4096 mV
+    HEAD_CURRENT_24V      //7
+
+}HEAD_ADC3_0x56;
 
 #endif /* DRIVERS_I2C_COMMUNICATION_HEAD_CARD_ADC_HEAD_ADC_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h
index af16af86c..90784712b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h
@@ -9,7 +9,105 @@
 #define DRIVERS_I2C_COMMUNICATION_HEAD_CARD_IO_PORTS_HEAD_IO_H_
 
 
+//I2C expander: Zones ON, HTIN ON
+typedef union
+{
+    struct
+    {
+        bool OUTPUT_SWON_ZN1       : 1; //0
+        bool OUTPUT_SWON_ZN2       : 1; //1
+        bool OUTPUT_SWON_ZN3       : 1; //2
+        bool OUTPUT_SWON_ZN4       : 1; //3
+        bool OUTPUT_SWON_ZN5       : 1; //4
+        bool OUTPUT_SWON_ZN6       : 1; //5
+        bool OUTPUT_SWON_ZN7       : 1; //6
+        bool OUTPUT_SWON_ZN8       : 1; //7
+        bool OUTPUT_SWON_ZN9       : 1; //8
+        bool OUTPUT_SWON_ZN10      : 1; //9
+        bool OUTPUT_SWON_ZN11      : 1; //10
+        bool OUTPUT_SWON_ZN12      : 1; //11
+        bool OUTPUT_ON_HTIN1       : 1; //12
+        bool OUTPUT_ON_HTIN2       : 1; //13
+        bool OUTPUT_ON_HTIN3       : 1; //14
+        bool OUTPUT_ON_HTIN4       : 1; //15
+    }bits;
+    unsigned short ushort;
+}HEAD_I2C_EXP1_0x40;
 
+//I2C expander
+typedef union
+{
+    struct
+    {
+        bool OUTPUT_ON_HTOT1              : 1; //0
+        bool OUTPUT_ON_HTOT2              : 1; //1
+        bool OUTPUT_ON_HTOT3              : 1; //2
+        bool OUTPUT_ON_HTOT4              : 1; //3
+        bool OUTPUT_ON_MIX                : 1; //4
+        bool OUTPUT_VALVE_EN              : 1; //5
+        bool OUTPUT_VALVE_DIR             : 1; //6
+        bool OUTPUT_MAG_EN                : 1; //7
+        bool OUTPUT_MAG_DIR               : 1; //8
+        bool OUTPUT_HEAT_PW_ON            : 1; //9
+        bool OUTPUT_PT_SEL                : 1; //10
+        bool OUTPUT_PT_RSTn               : 1; //11
+        bool OUTPUT_ACT_RST               : 1; //12
+        bool OUTPUT_ACTLOW_ZN_LATCH_RST   : 1; //13 - 0 - Disable the Latch mode of disconnected power switch
+        bool OUTPUT_HTIN_LATCH_RST        : 1; //14
+        bool OUTPUT_HTOT_LATCH_RST        : 1; //15
+    }bits;
+    unsigned short ushort;
+}HEAD_I2C_EXP2_0x42;
+
+//I2C expander: Break Zones, Break HTIN
+typedef union
+{
+    struct
+    {
+        bool IN_ACTLOW_OCUR_BREAK_ZN1       : 1; //0
+        bool IN_ACTLOW_OCUR_BREAK_ZN2       : 1; //1
+        bool IN_ACTLOW_OCUR_BREAK_ZN3       : 1; //2
+        bool IN_ACTLOW_OCUR_BREAK_ZN4       : 1; //3
+        bool IN_ACTLOW_OCUR_BREAK_ZN5       : 1; //4
+        bool IN_ACTLOW_OCUR_BREAK_ZN6       : 1; //5
+        bool IN_ACTLOW_OCUR_BREAK_ZN7       : 1; //6
+        bool IN_ACTLOW_OCUR_BREAK_ZN8       : 1; //7
+        bool IN_ACTLOW_OCUR_BREAK_ZN9       : 1; //8
+        bool IN_ACTLOW_OCUR_BREAK_ZN10      : 1; //9
+        bool IN_ACTLOW_OCUR_BREAK_ZN11      : 1; //10
+        bool IN_ACTLOW_OCUR_BREAK_ZN12      : 1; //11
+        bool IN_ACTLOW_OCUR_BREAK_HTIN1     : 1; //12
+        bool IN_ACTLOW_OCUR_BREAK_HTIN2     : 1; //13
+        bool IN_ACTLOW_OCUR_BREAK_HTIN3     : 1; //14
+        bool IN_ACTLOW_OCUR_BREAK_HTIN4     : 1; //15
+    }bits;
+    unsigned short ushort;
+}HEAD_I2C_EXP3_0x44;
+
+//I2C expander
+typedef union
+{
+    struct
+    {
+        bool INPUT_BREAK_HTOT1       : 1; //0
+        bool INPUT_BREAK_HTOT1       : 1; //1
+        bool INPUT_BREAK_HTOT1       : 1; //2
+        bool INPUT_BREAK_HTOT1       : 1; //3
+        bool INPUT_BREAK_MIX         : 1; //4
+        bool INPUT_LIMIT_740W        : 1; //5
+        bool INPUT_FAN_ALERT         : 1; //6
+        bool OUTPUT_ACT_DIR          : 1; //7
+        bool INPUT_ACTIN_EN          : 1; //8
+        bool INPUT_ACTOT_EN          : 1; //9
+        bool OUTPUT_ACTIN_ON         : 1; //10
+        bool OUTPUT_ACTOT_ON         : 1; //11
+        bool INPUT_LS_FRONT          : 1; //12
+        bool INPUT_LS_REAR           : 1; //13
+        bool INPUT_LS_UP             : 1; //14
+        bool INPUT_LS_SPEAR          : 1; //15
+    }bits;
+    unsigned short ushort;
+}HEAD_I2C_EXP4_0x46;
 
 
 #endif /* DRIVERS_I2C_COMMUNICATION_HEAD_CARD_IO_PORTS_HEAD_IO_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/PT100_ADC.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/PT100_ADC.h
index 4369981c1..59ac94c32 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/PT100_ADC.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/PT100_ADC.h
@@ -12,6 +12,38 @@ extern uint32_t I2C_ADC_ADS122C04_SLAVE_ADD;
 
 extern uint32_t Data_ADC_Head;
 
+enum
+{
+    //16 channels for temperature measuring
+    HEAD_PT100_ZONE_1_0X80_0,        //0
+    HEAD_PT100_ZONE_2_0X80_1,        //1
+    HEAD_PT100_ZONE_3_0X82_0,        //2
+    HEAD_PT100_ZONE_4_0X82_1,        //3
+    HEAD_PT100_ZONE_5_0X84_0,        //4
+    HEAD_PT100_ZONE_6_0X84_1,        //5
+    HEAD_PT100_ZONE_7_0X86_0,        //6
+    HEAD_PT100_ZONE_8_0X86_1,        //7
+    HEAD_PT100_ZONE_9_0X88_0,        //8
+    HEAD_PT100_ZONE_10_0X88_1,       //9
+    HEAD_PT100_ZONE_11_0X8A_0,       //10
+    HEAD_PT100_ZONE_12_0X8A_1,       //11
+    HEAD_PT100_AIR_HEATER_1_0X8C_0,  //12
+    HEAD_PT100_AIR_HEATER_2_0X8C_1,  //13
+    HEAD_PT100_MIXER_0X8E_0,         //14
+    HEAD_PT100_RESERVE_0X8E_1,       //15
+}HEAD_PT100;
+
+#define HEAD_CONFIG_GAIN                ADS122X_GAIN_8
+#define HEAD_CONFIG_IDAC                ADS122X_IDAC_CURRENT_1000_UA
+#define HEAD_CONFIG_I1MUX               ADS122X_IDAC2_AIN0
+#define HEAD_CONFIG_I2MUX               ADS122X_IDAC1_AIN3
+
+#define HEAD_CONFIG_EVEN_PT100_MUX      ADS122X_MUX_AIN0_AIN1
+#define HEAD_CONFIG_ODD_PT100_MUX       ADS122X_MUX_AIN3_AIN2
+
+#define HEAD_CONFIG_EVEN_PT100_PT_SEL   0X00
+#define HEAD_CONFIG_ODD_PT100_PT_SEL    0X01
+
 typedef union
 {
     struct
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
index 8211a58ea..5e4b9fd85 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
@@ -25,6 +25,7 @@
 #include "Stub_Status.h"
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/adc_sampling/adc.h"
+#include <driverlib/adc.h>
 
 void Stub_IntADCReadRequest(MessageContainer* requestContainer)
 {
@@ -35,8 +36,36 @@ void Stub_IntADCReadRequest(MessageContainer* requestContainer)
     MessageContainer responseContainer;
 
     StubIntADCReadRequest* request = stub_int_adcread_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    status = PASSED;
+
+    StubIntADCReadResponse response =   STUB_INT_ADCREAD_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    uint32_t temp2 = request->adc_device;
+
+    if((temp2 & 0x8000) == 0x8000)
+    {
+        request->adc_device  = (request->adc_device & 0x1F) ;//the max id is 0x14 (remove the 0x8000)
 
-    if((request->adc_device & 0x8000) != 0x8000)// option to send the last read
+        if(request->adc_device == 0x02)//CHAN_DISPENSE_PRESSURE_1
+        {
+            response.sampling_in_bits    = (ADC_GetReading(ADC_CTL_CH2)<<16) | ADC_GetReading(ADC_CTL_CH3); //ISPENSE_PRESSURE_1 <<16 | DISPENSE_PRESSURE_2
+            response.voltage_sampling_mv = (ADC_GetReading(ADC_CTL_CH4)<<16) | ADC_GetReading(ADC_CTL_CH5); //ISPENSE_PRESSURE_3 <<16 | DISPENSE_PRESSURE_4
+        }
+        else
+        if(request->adc_device == 0x06)//CHAN_DISPENSE_PRESSURE_5
+        {
+            response.sampling_in_bits    = (ADC_GetReading(ADC_CTL_CH6)<<16) | ADC_GetReading(ADC_CTL_CH7); //ISPENSE_PRESSURE_5 <<16 | DISPENSE_PRESSURE_6
+            response.voltage_sampling_mv = (ADC_GetReading(ADC_CTL_CH8)<<16) | ADC_GetReading(ADC_CTL_CH9); //ISPENSE_PRESSURE_7 <<16 | DISPENSE_PRESSURE_8
+        }
+
+        response.adc_device = request->adc_device;
+        response.has_adc_device = true;
+        response.has_sampling_in_bits = true;
+        response.has_voltage_sampling_mv = true;
+    }
+    else
     {
         ADCAcquireInit();
         //SysCtlDelay(10000);
@@ -51,31 +80,27 @@ void Stub_IntADCReadRequest(MessageContainer* requestContainer)
         ADC0SS0Handler();
         //SysCtlDelay(100000);
         delayms(1);
-    }
-
-    request->adc_device  = (request->adc_device & 0x1F) ;//the max id is 0x14
 
-    data = ADC_GetReading((ADC_TYPE) request->adc_device);
-    status = PASSED;
 
-    StubIntADCReadResponse response =   STUB_INT_ADCREAD_RESPONSE__INIT;
+        request->adc_device  = (request->adc_device & 0x1F) ;//the max id is 0x14
 
-    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+        data = ADC_GetReading((ADC_TYPE) request->adc_device);
 
-    response.adc_device = request->adc_device;
-    response.has_adc_device = true;
-    response.sampling_in_bits = data;
-    response.has_sampling_in_bits = true;
 
-    float temp= 0;
-    temp = 4096 - data;
-    temp *= 3;
-    temp *= 1000; //move to mv
-    temp /= 4096;
-    response.voltage_sampling_mv = 3000 - temp;
-    response.has_voltage_sampling_mv = true;
+        response.adc_device = request->adc_device;
+        response.has_adc_device = true;
+        response.sampling_in_bits = data;
+        response.has_sampling_in_bits = true;
 
+        float temp= 0;
+        temp = 4096 - data;
+        temp *= 3;
+        temp *= 1000; //move to mv
+        temp /= 4096;
+        response.voltage_sampling_mv = 3000 - temp;
+        response.has_voltage_sampling_mv = true;
 
+    }
     responseContainer = createContainer(MESSAGE_TYPE__StubIntADCReadResponse, requestContainer->token, true, &response, &stub_int_adcread_response__pack, &stub_int_adcread_response__get_packed_size);
 
     stub_int_adcread_request__free_unpacked(request,NULL);
diff --git a/Software/Embedded_SW/Embedded/src/makefile.libs b/Software/Embedded_SW/Embedded/src/makefile.libs
index 6d9bf810f..f262762ef 100644
--- a/Software/Embedded_SW/Embedded/src/makefile.libs
+++ b/Software/Embedded_SW/Embedded/src/makefile.libs
@@ -1,6 +1,6 @@
 #
 # This file was generated based on the configuration script:
-#     C:\TFS\Software\Embedded_SW\Embedded\Embedded.cfg
+#     C:\Tango\Software\Embedded_SW\Embedded\Embedded.cfg
 #
 # This makefile may be included in other makefiles that need to build
 # the libraries containing the compiled source files generated as
@@ -14,7 +14,7 @@
 #
 # The absolute path to the generated source directory (at the time the
 # sources were generated) is:
-#    C:\TFS\Software\Embedded_SW\Embedded\src
+#    C:\Tango\Software\Embedded_SW\Embedded\src
 #
 GEN_SRC_DIR ?= ../src
 
diff --git a/Software/Embedded_SW/Embedded/src/sysbios/makefile b/Software/Embedded_SW/Embedded/src/sysbios/makefile
index 527c48702..1dec70826 100644
--- a/Software/Embedded_SW/Embedded/src/sysbios/makefile
+++ b/Software/Embedded_SW/Embedded/src/sysbios/makefile
@@ -1,29 +1,29 @@
 
-XOPTS = -I"C:/ti/xdctools_3_32_00_06_core/packages/" -Dxdc_target_types__=C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/std.h -Dxdc_target_name__=M4F
+XOPTS = -I"C:/TI/xdctools_3_32_00_06_core/packages/" -Dxdc_target_types__=C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/std.h -Dxdc_target_name__=M4F
 
-vpath % C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/
-vpath %.c C:/ti/xdctools_3_32_00_06_core/packages/
+vpath % C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/
+vpath %.c C:/TI/xdctools_3_32_00_06_core/packages/
 
 CCOPTS    = --endian=little -mv7M4 --abi=eabi --float_support=fpv4spd16 -q -ms --opt_for_speed=2  --program_level_compile -o3 -g --optimize_with_debug  -Dxdc_FILE=__FILE__  -Dti_sysbios_knl_Task_minimizeLatency__D=FALSE -Dti_sysbios_knl_Clock_stopCheckNext__D=FALSE -Dti_sysbios_family_arm_m3_Hwi_enableException__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_disablePriority__D=32U -Dti_sysbios_family_arm_m3_Hwi_numSparseInterrupts__D=0U
 
-XDC_ROOT  = C:/ti/xdctools_3_32_00_06_core/packages/
+XDC_ROOT  = C:/TI/xdctools_3_32_00_06_core/packages/
 
-BIOS_ROOT = C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/
+BIOS_ROOT = C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/
 
 BIOS_DEFS =  -Dti_sysbios_BIOS_swiEnabled__D=TRUE -Dti_sysbios_BIOS_taskEnabled__D=TRUE -Dti_sysbios_BIOS_clockEnabled__D=TRUE -Dti_sysbios_BIOS_runtimeCreatesEnabled__D=TRUE -Dti_sysbios_hal_Hwi_DISABLE_ALL_HOOKS -Dti_sysbios_knl_Swi_DISABLE_ALL_HOOKS -Dti_sysbios_BIOS_smpEnabled__D=FALSE -Dti_sysbios_Build_useHwiMacros -Dti_sysbios_knl_Swi_numPriorities__D=16 -Dti_sysbios_knl_Task_deleteTerminatedTasks__D=FALSE -Dti_sysbios_knl_Task_numPriorities__D=16 -Dti_sysbios_knl_Task_checkStackFlag__D=TRUE -Dti_sysbios_knl_Task_initStackFlag__D=TRUE -Dti_sysbios_knl_Task_DISABLE_ALL_HOOKS -Dti_sysbios_knl_Clock_TICK_SOURCE=ti_sysbios_knl_Clock_TickSource_TIMER -Dti_sysbios_knl_Clock_TICK_MODE=ti_sysbios_knl_Clock_TickMode_PERIODIC -Dti_sysbios_hal_Core_delegate_getId=ti_sysbios_hal_CoreNull_getId__E -Dti_sysbios_hal_Core_delegate_interruptCore=ti_sysbios_hal_CoreNull_interruptCore__E -Dti_sysbios_hal_Core_delegate_lock=ti_sysbios_hal_CoreNull_lock__E -Dti_sysbios_hal_Core_delegate_unlock=ti_sysbios_hal_CoreNull_unlock__E -Dti_sysbios_hal_Core_numCores__D=1 -Dti_sysbios_hal_CoreNull_numCores__D=1 -Dti_sysbios_utils_Load_taskEnabled__D=TRUE -Dti_sysbios_utils_Load_swiEnabled__D=FALSE -Dti_sysbios_utils_Load_hwiEnabled__D=FALSE -Dti_sysbios_family_arm_m3_Hwi_dispatcherSwiSupport__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_dispatcherTaskSupport__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_dispatcherAutoNestingSupport__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_dispatcherIrpTrackingSupport__D=TRUE -Dti_sysbios_knl_Semaphore_supportsEvents__D=FALSE -Dti_sysbios_knl_Semaphore_supportsPriority__D=TRUE
 
-BIOS_INC  = -I"C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/"
+BIOS_INC  = -I"C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/"
 
-TARGET_INC = -I"C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/"
+TARGET_INC = -I"C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/"
 
 INCS = $(BIOS_INC) $(TARGET_INC)  
 
-CC = C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.6.LTS/bin/armcl -c $(CCOPTS) -I C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.6.LTS/include
-ASM = C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.6.LTS/bin/armcl -c $(CCOPTS) -I C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.6.LTS/include
-AR = C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.6.LTS/bin/armar rq
+CC = C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/bin/armcl -c $(CCOPTS) -I C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/include
+ASM = C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/bin/armcl -c $(CCOPTS) -I C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/include
+AR = C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/bin/armar rq
 
-DEL = C:/ti/xdctools_3_32_00_06_core/packages/../bin/rm -f
-CP = C:/ti/xdctools_3_32_00_06_core/packages/../bin/cp -f
+DEL = C:/TI/xdctools_3_32_00_06_core/packages/../bin/rm -f
+CP = C:/TI/xdctools_3_32_00_06_core/packages/../bin/cp -f
 
 define RM
 	$(if $(wildcard $1),$(DEL) $1,:)
diff --git a/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f b/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f
index ba32940b8..3fa7cd628 100644
--- a/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f
+++ b/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f