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

4 files changed, 16 insertions, 11 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index c8b660dc0..f4da887c7 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!
 */
-AlarmHandlingItemStruc  *AlarmItem;
-const AlarmHandlingItemStruc  HardCodedAlarmItem[MAX_SYSTEM_ALARMS]={
+//AlarmHandlingItemStruc  *AlarmItem;
+const AlarmHandlingItemStruc  AlarmItem[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"},
@@ -330,9 +330,9 @@ void AlarmHandlingInit(void)
         AlarmState[Alarm_i].EventPtr = NULL;
     }
 
-    AlarmItem = (AlarmHandlingItemStruc *)MOTOR_MAP_IN_FLASH;
-    ReadAppAndProgram(AlarmItem, sizeof(AlarmHandlingItemStruc)*MAX_SYSTEM_ALARMS, HardCodedAlarmItem);
-    LOG_ERROR(AlarmItem[2].EventName,"Flash Test");
+    //AlarmItem = (AlarmHandlingItemStruc *)MOTOR_MAP_IN_FLASH;
+    //ReadAppAndProgram(AlarmItem, sizeof(AlarmHandlingItemStruc)*MAX_SYSTEM_ALARMS, HardCodedAlarmItem);
+    //LOG_ERROR(AlarmItem[2].EventName,"Flash Test");
 
     return;
 }
@@ -395,6 +395,7 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
     case DEBUG_LOG_CATEGORY__Safety:
 
         watchdogCriticalAlarm = true;
+        LOG_ERROR(AlarmId,"Critical Alarm - Watchdog activated to reset  hardware");
 /*
         //stop all dispensers
         for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 8c308d2f4..580648842 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -221,7 +221,11 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
     {
         return ERROR;
     }
-
+    if (watchdogCriticalAlarm == true)
+    {
+        LOG_ERROR(1,"Critical Alarm cleared - Watchdog de-activated");
+        watchdogCriticalAlarm = false;
+    }
     EmbeddedParametersInit();
 
     PrintingHWConfiguration(request);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 7d851936c..db5d2738e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -191,6 +191,7 @@ uint32_t IDS_StopHomeDispenser (uint32_t deviceID)
     //close dry air valve in the dispenser
     Disable_MidTank_Pressure_Reading(deviceID);
     Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_OFF);
+    Control3WayValvesWithCallback ((Valves_t)deviceID, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
     MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index ed91f194a..d77d6f082 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -30,7 +30,7 @@ typedef struct
     bool                m_isReady;
     PID_Config_Params   m_params;
 }DispenserControlConfig_t;
-HardwarePidControl *DispensersControl = (HardwarePidControl *)GENHWCFG_MAP_IN_FLASH + 0x4000;;
+HardwarePidControl DispensersControl[MAX_SYSTEM_DISPENSERS] = {0};
 
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
@@ -67,10 +67,9 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
             break;
         }
     }
-    if (request->pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
-        request->pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
-    ReadAppAndProgram(&DispensersControl[Dispenser_i], sizeof(HardwarePidControl), request);
-
+    memcpy (&DispensersControl[Dispenser_i],request,sizeof(HardwarePidControl));
+    if (DispensersControl[Dispenser_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
+        DispensersControl[Dispenser_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
     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);