fixes for new version.

11 files changed, 55 insertions, 38 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/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index 8d2d9462a..da4b66b4e 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,5,3,0};
+TangoVersion_t _gTangoVersion = {1,5,3,1};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
 
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c b/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c
index 749152b2e..420e1dbc3 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c
@@ -819,7 +819,7 @@ usnprintf(char * restrict s, size_t n, const char * restrict format, ...)
     //
     // Call vsnprintf to perform the conversion.
     //
-    ret = vsnprintf(s, n, format, arg);
+    ret = uvsnprintf(s, n, format, arg);
 
     //
     // End the varargs processing.
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/Main.c b/Software/Embedded_SW/Embedded/Main.c
index e6455e46c..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;
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index eceb92d63..0086d6934 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -671,7 +671,7 @@ JobEndReasonEnum getEndReason(uint32_t AlarmId)
                 return JOB_OTHER_ALARM;
             }
         case ALARM_SOURCE_TYPE__FluidLevelAlarm:
-            usnprintf(AlarmReasonStr, 100, "Midtank %d is empty",AlarmItem[AlarmId].DeviceId);
+            usnprintf(AlarmReasonStr, 100, "Midtank %d is empty",AlarmItem[AlarmId].DeviceId+1);
             return JOB_OUT_OF_DYE;
         default:
             usnprintf(AlarmReasonStr, 100, "Alarm %d type %d caused a job stop",AlarmId,AlarmItem[AlarmId].EventType);
@@ -1112,32 +1112,36 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
         if (AlarmItem[Alarm_i].EventType == AlarmId)
         {
             //if (0) // PERSISTENT ALARM
-  			if ((AlarmItem[Alarm_i].isPersistent == true)&&(value == true)) // PERSISTENT ALARM simulate   Currently looking for "true" value, otherwise the currently existing OFF event appears
+  			if (AlarmItem[Alarm_i].isPersistent == true) // PERSISTENT ALARM simulate   Currently looking for "true" value, otherwise the currently existing OFF event appears
             {
-                if (PersistentEventsResponse.events == NULL)
-                    PersistentEventsResponse.events = (Event **)my_malloc(sizeof(Event*)*(PersistentEventsResponse.n_events+1));
-                else
-                {
-                    re_events = (Event **)my_malloc(sizeof(Event*)*(PersistentEventsResponse.n_events+1));
-                    for (Event_i = 0;Event_i < (PersistentEventsResponse.n_events);Event_i++)
-                    {
-                        re_events[Event_i] = PersistentEventsResponse.events[Event_i];
-                    }
-                    my_free(PersistentEventsResponse.events);
-                    PersistentEventsResponse.events = re_events;
-                }
-                AlarmState[Alarm_i].EventPtr = my_malloc (sizeof(Event));
-                if (AlarmState[Alarm_i].EventPtr)
-                {
-                    event__init(AlarmState[Alarm_i].EventPtr);
-                    AlarmState[Alarm_i].EventPtr->has_type = true;
-                    AlarmState[Alarm_i].EventPtr->type = AlarmItem[Alarm_i].EventType;
-                    AlarmState[Alarm_i].EventPtr->message = NULL;//AlarmItem[Alarm_i].EventName;
-                }
-                //AlarmState[Alarm_i].Status = true;
-                PersistentEventsResponse.events[PersistentEventsResponse.n_events] = AlarmState[Alarm_i].EventPtr;
-                PersistentEventsResponse.n_events++;
-                ReportWithPackageFilter(AlarmFilter,"Persistent Alarm ", __FILE__,PersistentEventsResponse.n_events,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+  	            if (value == true) // PERSISTENT ALARM simulate   Currently looking for "true" value, otherwise the currently existing OFF event appears
+  	            {
+  	                if (PersistentEventsResponse.events == NULL)
+  	                    PersistentEventsResponse.events = (Event **)my_malloc(sizeof(Event*)*(PersistentEventsResponse.n_events+1));
+  	                else
+  	                {
+  	                    re_events = (Event **)my_malloc(sizeof(Event*)*(PersistentEventsResponse.n_events+1));
+  	                    for (Event_i = 0;Event_i < (PersistentEventsResponse.n_events);Event_i++)
+  	                    {
+  	                        re_events[Event_i] = PersistentEventsResponse.events[Event_i];
+  	                    }
+  	                    my_free(PersistentEventsResponse.events);
+  	                    PersistentEventsResponse.events = re_events;
+  	                }
+  	                AlarmState[Alarm_i].EventPtr = my_malloc (sizeof(Event));
+  	                if (AlarmState[Alarm_i].EventPtr)
+  	                {
+  	                    event__init(AlarmState[Alarm_i].EventPtr);
+  	                    AlarmState[Alarm_i].EventPtr->has_type = true;
+  	                    AlarmState[Alarm_i].EventPtr->type = AlarmItem[Alarm_i].EventType;
+  	                    AlarmState[Alarm_i].EventPtr->message = NULL;//AlarmItem[Alarm_i].EventName;
+  	                }
+  	                //AlarmState[Alarm_i].Status = true;
+  	                PersistentEventsResponse.events[PersistentEventsResponse.n_events] = AlarmState[Alarm_i].EventPtr;
+  	                PersistentEventsResponse.n_events++;
+  	                ReportWithPackageFilter(AlarmFilter,"Persistent Alarm ", __FILE__,PersistentEventsResponse.n_events,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+  	            }
+  	            else return;
             }
             else
             {
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 872f772e2..807e9f8e9 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -120,7 +120,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
     }
     if (saveData == true)
     {
-        if ((ProcessParams->dryerzone1temp > 0.1)&&(ProcessParams->headzone2temp > 0.1)&&(ProcessParams->headzone3temp > 0.1)&&(ProcessParams->headzone1temp > 0.1))//NOT turning off heaters
+        if ((ProcessParams->dryerzone1temp > 0.1)||(ProcessParams->headzone2temp > 0.1)||(ProcessParams->headzone3temp > 0.1)||(ProcessParams->headzone1temp > 0.1))//NOT turning off heaters
         {
             Bytes = sizeof(ProcessParameters);
             FileWrite(ProcessParams,Bytes,ProcessParamsConfigPath,BIOS_WAIT_FOREVER);
@@ -383,7 +383,7 @@ uint32_t LoadProcessParamsFromFile(void)
 
         if (ProcessParams!=NULL)
         {
-            if ((ProcessParams->dryerzone1temp > 0.1)&&(ProcessParams->headzone2temp > 0.1)&&(ProcessParams->headzone3temp > 0.1)&&(ProcessParams->headzone4temp > 0.1))//NOT turning off heaters
+            if ((ProcessParams->dryerzone1temp > 0.1)||(ProcessParams->headzone2temp > 0.1)||(ProcessParams->headzone3temp > 0.1)||(ProcessParams->headzone4temp > 0.1))//NOT turning off heaters
             {
                 Bytes = sizeof(ProcessParameters);
                 EraseFlashSection(PROCESS_PARAMETERS_MAP_IN_FLASH);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index ab2062293..400eab33e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -237,10 +237,16 @@ bool     IDS_IsHomingActive(uint32_t DispenserId)
 uint32_t IDS_HomeDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr callback)
 {
     assert(DispenserId < MAX_SYSTEM_DISPENSERS);
+    TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + DispenserId;
     //if (DispensersAlarmState[DispenserId] == true)
     //    return ERROR;
 
     double midTankContent = 0.0;
+    if (isMotorConfigured(MotorId)==false)
+    {
+        ReportWithPackageFilter(IDSFilter,"IDS_HomeDispenser - Disp not in config",__FILE__,Dispenser_Id_to_LS_Id[DispenserId],(int)DispenserId,RpWarning,LIMIT,0);
+        return ERROR;
+    }
     if (FPGA_Read_limit_Switches(Dispenser_Id_to_LS_Id[DispenserId]) == LIMIT)
     {
         ReportWithPackageFilter(IDSFilter,"IDS_HomeDispenser - Disp is full",__FILE__,Dispenser_Id_to_LS_Id[DispenserId],(int)DispenserId,RpWarning,LIMIT,0);
@@ -275,7 +281,6 @@ uint32_t IDS_HomeDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr
     }
     HomingRequestCallback[DispenserId] = callback;
 
-    TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + DispenserId;
     if ( Dispenser_Id_to_LS_Id[DispenserId] != MAX_GPI)
     {
         HomingActive[DispenserId] = true;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index a28d00a91..95f6420c1 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -884,11 +884,13 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
      }
 
      NumOfActiveDispensers = 0;
+#ifndef LIGHT_COLORS
      if (lubricant_speed > 0.1)
          IDS_StopHomeDispenser(LUBRICANT_DISPENSER);
       if ((EnableIntersegment == true)&&(IntersegmentLength>0))
          IDS_StopHomeDispenser(CLEANER_DISPENSER);
-     for (i = 0; i < MAX_DYE_DISPENSERS; i++)
+#endif
+      for (i = 0; i < MAX_DYE_DISPENSERS; i++)
      {
          if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
          {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 5fee72dc7..ba505493d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -1235,7 +1235,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
             SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
         }
 #endif
-#ifndef BTSR_NO_PULLER_TFU
+//#ifndef BTSR_NO_PULLER_TFU
         if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
         {
             ReportWithPackageFilter(ThreadFilter,"Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0);
@@ -1249,7 +1249,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
             PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
             PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
         }
-#endif
+//#endif
 #ifndef BTSR_NO_FEEDER_TFU
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
             {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index a2a0d6f67..15ef98bfb 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -1114,7 +1114,7 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
         strcpy (infomsg,Message);
         Report(infomsg,__FILE__,__LINE__,55,RpWarning,33,  44);
     }*/
-    UInt Key = Task_disable();
+    //UInt Key = Task_disable();
     double totlength = 0;
 
     if (JobToken[0] != 0)
@@ -1245,7 +1245,7 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
     }
 //    if (responseContainer.data.data)
 //        my_free(responseContainer.data.data);
-    Task_restore(Key);
+    //Task_restore(Key);
 
 }
 void JobStopReporting(void)