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

9 files changed, 51 insertions, 24 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index ee55c3bc9..a9ebb5c13 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -270,7 +270,7 @@ Void reportService(UArg arg0, UArg arg1)
 //            par2 = 0;
 //        }*/
         /* send message to subscribers */
-        messageDistribute( msg.message, DistTableEntry,msg.FileName, msg.LineNumber,msg.errorCode,msg.severity,msg.parameter2);
+        messageDistribute( msg.message, DistTableEntry,msg.FileName, msg.LineNumber,msg.errorCode,msg.severity,msg.parameter1);
     }
 }
 
@@ -704,8 +704,8 @@ static void messageDistribute(char *msg,
                               char *FileName,
                                int LineNumber,
                               int errorCode,
-                              int parameter1,
-                              int parameter2)
+                              int Severity,
+                              int parameter)
 {
     int index;
 
@@ -718,12 +718,13 @@ static void messageDistribute(char *msg,
     {
         if (Dist_Table[DistTableEntry].dest[index].function != NULL)
             Dist_Table[DistTableEntry].dest[index].function(msg,FileName,LineNumber,errorCode,parameter1,parameter2);
-    }*/
+    }
+    */
 
     if (ReportFunc1 != NULL)
-        ReportFunc1(msg,  FileName,LineNumber,errorCode,parameter1, parameter2);
+        ReportFunc1(msg,  FileName,LineNumber,errorCode,Severity, parameter);
     if (ReportFunc2 != NULL)
-        ReportFunc2(msg,  FileName,LineNumber,errorCode,parameter1, parameter2);
+        ReportFunc2(msg,  FileName,LineNumber,errorCode,Severity, parameter);
 
 }
 
diff --git a/Software/Embedded_SW/Embedded/Common/report/reportInit.c b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
index b9f676d3a..28df4846d 100644
--- a/Software/Embedded_SW/Embedded/Common/report/reportInit.c
+++ b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
@@ -64,8 +64,8 @@ int ReportResponseFunc(char *message,       /* The formatted message
                        char *FileName,
                        int LineNumber,
                            int errorCode,       /* error code that caused the report    */
-                           int parameter1,      /* user parameter no. 1                 */
-                           int parameter2)     /* user parameter no. 2                 */
+                           int Severity,      /* user parameter no. 1                 */
+                           int parameter)     /* user parameter no. 2                 */
 {
     MessageContainer responseContainer;
     if (protobufToken[0] == 0)
@@ -79,10 +79,30 @@ int ReportResponseFunc(char *message,       /* The formatted message
     response.errorcode = (ErrorCode)errorCode;
     response.has_severity = true;
     response.severity = (Severity)parameter1;*/
-    response.has_filter = true;
+    response.has_filter = false;
     response.has_category = true;
-    response.category = (DebugLogCategory)parameter1;
-    response.filter = parameter2;
+    switch (Severity)
+    {
+        case RpMessage:
+            response.category = DEBUG_LOG_CATEGORY__Info;
+            break;
+        case RpWarning:
+            response.category = DEBUG_LOG_CATEGORY__Warning;
+            break;
+        case RpError:
+            response.category = DEBUG_LOG_CATEGORY__Error;
+            break;
+        case RpFatalError:
+            response.category = DEBUG_LOG_CATEGORY__Critical;
+            break;
+        case RpPrivate:
+            response.category = DEBUG_LOG_CATEGORY__Debug;
+            break;
+        default:
+            response.category = DEBUG_LOG_CATEGORY__Info;
+            break;
+    }
+    response.filter = parameter;
     response.message = message;
         responseContainer = createContainer(MESSAGE_TYPE__StartDebugLogResponse, protobufToken, false, &response, &start_debug_log_response__pack, &start_debug_log_response__get_packed_size);
         responseContainer.continuous = true;
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 0383e3fee..c57cd969d 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -21,6 +21,7 @@
 #include "Drivers/ADC_Sampling/ADC.h"
 #include "Drivers/Peripheral_GPIO/GPIO.h"
 #include "drivers/Heater/Heater.h"
+#include "drivers/Motors/Motor.h"
 
 #include "Communication/CommunicationTask.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 3066153ab..1f48d5953 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -30,6 +30,8 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA.h"
+#include "drivers/Valves/Valve.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
 #include "modules/thread/thread_ex.h"
 #include "modules/ids/ids_ex.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 807b81e98..3f0b5f1f9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -17,6 +17,7 @@ typedef  uint32_t (* MSecFptr)(uint32_t deviceID, uint32_t ReadValue);
 int32_t MillisecWriteToMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
 int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
 int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
+int MillisecFlushMsgQ(TimerMotors_t MotorId);
 
 int32_t MillisecReadFromTempSensor(uint32_t TempSensorId, MSecFptr Callback);
 int MillisecFlushMsgQ(TimerMotors_t MotorId);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index bc9e11749..c96078771 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -14,6 +14,7 @@
 uint32_t IDSPrepareState(void *JobDetails);
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId);
 uint32_t IDSSegmentState(void *JobDetails, int SegmentId);
+uint32_t IDSEndState(void *JobDetails);
 
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 66cfb3c7d..4b7648e96 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -93,6 +93,18 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 // registration - 10msec, dispenser speed senseo
 // start the dispensing - move up according to the segment defined speed and microstepping, valve opened
 //
+void DispenserPrepareReady(void)
+{
+    int i;
+    for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
+    {
+        if (DispenserReady[i] == false)
+        {
+            return; //not all configured Dispensers are ready
+        }
+    }
+    PrepareReady(Module_IDS,ModuleDone);
+}
 
 //********************************************************************************************************************
  uint32_t IDSPrepareState(void *JobDetails)
@@ -135,18 +147,6 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
     DispenserPrepareReady();
     return OK;
 }
- void DispenserPrepareReady(void)
- {
-     int i;
-     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
-     {
-         if (DispenserReady[i] == false)
-         {
-             return; //not all configured Dispensers are ready
-         }
-     }
-     PrepareReady(Module_IDS,ModuleDone);
- }
 
 //********************************************************************************************************************
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
index cd53c5208..af46e4193 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -15,6 +15,7 @@
 #include "driverlib/gpio.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
+#include "drivers/Valves/Valve.h"
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 444a9fb5d..f5462e398 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -544,7 +544,7 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
      if (SpeedControlId != 0xFF)
      {
          RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
-         SpeedControlId == 0xFF;
+         SpeedControlId = 0xFF;
      }
      for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
      {