add the function test_dancer_responce_RTFU .

in order to use it unmark the define test_RTFU_dancer
stub : stubManager.Run<ProgressResponse>("ProgressRequest" ,0xdace, 1);// triger, direction 0 or 1

6 files changed, 89 insertions, 5 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 3ca1c54cc..ecd04b742 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -11,6 +11,7 @@
 //#define USE_USB
 #define Stub_Mode 1
 #define USE_HIGH_SPEED_GPIO // to use AHB GPIO (A..J) ports A-J APB or AHB, ports K-Q on AHB only
+//#define  test_RTFU_dancer 1
 //#define WithTempSensorFiltrer (to use the function Filter_Temparature_Measurement)
 //#define DEBUG_TEST_FUNCTIONS
 #define  HIZ_TIMEOUT 1000
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
index 749fad6b0..ae814a8cb 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
@@ -5,7 +5,7 @@
  *      Author: avi
  */
 
-
+#include "include.h"
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -27,7 +27,8 @@
 
 #include "drivers/FPGA/FPGA_SSI_Comm.h"
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
-
+#include <driverlib/timer.h>
+#include "Modules/Control/MillisecTask.h"
 
 
 extern SSI_DANCER_ENC DANCER_ENC[NUM_OF_ROTENC];
@@ -105,5 +106,58 @@ void Loop_SSI()
 
 }
 
+//-----------------------------------------------------------------
+
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+bool test_dancer_direction = false, test_dancer_flag = false;
+
+void test_dancer_responce_RTFU()
+{
+    static uint32_t i = 0, FT = 0;
+
+    static uint32_t save_milisec = 0;
+
+    static uint16_t Save_start_ENC = 0;
+
+
+    if(test_dancer_flag == true)
+    {
+        i=1;
+        test_dancer_flag = false;
+        MotorDriverRequest[21].Direction = test_dancer_direction;
+        //MotorDriverRequest[21].Speed = 60;
+        //FPGA_SetMotSpeedDirect(21);//RDancer
+        MotorSetSpeed(21, 60);
+        save_milisec = msec_millisecondCounter;
+    }
+
+    if((i>0)&&(i<5000))
+    {
+        FPGA_SSI_Transmit(2);//RDancer
+        delayUs(100);
+        FPGA_SSI_Receive(2);//RDancer
+
+        if(i == 1)
+        {
+            Save_start_ENC = DANCER_ENC[2].Position;
+        }
+        if((((DANCER_ENC[2].Position - Save_start_ENC) >= 2 ) || ((Save_start_ENC - DANCER_ENC[2].Position) >= 2 )) && (FT == 0))
+        {
+            FT = 1;
+            Report("*-*-*-*-* time till movement mSec *-*-*-*-*", __FILE__, __LINE__, 0, RpMessage, (int)(/*abs*/(msec_millisecondCounter-save_milisec)), 0);
+
+        }
+
+        Report("*-*-*-*-* test_dancer_responce_RTFU *-*-*-*-*", __FILE__, __LINE__, 0, RpMessage, (int)(DANCER_ENC[2].Position), 0);
+        i=i+1;
+    }
+    else
+    {
+        i=0;
+        FT = 0;
+        //MotorDriverRequest[21].Stop = Hard_Stop;
+        //FPGA_SetMotStop(21);
+    }
+}
 
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
index 8c9d8cfd7..6598b88c2 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
@@ -17,7 +17,10 @@ uint32_t Read_Dryer_Status(HardwareDancerType DancerId);
 
 void Loop_SSI();
 
+void test_dancer_responce_RTFU(bool motor_direction);
+void test_dancer_responce_RTFU();
 
 
+extern bool test_dancer_direction, test_dancer_flag;
 
 #endif /* DRIVERS_SSI_COMM_DANCER_DANCER_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index dfd01cef5..e2e006ba6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -490,9 +490,15 @@ uint32_t MillisecLoop(uint32_t tick)
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
    SaveLogData();
 #else
-    Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
-    Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER);
-    Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER);
+
+    #ifdef test_RTFU_dancer
+       test_dancer_responce_RTFU();
+    #else
+        Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
+        Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER);
+        Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER);
+    #endif
+
 #endif
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 9335a6d08..25336f50c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -52,5 +52,7 @@ void MillisecLogClose(void);
 
 extern bool watchdogCriticalAlarm;
 
+extern uint32_t        Millisec_timerBase;
+
 extern Task_Handle Millisecond_Task_Handle;
 #endif /* MODULES_CONTROL_MILLISECTASK_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index fff8596f8..30067afa9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -86,6 +86,24 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         response.has_progress = true;
     }
     else
+    if(request->amount == 0xdace)//test_dancer_responce_RTFU
+    {
+        test_dancer_flag = true;
+
+        if(request->delay == 0x01)
+        {
+            test_dancer_direction  = true;
+        }
+        else
+        if(request->delay == 0x00)
+        {
+            test_dancer_direction  = false;
+        }
+
+        response.progress = 0xdace;
+        response.has_progress = true;
+    }
+    else
         if(request->amount == 0x3EC)
         {
             if(request->delay == 0x01)