add FPGA Reg stub + update motor deriver

5 files changed, 835 insertions, 37 deletions

diff --git a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
index 24ab2c88e..79464f61b 100644
--- a/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Common/MessageType.cs
@@ -22,7 +22,7 @@ namespace Tango.PMR.Common {
     static MessageTypeReflection() {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
-            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbiquGwoLTWVz",
+            "ChFNZXNzYWdlVHlwZS5wcm90bxIQVGFuZ28uUE1SLkNvbW1vbiqiHAoLTWVz",
             "c2FnZVR5cGUSCAoETm9uZRAAEhQKEENhbGN1bGF0ZVJlcXVlc3QQAxIVChFD",
             "YWxjdWxhdGVSZXNwb25zZRAEEhMKD1Byb2dyZXNzUmVxdWVzdBAFEhQKEFBy",
             "b2dyZXNzUmVzcG9uc2UQBhIcChhTdHViQ2FydHJpZGdlUmVhZFJlcXVlc3QQ",
@@ -66,42 +66,45 @@ namespace Tango.PMR.Common {
             "EVN0dWJNb3RvclJlc3BvbnNlEEISHAoYU3R1Yk1vdG9ySG9tZU1hcmtSZXF1",
             "ZXN0EEMSHQoZU3R1Yk1vdG9ySG9tZU1hcmtSZXNwb25zZRBEEh8KG1N0dWJN",
             "b3RvclJ1blN0ZXBUaWNrUmVxdWVzdBBFEiAKHFN0dWJNb3RvclJ1blN0ZXBU",
-            "aWNrUmVzcG9uc2UQRhIlCiBFeHRlcm5hbEJyaWRnZVVkcERpc2NvdmVyeVBh",
-            "Y2tldBDoBxIfChpFeHRlcm5hbENsaWVudExvZ2luUmVxdWVzdBDpBxIgChtF",
-            "eHRlcm5hbENsaWVudExvZ2luUmVzcG9uc2UQ6gcSIQocRGlyZWN0U3luY2hy",
-            "b25pemF0aW9uUmVxdWVzdBDrBxIiCh1EaXJlY3RTeW5jaHJvbml6YXRpb25S",
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-            "b25zZRDfDxIhChxEaXNwZW5zZXJBYm9ydEpvZ2dpbmdSZXF1ZXN0EOAPEiIK",
-            "HURpc3BlbnNlckFib3J0Sm9nZ2luZ1Jlc3BvbnNlEOEPEhkKFFNldERpZ2l0",
-            "YWxPdXRSZXF1ZXN0EOIPEhoKFVNldERpZ2l0YWxPdXRSZXNwb25zZRDjDxIZ",
-            "ChRUaHJlYWRKb2dnaW5nUmVxdWVzdBDkDxIaChVUaHJlYWRKb2dnaW5nUmVz",
-            "cG9uc2UQ5Q8SHgoZVGhyZWFkQWJvcnRKb2dnaW5nUmVxdWVzdBDmDxIfChpU",
-            "aHJlYWRBYm9ydEpvZ2dpbmdSZXNwb25zZRDnDxIdChhTZXRDb21wb25lbnRW",
-            "YWx1ZVJlcXVlc3QQ6A8SHgoZU2V0Q29tcG9uZW50VmFsdWVSZXNwb25zZRDp",
-            "DxIYChNSZXNvbHZlRXZlbnRSZXF1ZXN0EOoPEhkKFFJlc29sdmVFdmVudFJl",
-            "c3BvbnNlEOsPEg8KCkpvYlJlcXVlc3QQuBcSEAoLSm9iUmVzcG9uc2UQuRcS",
-            "FAoPQWJvcnRKb2JSZXF1ZXN0ELoXEhUKEEFib3J0Sm9iUmVzcG9uc2UQuxcS",
-            "IwoeVXBsb2FkUHJvY2Vzc1BhcmFtZXRlcnNSZXF1ZXN0ELwXEiQKH1VwbG9h",
-            "ZFByb2Nlc3NQYXJhbWV0ZXJzUmVzcG9uc2UQvRcSFAoPRGVidWdMb2dSZXF1",
-            "ZXN0EKAfEhUKEERlYnVnTG9nUmVzcG9uc2UQoR8SJwoiVXBsb2FkSGFyZHdh",
-            "cmVDb25maWd1cmF0aW9uUmVxdWVzdBCIJxIoCiNVcGxvYWRIYXJkd2FyZUNv",
-            "bmZpZ3VyYXRpb25SZXNwb25zZRCJJxIXChJTeXN0ZW1SZXNldFJlcXVlc3QQ",
-            "iicSGAoTU3lzdGVtUmVzZXRSZXNwb25zZRCLJxIVChBLZWVwQWxpdmVSZXF1",
-            "ZXN0EPAuEhYKEUtlZXBBbGl2ZVJlc3BvbnNlEPEuEhMKDkNvbm5lY3RSZXF1",
-            "ZXN0EPIuEhQKD0Nvbm5lY3RSZXNwb25zZRDzLhIWChFEaXNjb25uZWN0UmVx",
-            "dWVzdBD0LhIXChJEaXNjb25uZWN0UmVzcG9uc2UQ9S5CHAoaY29tLnR3aW5l",
-            "LnRhbmdvLnBtci5jb21tb25iBnByb3RvMw=="));
+            "aWNrUmVzcG9uc2UQRhIaChZTdHViRnBnYVJlYWRSZWdSZXF1ZXN0EEcSGwoX",
+            "U3R1YkZwZ2FSZWFkUmVnUmVzcG9uc2UQSBIbChdTdHViRnBnYVdyaXRlUmVn",
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+            "dGVybmFsQnJpZGdlVWRwRGlzY292ZXJ5UGFja2V0EOgHEh8KGkV4dGVybmFs",
+            "Q2xpZW50TG9naW5SZXF1ZXN0EOkHEiAKG0V4dGVybmFsQ2xpZW50TG9naW5S",
+            "ZXNwb25zZRDqBxIhChxEaXJlY3RTeW5jaHJvbml6YXRpb25SZXF1ZXN0EOsH",
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+            "b25zZRDuBxIbChZQdXNoRGlhZ25vc3RpY3NSZXF1ZXN0ENAPEhwKF1B1c2hE",
+            "aWFnbm9zdGljc1Jlc3BvbnNlENEPEhwKF01vdG9yQWJvcnRIb21pbmdSZXF1",
+            "ZXN0ENIPEh0KGE1vdG9yQWJvcnRIb21pbmdSZXNwb25zZRDTDxIXChJNb3Rv",
+            "ckhvbWluZ1JlcXVlc3QQ1A8SGAoTTW90b3JIb21pbmdSZXNwb25zZRDVDxIY",
+            "ChNNb3RvckpvZ2dpbmdSZXF1ZXN0ENYPEhkKFE1vdG9ySm9nZ2luZ1Jlc3Bv",
+            "bnNlENcPEh0KGE1vdG9yQWJvcnRKb2dnaW5nUmVxdWVzdBDYDxIeChlNb3Rv",
+            "ckFib3J0Sm9nZ2luZ1Jlc3BvbnNlENkPEiAKG0Rpc3BlbnNlckFib3J0SG9t",
+            "aW5nUmVxdWVzdBDaDxIhChxEaXNwZW5zZXJBYm9ydEhvbWluZ1Jlc3BvbnNl",
+            "ENsPEhsKFkRpc3BlbnNlckhvbWluZ1JlcXVlc3QQ3A8SHAoXRGlzcGVuc2Vy",
+            "SG9taW5nUmVzcG9uc2UQ3Q8SHAoXRGlzcGVuc2VySm9nZ2luZ1JlcXVlc3QQ",
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+            "ckFib3J0Sm9nZ2luZ1JlcXVlc3QQ4A8SIgodRGlzcGVuc2VyQWJvcnRKb2dn",
+            "aW5nUmVzcG9uc2UQ4Q8SGQoUU2V0RGlnaXRhbE91dFJlcXVlc3QQ4g8SGgoV",
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+            "c3BvbnNlEOcPEh0KGFNldENvbXBvbmVudFZhbHVlUmVxdWVzdBDoDxIeChlT",
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+            "ZXNwb25zZRC9FxIUCg9EZWJ1Z0xvZ1JlcXVlc3QQoB8SFQoQRGVidWdMb2dS",
+            "ZXNwb25zZRChHxInCiJVcGxvYWRIYXJkd2FyZUNvbmZpZ3VyYXRpb25SZXF1",
+            "ZXN0EIgnEigKI1VwbG9hZEhhcmR3YXJlQ29uZmlndXJhdGlvblJlc3BvbnNl",
+            "EIknEhcKElN5c3RlbVJlc2V0UmVxdWVzdBCKJxIYChNTeXN0ZW1SZXNldFJl",
+            "c3BvbnNlEIsnEhUKEEtlZXBBbGl2ZVJlcXVlc3QQ8C4SFgoRS2VlcEFsaXZl",
+            "UmVzcG9uc2UQ8S4SEwoOQ29ubmVjdFJlcXVlc3QQ8i4SFAoPQ29ubmVjdFJl",
+            "c3BvbnNlEPMuEhYKEURpc2Nvbm5lY3RSZXF1ZXN0EPQuEhcKEkRpc2Nvbm5l",
+            "Y3RSZXNwb25zZRD1LkIcChpjb20udHdpbmUudGFuZ28ucG1yLmNvbW1vbmIG",
+            "cHJvdG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Common.MessageType), }, null));
@@ -186,6 +189,10 @@ namespace Tango.PMR.Common {
     [pbr::OriginalName("StubMotorHomeMarkResponse")] StubMotorHomeMarkResponse = 68,
     [pbr::OriginalName("StubMotorRunStepTickRequest")] StubMotorRunStepTickRequest = 69,
     [pbr::OriginalName("StubMotorRunStepTickResponse")] StubMotorRunStepTickResponse = 70,
+    [pbr::OriginalName("StubFpgaReadRegRequest")] StubFpgaReadRegRequest = 71,
+    [pbr::OriginalName("StubFpgaReadRegResponse")] StubFpgaReadRegResponse = 72,
+    [pbr::OriginalName("StubFpgaWriteRegRequest")] StubFpgaWriteRegRequest = 73,
+    [pbr::OriginalName("StubFpgaWriteRegResponse")] StubFpgaWriteRegResponse = 74,
     /// <summary>
     ///Integration
     /// </summary>
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaReadRegRequest.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaReadRegRequest.cs
new file mode 100644
index 000000000..ce9d1133e
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaReadRegRequest.cs
@@ -0,0 +1,159 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubFpgaReadRegRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubFpgaReadRegRequest.proto</summary>
+  public static partial class StubFpgaReadRegRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubFpgaReadRegRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubFpgaReadRegRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "ChxTdHViRnBnYVJlYWRSZWdSZXF1ZXN0LnByb3RvEg9UYW5nby5QTVIuU3R1",
+            "YnMiKQoWU3R1YkZwZ2FSZWFkUmVnUmVxdWVzdBIPCgdBZGRyZXNzGAEgASgN",
+            "QhsKGWNvbS50d2luZS50YW5nby5wbXIuc3R1YnNiBnByb3RvMw=="));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubFpgaReadRegRequest), global::Tango.PMR.Stubs.StubFpgaReadRegRequest.Parser, new[]{ "Address" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubFpgaReadRegRequest : pb::IMessage<StubFpgaReadRegRequest> {
+    private static readonly pb::MessageParser<StubFpgaReadRegRequest> _parser = new pb::MessageParser<StubFpgaReadRegRequest>(() => new StubFpgaReadRegRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubFpgaReadRegRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubFpgaReadRegRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaReadRegRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaReadRegRequest(StubFpgaReadRegRequest other) : this() {
+      address_ = other.address_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaReadRegRequest Clone() {
+      return new StubFpgaReadRegRequest(this);
+    }
+
+    /// <summary>Field number for the "Address" field.</summary>
+    public const int AddressFieldNumber = 1;
+    private uint address_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Address {
+      get { return address_; }
+      set {
+        address_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubFpgaReadRegRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubFpgaReadRegRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Address != other.Address) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Address != 0) hash ^= Address.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Address != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(Address);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Address != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Address);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubFpgaReadRegRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Address != 0) {
+        Address = other.Address;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Address = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaReadRegResponse.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaReadRegResponse.cs
new file mode 100644
index 000000000..c95903bc6
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaReadRegResponse.cs
@@ -0,0 +1,250 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubFpgaReadRegResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubFpgaReadRegResponse.proto</summary>
+  public static partial class StubFpgaReadRegResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubFpgaReadRegResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubFpgaReadRegResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch1TdHViRnBnYVJlYWRSZWdSZXNwb25zZS5wcm90bxIPVGFuZ28uUE1SLlN0",
+            "dWJzIl0KF1N0dWJGcGdhUmVhZFJlZ1Jlc3BvbnNlEg8KB0FkZHJlc3MYASAB",
+            "KA0SDQoFVmFsdWUYAiABKA0SDgoGU3RhdHVzGAMgASgJEhIKClN0YXR1c1dv",
+            "cmQYBCABKA1CGwoZY29tLnR3aW5lLnRhbmdvLnBtci5zdHVic2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubFpgaReadRegResponse), global::Tango.PMR.Stubs.StubFpgaReadRegResponse.Parser, new[]{ "Address", "Value", "Status", "StatusWord" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubFpgaReadRegResponse : pb::IMessage<StubFpgaReadRegResponse> {
+    private static readonly pb::MessageParser<StubFpgaReadRegResponse> _parser = new pb::MessageParser<StubFpgaReadRegResponse>(() => new StubFpgaReadRegResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubFpgaReadRegResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubFpgaReadRegResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaReadRegResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaReadRegResponse(StubFpgaReadRegResponse other) : this() {
+      address_ = other.address_;
+      value_ = other.value_;
+      status_ = other.status_;
+      statusWord_ = other.statusWord_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaReadRegResponse Clone() {
+      return new StubFpgaReadRegResponse(this);
+    }
+
+    /// <summary>Field number for the "Address" field.</summary>
+    public const int AddressFieldNumber = 1;
+    private uint address_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Address {
+      get { return address_; }
+      set {
+        address_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Value" field.</summary>
+    public const int ValueFieldNumber = 2;
+    private uint value_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Value {
+      get { return value_; }
+      set {
+        value_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Status" field.</summary>
+    public const int StatusFieldNumber = 3;
+    private string status_ = "";
+    /// <summary>
+    /// Passed/Failed
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public string Status {
+      get { return status_; }
+      set {
+        status_ = pb::ProtoPreconditions.CheckNotNull(value, "value");
+      }
+    }
+
+    /// <summary>Field number for the "StatusWord" field.</summary>
+    public const int StatusWordFieldNumber = 4;
+    private uint statusWord_;
+    /// <summary>
+    /// Error number/bit when the status is Failed
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint StatusWord {
+      get { return statusWord_; }
+      set {
+        statusWord_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubFpgaReadRegResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubFpgaReadRegResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Address != other.Address) return false;
+      if (Value != other.Value) return false;
+      if (Status != other.Status) return false;
+      if (StatusWord != other.StatusWord) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Address != 0) hash ^= Address.GetHashCode();
+      if (Value != 0) hash ^= Value.GetHashCode();
+      if (Status.Length != 0) hash ^= Status.GetHashCode();
+      if (StatusWord != 0) hash ^= StatusWord.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Address != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(Address);
+      }
+      if (Value != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(Value);
+      }
+      if (Status.Length != 0) {
+        output.WriteRawTag(26);
+        output.WriteString(Status);
+      }
+      if (StatusWord != 0) {
+        output.WriteRawTag(32);
+        output.WriteUInt32(StatusWord);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Address != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Address);
+      }
+      if (Value != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Value);
+      }
+      if (Status.Length != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeStringSize(Status);
+      }
+      if (StatusWord != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(StatusWord);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubFpgaReadRegResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Address != 0) {
+        Address = other.Address;
+      }
+      if (other.Value != 0) {
+        Value = other.Value;
+      }
+      if (other.Status.Length != 0) {
+        Status = other.Status;
+      }
+      if (other.StatusWord != 0) {
+        StatusWord = other.StatusWord;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Address = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            Value = input.ReadUInt32();
+            break;
+          }
+          case 26: {
+            Status = input.ReadString();
+            break;
+          }
+          case 32: {
+            StatusWord = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaWriteRegRequest.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaWriteRegRequest.cs
new file mode 100644
index 000000000..36bfb94cd
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaWriteRegRequest.cs
@@ -0,0 +1,188 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubFpgaWriteRegRequest.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubFpgaWriteRegRequest.proto</summary>
+  public static partial class StubFpgaWriteRegRequestReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubFpgaWriteRegRequest.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubFpgaWriteRegRequestReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch1TdHViRnBnYVdyaXRlUmVnUmVxdWVzdC5wcm90bxIPVGFuZ28uUE1SLlN0",
+            "dWJzIjkKF1N0dWJGcGdhV3JpdGVSZWdSZXF1ZXN0Eg8KB0FkZHJlc3MYASAB",
+            "KA0SDQoFVmFsdWUYAiABKA1CGwoZY29tLnR3aW5lLnRhbmdvLnBtci5zdHVi",
+            "c2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubFpgaWriteRegRequest), global::Tango.PMR.Stubs.StubFpgaWriteRegRequest.Parser, new[]{ "Address", "Value" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubFpgaWriteRegRequest : pb::IMessage<StubFpgaWriteRegRequest> {
+    private static readonly pb::MessageParser<StubFpgaWriteRegRequest> _parser = new pb::MessageParser<StubFpgaWriteRegRequest>(() => new StubFpgaWriteRegRequest());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubFpgaWriteRegRequest> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubFpgaWriteRegRequestReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaWriteRegRequest() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaWriteRegRequest(StubFpgaWriteRegRequest other) : this() {
+      address_ = other.address_;
+      value_ = other.value_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaWriteRegRequest Clone() {
+      return new StubFpgaWriteRegRequest(this);
+    }
+
+    /// <summary>Field number for the "Address" field.</summary>
+    public const int AddressFieldNumber = 1;
+    private uint address_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Address {
+      get { return address_; }
+      set {
+        address_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "Value" field.</summary>
+    public const int ValueFieldNumber = 2;
+    private uint value_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint Value {
+      get { return value_; }
+      set {
+        value_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubFpgaWriteRegRequest);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubFpgaWriteRegRequest other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Address != other.Address) return false;
+      if (Value != other.Value) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Address != 0) hash ^= Address.GetHashCode();
+      if (Value != 0) hash ^= Value.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Address != 0) {
+        output.WriteRawTag(8);
+        output.WriteUInt32(Address);
+      }
+      if (Value != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(Value);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Address != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Address);
+      }
+      if (Value != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(Value);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubFpgaWriteRegRequest other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Address != 0) {
+        Address = other.Address;
+      }
+      if (other.Value != 0) {
+        Value = other.Value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 8: {
+            Address = input.ReadUInt32();
+            break;
+          }
+          case 16: {
+            Value = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code
diff --git a/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaWriteRegResponse.cs b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaWriteRegResponse.cs
new file mode 100644
index 000000000..0d3ffd64c
--- /dev/null
+++ b/Software/Visual_Studio/Tango.PMR/Stubs/StubFpgaWriteRegResponse.cs
@@ -0,0 +1,194 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: StubFpgaWriteRegResponse.proto
+#pragma warning disable 1591, 0612, 3021
+#region Designer generated code
+
+using pb = global::Google.Protobuf;
+using pbc = global::Google.Protobuf.Collections;
+using pbr = global::Google.Protobuf.Reflection;
+using scg = global::System.Collections.Generic;
+namespace Tango.PMR.Stubs {
+
+  /// <summary>Holder for reflection information generated from StubFpgaWriteRegResponse.proto</summary>
+  public static partial class StubFpgaWriteRegResponseReflection {
+
+    #region Descriptor
+    /// <summary>File descriptor for StubFpgaWriteRegResponse.proto</summary>
+    public static pbr::FileDescriptor Descriptor {
+      get { return descriptor; }
+    }
+    private static pbr::FileDescriptor descriptor;
+
+    static StubFpgaWriteRegResponseReflection() {
+      byte[] descriptorData = global::System.Convert.FromBase64String(
+          string.Concat(
+            "Ch5TdHViRnBnYVdyaXRlUmVnUmVzcG9uc2UucHJvdG8SD1RhbmdvLlBNUi5T",
+            "dHVicyI+ChhTdHViRnBnYVdyaXRlUmVnUmVzcG9uc2USDgoGU3RhdHVzGAEg",
+            "ASgJEhIKClN0YXR1c1dvcmQYAiABKA1CGwoZY29tLnR3aW5lLnRhbmdvLnBt",
+            "ci5zdHVic2IGcHJvdG8z"));
+      descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
+          new pbr::FileDescriptor[] { },
+          new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Stubs.StubFpgaWriteRegResponse), global::Tango.PMR.Stubs.StubFpgaWriteRegResponse.Parser, new[]{ "Status", "StatusWord" }, null, null, null)
+          }));
+    }
+    #endregion
+
+  }
+  #region Messages
+  public sealed partial class StubFpgaWriteRegResponse : pb::IMessage<StubFpgaWriteRegResponse> {
+    private static readonly pb::MessageParser<StubFpgaWriteRegResponse> _parser = new pb::MessageParser<StubFpgaWriteRegResponse>(() => new StubFpgaWriteRegResponse());
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pb::MessageParser<StubFpgaWriteRegResponse> Parser { get { return _parser; } }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public static pbr::MessageDescriptor Descriptor {
+      get { return global::Tango.PMR.Stubs.StubFpgaWriteRegResponseReflection.Descriptor.MessageTypes[0]; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    pbr::MessageDescriptor pb::IMessage.Descriptor {
+      get { return Descriptor; }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaWriteRegResponse() {
+      OnConstruction();
+    }
+
+    partial void OnConstruction();
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaWriteRegResponse(StubFpgaWriteRegResponse other) : this() {
+      status_ = other.status_;
+      statusWord_ = other.statusWord_;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public StubFpgaWriteRegResponse Clone() {
+      return new StubFpgaWriteRegResponse(this);
+    }
+
+    /// <summary>Field number for the "Status" field.</summary>
+    public const int StatusFieldNumber = 1;
+    private string status_ = "";
+    /// <summary>
+    /// Passed/Failed
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public string Status {
+      get { return status_; }
+      set {
+        status_ = pb::ProtoPreconditions.CheckNotNull(value, "value");
+      }
+    }
+
+    /// <summary>Field number for the "StatusWord" field.</summary>
+    public const int StatusWordFieldNumber = 2;
+    private uint statusWord_;
+    /// <summary>
+    /// Error number/bit when the status is Failed
+    /// </summary>
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public uint StatusWord {
+      get { return statusWord_; }
+      set {
+        statusWord_ = value;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override bool Equals(object other) {
+      return Equals(other as StubFpgaWriteRegResponse);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool Equals(StubFpgaWriteRegResponse other) {
+      if (ReferenceEquals(other, null)) {
+        return false;
+      }
+      if (ReferenceEquals(other, this)) {
+        return true;
+      }
+      if (Status != other.Status) return false;
+      if (StatusWord != other.StatusWord) return false;
+      return true;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override int GetHashCode() {
+      int hash = 1;
+      if (Status.Length != 0) hash ^= Status.GetHashCode();
+      if (StatusWord != 0) hash ^= StatusWord.GetHashCode();
+      return hash;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public override string ToString() {
+      return pb::JsonFormatter.ToDiagnosticString(this);
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void WriteTo(pb::CodedOutputStream output) {
+      if (Status.Length != 0) {
+        output.WriteRawTag(10);
+        output.WriteString(Status);
+      }
+      if (StatusWord != 0) {
+        output.WriteRawTag(16);
+        output.WriteUInt32(StatusWord);
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int CalculateSize() {
+      int size = 0;
+      if (Status.Length != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeStringSize(Status);
+      }
+      if (StatusWord != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeUInt32Size(StatusWord);
+      }
+      return size;
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(StubFpgaWriteRegResponse other) {
+      if (other == null) {
+        return;
+      }
+      if (other.Status.Length != 0) {
+        Status = other.Status;
+      }
+      if (other.StatusWord != 0) {
+        StatusWord = other.StatusWord;
+      }
+    }
+
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public void MergeFrom(pb::CodedInputStream input) {
+      uint tag;
+      while ((tag = input.ReadTag()) != 0) {
+        switch(tag) {
+          default:
+            input.SkipLastField();
+            break;
+          case 10: {
+            Status = input.ReadString();
+            break;
+          }
+          case 16: {
+            StatusWord = input.ReadUInt32();
+            break;
+          }
+        }
+      }
+    }
+
+  }
+
+  #endregion
+
+}
+
+#endregion Designer generated code