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#include <PMR/Stubs/StubL6470DriverResponse.pb-c.h>
#include <PMR/Stubs/StubL6470DriverRequest.pb-c.h>
#include <stdbool.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include <Stubs_Handler/DataDef.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_uart.h"
#include "usb_serial_adapter.h"
#include "graphics_adapter.h"
#include "MessageContainer.pb-c.h"
#include "Container.h"
#include "Stub_Status.h"
#include "drivers/FPGA/FPGA.h"
#include "drivers/SPI/SPI_Comm.h"
#include "drivers/FPGA/Moters_Driver/L6470.h"
#include "driverlib/ssi.h"
unsigned long Run_Value = 136902 ;
unsigned long Pos_Value;
unsigned long Mov_Value ;
bool Direction ;
unsigned long Time_2_Change_Direction ;
bool Display_Tx_ON_LCD;
bool Display_Rx_on_LCD;
unsigned long Init_MicroStep ;
unsigned long Init_Acc;
unsigned long Init_Dec;
bool TestBool_1;
bool TestBool_2;
bool TestBool_3;
bool TestBool_4;
bool TestBool_5;
unsigned long TestUint32_1;
unsigned long TestUint32_2;
unsigned long TestUint32_3;
unsigned long TestUint32_4;
unsigned long TestUint32_5;
unsigned long TestUint32_6;
void Stub_L6470DriverRequest(MessageContainer* requestContainer)
{
uint32_t status = PASSED;
MessageContainer responseContainer;
StubL6470DriverRequest* request = stub_l6470_driver_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
Run_Value = request->run_value;
Mov_Value = request->mov_value;
Direction = request->direction;
Time_2_Change_Direction = request->time_2_change_direction;
Display_Tx_ON_LCD = request->display_tx_on_lcd;
Display_Rx_on_LCD = request->display_rx_on_lcd;
Init_MicroStep = request->init_microstep;
Init_Acc = request->init_acc;
Init_Dec = request->init_dec;
TestBool_1 = request->testbool_1;
TestBool_2 = request->testbool_2;
TestBool_3 = request->testbool_3;
TestBool_4 = request->testbool_4;
TestBool_5 = request->testbool_5;
TestUint32_1 = request->testuint32_1;
TestUint32_2 = request->testuint32_2;
TestUint32_3 = request->testuint32_3;
TestUint32_4 = request->testuint32_4;
TestUint32_5 = request->testuint32_5;
TestUint32_6 = request->testuint32_6;
writeLine("L6470 Request: ");
writeFloat(request->run_value);
//status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
SPI_Control(INIT);
//temp_init_spi2();
StubL6470DriverResponse response = STUB_L6470_DRIVER_RESPONSE__INIT;
status_response(status,&response.status, &response.statusword ,&response.has_statusword);
//response.run_value = Get_Param(x_SPEED);
/*
response.mov_value = ;
response.day = Day;
response.has_day = true;
response.month = Month;
response.has_month = true;
response.year = Year;
response.has_year = true;
response.ver_num = Version;
response.has_ver_num = true;
*/
responseContainer = createContainer(MESSAGE_TYPE__StubL6470DriverResponse, requestContainer->token, true, &response, &stub_l6470_driver_response__pack, &stub_l6470_driver_response__get_packed_size);
writeLine("Sending Response: ");
writeFloat(response.run_value);
/*
writeString(", ");
writeFloat(response.day);
writeString(", ");
writeFloat(response.month);
writeString(", ");
writeFloat(response.year);
writeString(", ");
writeFloat(response.ver_num);
writeString(", ");
*/
Write_status_response(status);
free(request);
//-------------------------------------------------------------------------------------------
uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
size_t container_size = message_container__pack(&responseContainer, container_buffer);
SendChars((char*)container_buffer, container_size);
free(container_buffer);
free(requestContainer);
//StartUSB(ui32SysClock); //todo to test the USB comm problem after using 6470
}
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