path: root/Software/Embedded_SW/Embedded/Main.c

#include <Container.h>
#include "include.h"
/*#include <stdbool.h>
#include <stdio.h>
#include <xdc/runtime/System.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
//#include <ti/drivers/USBMSCHFatFs.h>
#include <driverlib/sysctl.h>
#include <driverlib/interrupt.h>
#include <driverlib/rom_map.h>
#include <ti/sysbios/knl/Semaphore.h>
*/
#include <driverlib/sysctl.h>
#include "driverlib/eeprom.h"

#include "Drivers/USB_Communication/USBCDCD.h"
#include "Drivers/I2C_Communication/I2C.h"
#include "PMR/common/MessageContainer.pb-c.h"
#include "Common/Sys_PinOut_Config/Pin.h"
#include "Common/Sys_PinOut_Config/Pin_config.h"
#include "Common/utilities/idle_task.h"
#include "Drivers/ADC_Sampling/ADC.h"

#include "drivers/Heater/Heater.h"
#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>
#include <xdc/runtime/Types.h>

#include <xdc/runtime/Main.h>
#include <xdc/runtime/Assert.h>


#include "drivers/Flash_ram/FlashProgram.h"
#include "drivers/Flash_ram/MCU_E2Prom.h"

#include <DataDef.h>
#include "Sys_PinOut_Config/MCU_MAIN_pinout.h"
#include <Drivers/I2C_Communication/I2C.h>
#include "drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.h"
#include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h>
#include "Drivers/Uart_Comm/BTSR/BTSR.h"

/*
#include "Drivers/SPI_SDCARD/SDSPI.h"
#include "Drivers/SPI_SDCARD/SDCardSPI.h"
#include "Drivers/Ethernet_Config/EMACCommon.h"
#include "Drivers/USBStick_FileSys/USBstick.h"
#include "Drivers/USBStick_FileSys/USBMSCHFatFs.h"
*/
#include "Common/SW_Info/SW_Info.h"

#include "Modules/Control/control.h"
#include "Modules/Control/MillisecTask.h"
#include "Modules/Heaters/Heaters_ex.h"
#include "Modules/Ids/Ids_ex.h"
#include "Modules/AlarmHandling/AlarmHandling.h"

#include "StateMachines/Printing/PrintingSTM.h"
#include "StateMachines/Initialization/InitSequence.h"
#include "StateMachines/Initialization/PowerIdle.h"
#include <Drivers/SSI_Comm/SSI_Comm.h>
#include "drivers/SPI/SPI_Comm.h"
#include "drivers/Uart_Comm/Uart.h"
#include "drivers/valves/valve.h"

#include "drivers/FPGA/FPGA.h"
#include <drivers/FPGA/FPGA_Comm.h>
#include <drivers/FPGA/FPGA_INTERRUPTS/fpga_interrupts.h>

#include "Drivers/I2C_Communication/I2C.h"

#include "Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.h"

#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"

#include "drivers/Flash_Memory/FATFS/ff.h"
#include "drivers/Flash_Memory/FATFS/Control_File_System.h"

#include "Modules/General/buttons.h"
#include <Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h>
#include "Drivers/I2C_Communication/Main_Board_EEPROM/Main_EEPROM.h"
#include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
#include "Drivers/I2C_Communication/Head_Card/EEPROM/Head_EEPROM.h"
#include "modules/AlarmHandling/AlarmHandling.h"
#include <Drivers/I2C_Communication/I2C_Task.h>
#include <Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.h>
#include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h>

#include <Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.h>
#include <Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_RFID.h>
#include <Drivers/I2C_Communication/RFID_NFC/RFIDTagInfo.h>
#include <Drivers/I2C_Communication/RFID_NFC/NFC.h>

#include <Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.h>
#include <Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.h>
#include <Utilities/delay.h>
//*****************************************************************************
//
// The system tick rate expressed both as ticks per second and a millisecond
// period.
//
//*****************************************************************************
#define TICKS_PER_SECOND        1000


//*****************************************************************************
//
// Global system tick counter
//
//*****************************************************************************
static volatile uint32_t g_ui32SysTickCount = 0;

// Flags used to pass commands from interrupt context to the main loop.
static volatile uint32_t g_ui32Flags;

bool Machine_Idle_Mode = false;

extern  bool PP_Machine;

Types_Site *site;
Error_Id eid;
int eCode;
char ErrorPath[50] = "0://ErrFile.txt";
bool UpdateFlag = false;
bool FirstErrorFlag = true;
Task_Handle PrevTask,NextTask;
extern FIL *LogFileHandle;
/* ======== Function switchHook ======== */
Void MyswitchFxn(Task_Handle prev, Task_Handle next)
{
    PrevTask = prev;
    NextTask = next;
}
/* ======== errHook ======== */
Void errHook(Error_Block *eb)
{
    //FRESULT Fresult = FR_OK;

    uint32_t Bytes = 0;
    //char File[50] = "";*/
    char message[300];
    int len;
    MCU_E2PromUpdateResetReason(InitFailures);

    //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);

    ReportResetReason();

    STATUS_RED_LED_ON;
    ACTIVITY_RED_LED_ON;
    COMM_RED_LED_ON;
    ReportStopReporting();
    if (UpdateFlag == true)
        return;
    if (FirstErrorFlag == true)
    {
        FirstErrorFlag = false;
        MCU_E2PromProgram(EEPROM_INIT_FAILURE_COUNTER,InitFailures+1);
        len = usnprintf(message, 300, "\r\nerror task 0x%x %s context prev task 0x%x,%s", PrevTask,Task_Handle_name(PrevTask),NextTask,Task_Handle_name(NextTask));
        f_write(LogFileHandle,message,len,&Bytes );
        site = Error_getSite(eb);
        eid = Error_getId(eb);
        eCode = Error_getCode(eb);
        // print user supplied error code
        len = usnprintf(message, 300, "\r\nerror %d, eid %d  mod %d file %s line %d",
                        eCode, eid,site->mod,
                        site->file,site->line);
        f_write(LogFileHandle,message,len,&Bytes );

        //LOG_ERROR (eCode, "error # ");
        // check originator's mod id against known mods
        if (site->mod == Main_Module_id()) {
            f_write(LogFileHandle,"\r\napp error: ",12,&Bytes );
        }

        // check error id against known errors
        if (eid == Error_E_generic) {
            f_write(LogFileHandle,"generic: ",10,&Bytes );
        }
        else if (eid == Assert_E_assertFailed) {
            System_printf("assertion violation: ");
            f_write(LogFileHandle,"\r\nassertion violation: ",22,&Bytes );
        }
        CloseLogFile();
    }


#ifdef WATCHDOG
    //Power_Reset();
    SysCtlReset();
#endif
}

//*****************************************************************************
//
// Interrupt handler for the system tick counter.
//
//*****************************************************************************
void SysTickHandler(void)
{
    // Update our system time.
    g_ui32SysTickCount++;
}

void Init_EVB()
{
#ifdef EVALUATION_BOARD
    InitPinOutPullUps();

    #ifdef Stub_Mode
    //MOTOR Driver L6470 SPI
    SPI2_Init();
    init_BUSY_Pin();

    //Danser_ENC:
    SSI1_Init(); // Read dancer ENC SSI

    #endif
#endif
}

int main(void)
{
    FRESULT Fresult = FR_OK;
    // Enable interrupts to the processor.
    //
    ROM_IntMasterDisable();
    //Set the clock 120MHz
	uint32_t ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), SYS_CLK_FREQ);

    // Enable the system tick.
    ROM_SysTickPeriodSet(ui32SysClock / TICKS_PER_SECOND);
    ROM_SysTickIntEnable();
    ROM_SysTickEnable();

    //Calculateinit();//moved to HWConfiguration after reading the dispenser EEPROM

	PortFunctionInit();
	//FlashInit();

#ifndef EVALUATION_BOARD
    TangoVersion_t Version;
    uint32_t Data,i;

   MCU_E2PromInit();
   MCU_E2PromUpdateResetReason(0);

#endif
    #ifdef EVALUATION_BOARD
        Init_EVB();
    #endif

    FRESULT iFResult = Init_Flash_File_System(false);// true
    if(iFResult != FR_OK)
    {
        LOG_ERROR (iFResult, "Error during init Flash File System");
        assert(iFResult);
    }
    Fresult = f_mkdir("0://SysInfo");
    if ((Fresult != FR_OK)&&(Fresult != FR_EXIST))
    {
#ifdef WATCHDOG
        ROM_WatchdogResetDisable(WATCHDOG0_BASE);
        uint32_t timeout = 0xFFFFFFFFU;
        ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
#endif
        STATUS_GREEN_LED_ON;
        ACTIVITY_GREEN_LED_ON;
        COMM_GREEN_LED_ON;

        STATUS_RED_LED_ON;
        ACTIVITY_RED_LED_ON;
        COMM_RED_LED_ON;
        //FFS error
        Report("FFS error - rebuilding", __FILE__,__LINE__,Fresult, RpMessage,0, 0);
        FRESULT iFResult = Init_Flash_File_System(true);// true
        Fresult = f_mkdir("0://SysInfo");

        ACTIVITY_GREEN_LED_OFF;
        COMM_GREEN_LED_OFF;

        STATUS_RED_LED_OFF;
        ACTIVITY_RED_LED_OFF;
        COMM_RED_LED_OFF;
#ifdef WATCHDOG
        ROM_WatchdogResetEnable(WATCHDOG0_BASE);
        timeout = 120000000*3;
        ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
#endif
    }

    OpenLogFile();
    Data = MCU_E2PromEmbeddedVersionRead();
    memcpy (&Version,&Data,4);
    i = memcmp(&Version,&_gTangoVersion,4);
    if (i)
    {
        LOG_ERROR(Version.m_minor,"Version change, do stuff");
        FlashInit();
        MCU_E2PromEmbeddedVersionProgram();
        MCU_E2PromProgram(EEPROM_INIT_FAILURE_COUNTER,0);
    }
    MCU_E2PromRead(EEPROM_INIT_FAILURE_COUNTER,&InitFailures);

   Init_All_I2C();
#ifndef EVALUATION_BOARD
   Block_Main_MUX_TCA9548A_0xE4();//unused, same i2c as head and whs cards

   Check_Head_Type_Via_EEPROM();//without trigger
   Check_WHS_Type_Via_EEPROM();//without trigger
   I2C_2_3_BUSY_DELAY  = 100;  //I2C2_BASE, I2C3_BASE

   //WHS_Type = WHS_TYPE_NEW; //for testing
   //Head_Type = HEAD_TYPE_ARC; //for testing

   if ((Head_Type >= HEAD_TYPE_UNKNOWN_WITH_CARD)&&(WHS_Type == WHS_TYPE_NEW))
   {
       PP_Machine = true;
   }
   if ((Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD)||(WHS_Type == WHS_TYPE_NEW))
   {
       I2C_ReadingTask_Init();//I2C Task for HEAD + WHS
   }
   if (Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD)
   {
       Trigger_Head_io_Init();//Head_IO_Init();//moved to set 24 to pressure sensor in arc earlier
   }

   STATUS_RED_LED_ON;
   STATUS_GREEN_LED_ON;
   FPGA_Init();

   I2C_DispRFIDTask_Init();//I2C Task for dispensers & RFID

#ifdef USE_UART4_FOR_BTSR
   BTSR_Init();
#endif

    #if defined(USE_RFID_LOGIC) || defined(USE_RFID_STUB)
       //Trigger_RFID_Init();  //Init_IFS();//must be done after FPGA_Init
       Init_IFS();
    #else
       Check_IFS_Availability();
    #endif

#endif

	MAP_FPULazyStackingEnable();

    SysCtlUSBPLLEnable();

#ifndef EVALUATION_BOARD
    DeActivateAllSSR();
    Control_Dryer_Fan(STOP,0);//Preventing unwanted movement at power up, since the default from FPGA is "0" (= START)
#endif

#ifdef WATCHDOG
	InitWatchdog(ui32SysClock*3);
#endif

	CommunicationTaskInit();
	utilsInit(ui32SysClock);

#ifndef EVALUATION_BOARD
	//Turn_the_Blower_On();//Turn on with the Default_Voltage
	ActivateChiller();//WHS Cooler SSR9
	//ActivateHeadMagnet();
    Set_Speed_Sensor_TypeII_Registers(10,5);//set default values
#endif

    if (WHS_Type == WHS_TYPE_NEW)
    {
        InitConsole_WHS_UART3(ui32SysClock);//Init WHS UART Shinko RS485 Communication
        Trigger_RS485_Direction_Init();//init i/o
    }

    #ifdef USE_UART4_FOR_BTSR
        InitConsole_BTSR_UART4(ui32SysClock);
    #endif
	//EMAC_initEMAC();
    ControlInit();

    AlarmHandlingInit();

    MillisecInit();

    ControlStart();
    Heaters_Init();
#ifndef EVALUATION_BOARD
    MotorsInit();
#endif
    //Shai    WHS_HW_test(); // for WHS sensor test

    #ifndef EVALUATION_BOARD
        Init_Machine_Leds();
    #endif

#ifndef EVALUATION_BOARD
   //WHS_init();
    //IDS_ModuleInit();
    Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste);
#endif

    ////////////////////////////



    //FPGA_Read_limit_Switches_Registers();

    //calibration(); //test vme communication

    //GetFiles(); - to start jtag
    //GetVmeByte();

    //I2C_NFC_Test();
    //
    //test_avi(); //example for shai

    //Read_Speed_Sensor_TypeII();//must be delay between Set_Speed_Sensor_TypeII_Registers to Read_Speed_Sensor_TypeII

    //Test_ADS120_Internal_Temperature_Sensor(0);

#ifndef EVALUATION_BOARD
    Main_EEPROM_Read_Main_Card_SN();
#endif

    // Enable interrupts to the processor.
    //
    ROM_IntMasterEnable();


    IDLE_TASK_package_init();
    Start_InitSequence();
    //PowerIdleInit();
    BIOS_start();

    return (0);
    //while(1){};
}