merge after conflict

1 files changed, 28 insertions, 53 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 75462bd7c..9f515062d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -178,11 +178,7 @@ int32_t MillisecReadFromTempSensor(uint32_t TempSensorId,  MSecFptr Callback)
 {
     if (TempSensorId >= MAX_TEMPERATURE_SENSOR_ID) return -1;
     PT100Activity++; //read request
-    PT100Activity++;  //get response
-    PT100Activity++; //read request
     PT100Data[TempSensorId].Callback = Callback;
-    PT100Data[TempSensorId].WaitForData = true;
-    PT100Data[TempSensorId].DataRequired = true;
     PT100Data[TempSensorId].Active = true;
 
     return OK;
@@ -265,10 +261,12 @@ int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Len
         return Mailbox_post(MotorsMsgQ[MotorId] , &MotorData, BIOS_NO_WAIT);
     else return false;
 }
+
+//TEMPERATURE_SENSOR_ID_ENUM Sensor_Read = 0;
 uint32_t MillisecLoop(uint32_t tick)
 {
-    uint8_t Motor_i;
-    uint8_t Sensor_i;
+    uint8_t Motor_i,Disp_i;
+    TEMPERATURE_SENSOR_ID_ENUM Sensor_i;
     unsigned int MotorInfo = 0;
     static int temp=0;
     //call all modules Millisec functions
@@ -342,46 +340,28 @@ uint32_t MillisecLoop(uint32_t tick)
        {
            //if (TempDriverDriverResponse[Sensor_i].Busy == true)
            //    continue;
-           if (PT100Data[Sensor_i].SyncRequired == true)
+           if (PT100Data[Sensor_i].Active == true)
            {
-               TemperatureSendSensorDummyClk((TEMPERATURE_SENSOR_ID_ENUM)Sensor_i);
-               PT100Data[Sensor_i].SyncRequired = false;
-               /*if (PT100Data[Sensor_i].DataRequired == true)
-               {
-                   PT100Data[Sensor_i].WaitForData = true; // mark the motor for data request next round
-               }
-               else
-               {
-                   if (PT100Data[Sensor_i].Callback)
-                       PT100Data[Sensor_i].Callback(Sensor_i,0); // call the callback to report execution
-               }*/
-               PT100Activity--;
-
+               TemperatureSendSensorDummyClk(Sensor_i);
+               PT100Data[Sensor_i].Active = false;
+               PT100Data[Sensor_i].WaitForData = true; // mark the motor for data request next round
+               break; //  one PT100 activitiy per MS 
            }
            else if (PT100Data[Sensor_i].WaitForData == true) //Read request sent, data is waiting
            {
-               if (TemperatureSensorReadFromFPGA_Res((TEMPERATURE_SENSOR_ID_ENUM)Sensor_i) == OK) //got the data from the FPGA
-               {
-                   PT100Data[Sensor_i].WaitForData = false;
-                   if (PT100Data[Sensor_i].Callback)
+               TemperatureSensorReadFromFPGA_Res(Sensor_i); //got the data from the FPGA
+               PT100Data[Sensor_i].WaitForData = false;
+               PT100Data[Sensor_i].SyncRequired = true;
+               if (PT100Data[Sensor_i].Callback)
                        PT100Data[Sensor_i].Callback(Sensor_i,MotorInfo);
-               }
-               PT100Activity--;
+               break; // one PT100 activitiy per MS 
            }
-           if (PT100Data[Sensor_i].Active == true)
+           else if (PT100Data[Sensor_i].SyncRequired == true)
            {
-               TemperatureSensorReadFromFPGA((TEMPERATURE_SENSOR_ID_ENUM)Sensor_i);
-               PT100Data[Sensor_i].Active = false;
-               if (PT100Data[Sensor_i].DataRequired == true)
-               {
-                   PT100Data[Sensor_i].SyncRequired = true; // mark the motor for data request next round
-               }
-               else
-               {
-                   if (PT100Data[Sensor_i].Callback)
-                       PT100Data[Sensor_i].Callback(Sensor_i,0); // call the callback to report execution
-               }
+               TemperatureSensorSync(Sensor_i);
+               PT100Data[Sensor_i].SyncRequired = false;
                PT100Activity--;
+               break; // one PT100 activitiy per MS 
            }
        }
    }
@@ -391,24 +371,15 @@ uint32_t MillisecLoop(uint32_t tick)
     if (Ten_msTick)
     {
         Speed_Data = Calculate_Speed_Sensor_Velocity();
+        //MillisecReadFromTempSensor(Sensor_Read, NULL);
+        //if (Sensor_Read++ >= MAX_TEMPERATURE_SENSOR_ID) Sensor_Read = 0;
     }
-    /*if (Tick98)
-    {
-        MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING);
-        MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING);
-        MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING);
-        MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_WINDER);
-        MotorGetSpeedFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    }*/
     if (Hundred_msTick)
     {
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
+        {
             MillisecReadFromTempSensor(Sensor_i, NULL);
-       /* MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING);
-        MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING);
-        MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING);
-        MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_WINDER);
-        MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);*/
+        }
     }
 
     if (O900Millisecond_Tick)
@@ -417,11 +388,15 @@ uint32_t MillisecLoop(uint32_t tick)
     }
     if (Onesecond_Tick)
     {
-        for (Sensor_i = 0;Sensor_i < MAX_SYSTEM_DISPENSERS;Sensor_i++)
-            CalculateDispenserPressure(Sensor_i);
+        for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
+        {
+            CalculateDispenserPressure(Disp_i);
+        }
         FPGA_GetAllDispensersValveBusyOCD();
         if (watchdogCriticalAlarm == false)
+        {
                 Control_WD(ENABLE,50);  //activate heaters/dispenser watchdog, 5 seconds
+        }
     }
     //ROM_IntMasterEnable();