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| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-04-04 23:28:09 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-04-04 23:28:09 +0300 |
| commit | 692d71abcd583ade2977d4b6012b9c2a6de7d4d8 (patch) | |
| tree | 8f7788759361f8ad14d8f5609983ab3495248e4f /Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | |
| parent | bb14319440cd873b1ad7713a66c4a2369dffb8e7 (diff) | |
| download | Tango-692d71abcd583ade2977d4b6012b9c2a6de7d4d8.tar.gz Tango-692d71abcd583ade2977d4b6012b9c2a6de7d4d8.zip | |
1. Idle task - test real time usage
2. improve and fix heaters test
3. motor/dancer test preparations
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 33 |
1 files changed, 32 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index c242401fd..e0abf6c2b 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -24,6 +24,7 @@ #include "control.h" #include "drivers/Motors/Motor.h" +#include "drivers/Danser_SSI/SSI_Comm.h" #include "drivers/Heater/TemperatureSensor.h" /******************** Definitions ********************************************/ @@ -49,6 +50,7 @@ uint32_t MotorSpeed_Data[MOTOR_SPARE1_1] = {0}; uint32_t MotorStatus_Data[MOTOR_SPARE1_1] = {0}; uint32_t MotorPosition_Data[MOTOR_SPARE1_1] = {0}; bool MotorBusy_Data[MOTOR_SPARE1_1] = {true}; +uint32_t Dancer_Data[NUM_OF_DANCERS] = {0}; /******************** GLOBAL PARAMETERS ********************************************/ Mailbox_Handle MillisecMsgQ = NULL; @@ -58,7 +60,7 @@ static GateMutex_Handle gateMillisecDB; uint32_t MillisecDatalog[MAX_TANGO_CONTROL_DEVICES]; uint32_t Millisec_timerBase = TIMER1_BASE; //Timer handle /******************** Functions ********************************************/ - +uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read); //********************************************************************** /******************** CODE ********************************************/ //********************************************************************** @@ -154,6 +156,9 @@ uint32_t MillisecLoop(uint32_t tick) MotorSpeed_Data[MOTOR_RDRIVING] = MotorGetSpeedFromFPGA(MOTOR_RDRIVING); MotorStatus_Data[MOTOR_RDRIVING] = MotorGetStatusFromFPGA(MOTOR_RDRIVING); //gather Dancer data from FPGA + 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); //gather data from FPGA if (Ten_msTick) { @@ -240,3 +245,29 @@ uint32_t getADCData(int DeviceId) return ADC_Data[DeviceId]; } +/******************************************************************** +* +* Name : GTIME_Delta_Time_Pass +* +* Parameters : start_time. +* +* Return : time pass from start time +* +* Description : +* +*********************************************************************/ + +uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read) +{ + uint32_t Time_Pass; + #define MAX_COUNTER 0x3FFF //14 bits + + + if (Current_Read < Previous_Read) + Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1; + else + Time_Pass = Current_Read - Previous_Read; + + return (Time_Pass); +} + |