Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

1 files changed, 8 insertions, 4 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 559db0e79..75462bd7c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -74,6 +74,8 @@ typedef struct MillisecMessage{
 uint32_t  Dancer_Data[NUM_OF_DANCERS] = {0};
 uint32_t  Speed_Data = 0;
 
+bool watchdogCriticalAlarm = false;
+
 MillisecMotorDataStruc MotorData[NUM_OF_MOTORS] = {0};
 MillisecMotorDataStruc SpeedSetPending[NUM_OF_MOTORS] = {0};
 MillisecMotorDataStruc PT100Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
@@ -100,7 +102,7 @@ void MillisecInit(void)
 
     Error_init(&eb);
 
-    MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 20, NULL,&eb);
+    MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 2, NULL,&eb);
     for (i=0;i<NUM_OF_MOTORS;i++)
     {
         MotorsMsgQ[i] = Mailbox_create(sizeof(MillisecMotorDataStruc), 5, NULL,&eb);
@@ -179,6 +181,7 @@ int32_t MillisecReadFromTempSensor(uint32_t TempSensorId,  MSecFptr Callback)
     PT100Activity++;  //get response
     PT100Activity++; //read request
     PT100Data[TempSensorId].Callback = Callback;
+    PT100Data[TempSensorId].WaitForData = true;
     PT100Data[TempSensorId].DataRequired = true;
     PT100Data[TempSensorId].Active = true;
 
@@ -343,7 +346,7 @@ uint32_t MillisecLoop(uint32_t tick)
            {
                TemperatureSendSensorDummyClk((TEMPERATURE_SENSOR_ID_ENUM)Sensor_i);
                PT100Data[Sensor_i].SyncRequired = false;
-               if (PT100Data[Sensor_i].DataRequired == true)
+               /*if (PT100Data[Sensor_i].DataRequired == true)
                {
                    PT100Data[Sensor_i].WaitForData = true; // mark the motor for data request next round
                }
@@ -351,7 +354,7 @@ uint32_t MillisecLoop(uint32_t tick)
                {
                    if (PT100Data[Sensor_i].Callback)
                        PT100Data[Sensor_i].Callback(Sensor_i,0); // call the callback to report execution
-               }
+               }*/
                PT100Activity--;
 
            }
@@ -417,7 +420,8 @@ uint32_t MillisecLoop(uint32_t tick)
         for (Sensor_i = 0;Sensor_i < MAX_SYSTEM_DISPENSERS;Sensor_i++)
             CalculateDispenserPressure(Sensor_i);
         FPGA_GetAllDispensersValveBusyOCD();
-        Control_WD(ENABLE,50);  //activate heaters/dispenser watchdog, 5 seconds
+        if (watchdogCriticalAlarm == false)
+                Control_WD(ENABLE,50);  //activate heaters/dispenser watchdog, 5 seconds
     }
     //ROM_IntMasterEnable();