take remote

1 files changed, 54 insertions, 24 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 7e5020336..28febe8f2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -54,7 +54,7 @@
 
 #include "Communication/Connection.h"
 #include "Modules/General/buttons.h"
-#include "Drivers/I2C_Communication/Head_Card/PT100/PT100_ADC.h"
+#include "Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.h"
 
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
@@ -83,7 +83,7 @@ typedef struct MillisecMessage{
 }MillisecMessageStruc;
 
 //uint32_t  ADC_Data[MAX_ADC_DEVICES] = {0};
-//uint32_t  TemperatureSensor_Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
+//uint32_t  TemperatureSensor_Data[MAX_MAIN_CARD_TEMPERATURE_SENSOR_ID] = {0};
 //uint32_t  MotorSpeed_Data[NUM_OF_MOTORS] = {0};
 //uint32_t  MotorStatus_Data[NUM_OF_MOTORS] = {0};
 //uint32_t  MotorPosition_Data[NUM_OF_MOTORS] = {0};
@@ -103,7 +103,7 @@ MillisecMotorDataStruc ScrewSetMaxSpeedPending = {0};
 MillisecMotorDataStruc ScrewMovePending = {0};
 MillisecMotorDataStruc MotorData[NUM_OF_MOTORS] = {0};
 MillisecMotorDataStruc SpeedSetPending[NUM_OF_MOTORS] = {0};
-MillisecMotorDataStruc PT100Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
+MillisecMotorDataStruc PT100Data[MAX_MAIN_CARD_TEMP_SENS_ID] = {0};
 /******************** GLOBAL PARAMETERS  ********************************************/
 Mailbox_Handle          MillisecMsgQ = NULL;
 Mailbox_Handle          TenMillisecMsgQ = NULL;
@@ -228,7 +228,7 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
 uint32_t PT100Activity = 0;
 int32_t MillisecReadFromTempSensor(uint32_t TempSensorId,  MSecFptr Callback)
 {
-    if (TempSensorId >= MAX_TEMPERATURE_SENSOR_ID) return -1;
+    if (TempSensorId >= MAX_MAIN_CARD_TEMP_SENS_ID) return -1;
     PT100Activity++; //read request
     PT100Data[TempSensorId].Callback = Callback;
     PT100Data[TempSensorId].Active = true;
@@ -408,10 +408,11 @@ uint32_t MillisecLoop(uint32_t tick)
         }
    }
     //FPGA_GetTempSensorBusy();
-   //int PT100Busy[MAX_TEMPERATURE_SENSOR_ID] = {0,0,0,0,0,0,0,0,0,0};
+   //int PT100Busy[MAX_MAIN_CARD_TEMPERATURE_SENSOR_ID] = {0,0,0,0,0,0,0,0,0,0};
    if (PT100Activity)
    {
-       for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
+
+       for (Sensor_i = 0;Sensor_i < MAX_TANGO_TEMPERATURE_SENSOR_ID;Sensor_i++)
        {
            /*if (TempSensorResponse[Sensor_i].Busy == true)
            {
@@ -420,19 +421,35 @@ uint32_t MillisecLoop(uint32_t tick)
            }*/
            if (PT100Data[Sensor_i].Active == true)
            {
-               #ifndef  Use_Head_Card
+               if(Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID)
+               {
                    TemperatureSendSensorDummyClk(Sensor_i);
-                #endif
+               }
                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
            {
-               #ifdef  Use_Head_Card
-                   HeadADCPT100_SendReadDataCommand(Sensor_i);
-               #endif
+               if(Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID)
+               {
                    TemperatureSensorReadFromFPGA_Res(Sensor_i); //got the data from the FPGA
+               }
+               else if(Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID)
+               {
+                   HeadCard_Toggle_PT100(Sensor_i);
+                   //deley??
+                   HeadADCPT100_SendReadDataCommand(Sensor_i);
+               }
+               else if(Sensor_i < MAX_WHS_CARD_TEMP_SENS_ID)
+               {
+                   //for WHS...
+               }
+               else
+               {
+                   //TBD
+               }
+
                PT100Data[Sensor_i].WaitForData = false;
                PT100Data[Sensor_i].SyncRequired = true;
                if (PT100Data[Sensor_i].Callback)
@@ -441,10 +458,23 @@ uint32_t MillisecLoop(uint32_t tick)
            }
            else if (PT100Data[Sensor_i].SyncRequired == true)
            {
-               #ifdef  Use_Head_Card
+               if(Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID)
+               {
+                   TemperatureSensorSync(Sensor_i);
+               }
+               else if(Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID)
+               {
                    HeadADCPT100_StartSync(Sensor_i);
-               #endif
-               TemperatureSensorSync(Sensor_i);
+               }
+               else if(Sensor_i < MAX_WHS_CARD_TEMP_SENS_ID)
+               {
+                   //StartSync WHS...
+               }
+               else
+               {
+                   //TBD...
+               }
+
 
                PT100Data[Sensor_i].SyncRequired = false;
                PT100Activity--;
@@ -461,11 +491,11 @@ uint32_t MillisecLoop(uint32_t tick)
 #endif
     return OK;
 }
-int TemperatureSum[MAX_TEMPERATURE_SENSOR_ID];
-int TemperatureMin[MAX_TEMPERATURE_SENSOR_ID];
-int TemperatureMax[MAX_TEMPERATURE_SENSOR_ID];
-int TemperatureCount[MAX_TEMPERATURE_SENSOR_ID];
-int TemperatureCalc[MAX_TEMPERATURE_SENSOR_ID];
+int TemperatureSum[MAX_MAIN_CARD_TEMP_SENS_ID];
+int TemperatureMin[MAX_MAIN_CARD_TEMP_SENS_ID];
+int TemperatureMax[MAX_MAIN_CARD_TEMP_SENS_ID];
+int TemperatureCount[MAX_MAIN_CARD_TEMP_SENS_ID];
+int TemperatureCalc[MAX_MAIN_CARD_TEMP_SENS_ID];
 void MillisecUpdateTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId,int temperature)
 {
    //if(TemperatureCount[SensorId]++>=10)
@@ -525,13 +555,13 @@ uint32_t MillisecLowLoop(uint32_t tick)
     {
         //Speed_Data = Calculate_Speed_Sensor_Velocity();
         //MillisecReadFromTempSensor(Sensor_Read, NULL);
-        //if (Sensor_Read++ >= MAX_TEMPERATURE_SENSOR_ID) Sensor_Read = 0;
+        //if (Sensor_Read++ >= MAX_MAIN_CARD_TEMPERATURE_SENSOR_ID) Sensor_Read = 0;
         if(Machine_Idle_Mode == true)
             Machine_Idle_Breathing_Led();
     }
     if (m90msecTick)
     {
-        for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
+        for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
         {
             MillisecReadFromTempSensor(Sensor_i, NULL);
         }
@@ -541,7 +571,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         Speed_Data = Calculate_Speed_Sensor_Velocity();
         Read_Buttons_Reg();
         //Ink_Cart_Led();
-        for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
+        for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
         {
             MillisecUpdateTemperatures (Sensor_i,TemperatureSensorRead(Sensor_i));
         }
@@ -599,7 +629,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
                 Read_Heaters_Current(Heater_i);
             }*/
         }
-        for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
+        for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
         {
             TemperatureCalc[Sensor_i] =  MillisecCalculateTemperatures ( Sensor_i);
         }
@@ -707,7 +737,7 @@ void MillisecLowTask(UArg arg0, UArg arg1)
 */
 /*uint32_t getTemperatureSensorData(int SensorId)
 {
-    assert (SensorId < MAX_TEMPERATURE_SENSOR_ID);
+    assert (SensorId < MAX_MAIN_CARD_TEMPERATURE_SENSOR_ID);
     return TemperatureSensor_Data[SensorId];
 }*/