Version 1.4.6.8: remove most of head/whs ifdefs, checked to be working. fix control for missed milliseconds calls and more

2 files changed, 38 insertions, 48 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index c8b4a306c..fdd5feef9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -56,10 +56,8 @@
 #include "Modules/General/buttons.h"
 #include "Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.h"
 
-#ifdef Use_WHS_Card
 #include <Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.h>
 #include <Drivers/I2C_Communication/I2C_Task.h>
-#endif
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
 
@@ -606,9 +604,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
     OneHourTick  =   (tick%eOneHour == 0)           ?true:false;
     //gather Motor data from FPGA
     //ROM_IntMasterDisable();
-
+    int StartPT100 = 0;
     //Screw_ENC_Velocity_to_DAC(); - for testing the screw enc
-
+    if (Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)
+        StartPT100 = TEMP_SENSE_ANALOG_DRYER_TEMP1;
     if (Ten_msTick)
     {
         //Speed_Data = Calculate_Speed_Sensor_Velocity();
@@ -619,39 +618,14 @@ uint32_t MillisecLowLoop(uint32_t tick)
         Trigger_HeaterWriting();
 
     }
-#ifdef Use_Head_Card
     if(Fifty_msTick)
     {
         Trigger_PT100_Read();//call every 50mSec (minimum delay 30mSec)
         //Set_HeadCard_PT100();//call every 50mSec (minimum delay 30mSec)
     }
-#endif
-/*#ifdef Use_Head_Card
-    if (m20msecTick) //read odd PT1000
-    {
-        for (Sensor_i = HEAD_PT100_ZONE_1_0X80_0;Sensor_i < HEAD_PT100_ZONE_2_0X80_1;Sensor_i++)
-        {
-            //MillisecReadFromI2CTempSensor(Sensor_i, NULL);
-        }
-        //Set_HeadCard_PT100();
-#warning call chip select replace in I2C
-    }
-    if (m70msecTick) //read odd PT1000
-    {
-        for (Sensor_i = HEAD_PT100_ZONE_2_0X80_1;Sensor_i < HEAD_PT100_RESERVE_0X8E_1;Sensor_i++)
-        {
-            //MillisecReadFromI2CTempSensor(Sensor_i, NULL);
-        }
-        //Set_HeadCard_PT100();
-    }
-#endif */
     if (m90msecTick)
     {
-#ifdef Use_Head_Card
-        for (Sensor_i = TEMP_SENSE_ANALOG_DRYER_TEMP1;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
-#else
-        for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
-#endif
+        for (Sensor_i = StartPT100;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
         {
             MillisecReadFromTempSensor(Sensor_i, NULL);
         }
@@ -664,11 +638,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         ///////////////////////////////////////////////////////////////////
 
 
-#ifdef Use_Head_Card
-        for (Sensor_i = TEMP_SENSE_ANALOG_DRYER_TEMP1;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
-#else
-        for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
-#endif
+        for (Sensor_i = StartPT100;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
         {
             MillisecUpdateTemperatures (Sensor_i,TemperatureSensorRead(Sensor_i));
         }
@@ -689,10 +659,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
             ADC_TriggerCollection();
         }
 
-#ifdef Use_Head_Card
-    //Head_Read_IO_Reg(0x46, HIGH);//READ HEAD CARD LS
-#endif
-
+        Trigger_InputsReading();
     }
     if (Gradient_Tick)
         DispensersCollectionCall();
@@ -737,14 +704,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
         static int Counter = 0;
         MachineUpdateResponseFunc();
         KeepAliveOneSecondCall();
-#ifdef Use_Head_Card
+
         TemperatureListString(Lenstr);
         ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)Counter++,RpWarning,(int) msec_millisecondCounter,0);
-//#ifdef Use_Head_Card
-        for (Sensor_i = TEMP_SENSE_ANALOG_DRYER_TEMP1;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
-#else
-        for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
-#endif
+        for (Sensor_i = StartPT100;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
         {
             TemperatureCalc[Sensor_i] =  MillisecCalculateTemperatures ( Sensor_i);
         }
@@ -755,10 +718,8 @@ uint32_t MillisecLowLoop(uint32_t tick)
                 PressureCalc[Disp_i] = MillisecCalculatePressures(Disp_i);
             }
         }
-#ifdef Use_WHS_Card
     Trigger_WHS_PT100_Read_All();
     Trigger_WHS_MAX11614_Read_allADC();
-#endif
 
     }
     if (OneMinute_Tick)
@@ -779,6 +740,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         midtankDisplay = 1-midtankDisplay;
         Gas_PPM_Info = Calculate_Gas_Power_Consumption();
         //Trigger_WHS_MAX11614_Read_allADC();
+        ResetControlTime();
 
     }
     if (OneHourTick)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index e093815a9..e85a36057 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -108,6 +108,7 @@ ControlDeviceStruc      ControlArray[MAX_TANGO_CONTROL_DEVICES];
 uint32_t                ControlDatalog[MAX_TANGO_CONTROL_DEVICES];
 #define MAX_BACKLOG_SIZE 100
 uint16_t ControlBacklog[MAX_BACKLOG_SIZE]={0};
+uint32_t ControlTime[MAX_TANGO_CONTROL_DEVICES]={0};
 uint16_t backlogindex = 0;
 uint32_t        Control_timerBase = TIMER0_BASE;        //Timer handle
 uint32_t MaxHighDevices = 0xFF;
@@ -556,8 +557,22 @@ uint32_t ControlLoop(uint32_t tick)
 
     return OK;
 }
+uint32_t prevtick = 0;
+void ResetControlTime(void)
+{
+    memset(ControlTime,0,sizeof(ControlTime));
+}
 uint32_t ControlLowLoop(uint32_t tick)
 {
+    uint32_t tempp,tempq,delta;
+    uint32_t skipped_ticks = 0;
+    if (tick-prevtick>1)
+    {
+        skipped_ticks = tick-prevtick-1;
+        //Report("ControlLowLoop skipped",__FILE__,tick,(int)prevtick,RpWarning,(int)skipped_ticks,0);
+    }
+    prevtick = tick;
+
     for (ControlLowDevice_i = 0; ControlLowDevice_i < MAX_TANGO_CONTROL_DEVICES;ControlLowDevice_i++)
     {
         if (ControlArray[ControlLowDevice_i].ControlActive)
@@ -566,12 +581,13 @@ uint32_t ControlLowLoop(uint32_t tick)
                 continue;
             if (ControlArray[ControlLowDevice_i].ControlTiming == eOneMillisecond)
                 continue;
-            if (((tick - ControlArray[ControlLowDevice_i].StartTick)%ControlArray[ControlLowDevice_i].ControlTiming)==0) // run the control on exact intervals
+            if (((tick - ControlArray[ControlLowDevice_i].StartTick)%ControlArray[ControlLowDevice_i].ControlTiming)<=skipped_ticks) // run the control on exact intervals
             {
                 ControlBacklog[backlogindex]=ControlLowDevice_i;
                 if ( ++backlogindex >= MAX_BACKLOG_SIZE)
                     backlogindex = 0;
 
+                tempp = HibernateRTCSSGet();
                 if(ControlArray[ControlLowDevice_i].ControlDataReadPtr)
                     ControlDatalog[ControlLowDevice_i] = ControlArray[ControlLowDevice_i].ControlDataReadPtr( ControlArray[ControlLowDevice_i].Parameter1);
                 else
@@ -580,6 +596,18 @@ uint32_t ControlLowLoop(uint32_t tick)
                     ControlArray[ControlLowDevice_i].ControlCallbackPtr(ControlArray[ControlLowDevice_i].IfIndex, ControlDatalog[ControlLowDevice_i]);
                 else
                     LOG_ERROR (ControlLowDevice_i, "Invalid callback ptr");
+                tempq = HibernateRTCSSGet();
+                if (tempq < tempp)
+                {
+                  delta = (32768 - tempp) + tempq + 1;
+                }
+                else
+                  delta = tempq - tempp;
+
+                if (ControlTime[ControlLowDevice_i]<delta)
+                {
+                    ControlTime[ControlLowDevice_i] = delta;
+                }
             }
         } //if control active
     }  //for