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

2 files changed, 36 insertions, 5 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 327b5d19b..06434ee50 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -65,6 +65,9 @@
 #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.h>
 #include <Drivers/I2C_Communication/I2C_Task.h>
 
+#include "drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.h"
+#include "Drivers/Uart_Comm/WHS_Controller_Comm/Shinko/ACS-13AC5E3.h"
+
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
 
@@ -496,9 +499,17 @@ uint32_t MillisecLoop(uint32_t tick)
     #ifdef test_RTFU_dancer
        test_dancer_responce_RTFU();
     #else
+#ifdef FOUR_WINDERS
+        Dancer_Data[HARDWARE_DANCER_0] = Read_Dancer_Position(HARDWARE_DANCER_0);
+        Dancer_Data[HARDWARE_DANCER_1] = Read_Dancer_Position(HARDWARE_DANCER_1);
+        Dancer_Data[HARDWARE_DANCER_2] = Read_Dancer_Position(HARDWARE_DANCER_2);
+        Dancer_Data[HARDWARE_DANCER_3] = Read_Dancer_Position(HARDWARE_DANCER_3);
+        Dancer_Data[HARDWARE_DANCER_4] = Read_Dancer_Position(HARDWARE_DANCER_4);
+#else
         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);
+#endif
     #endif
 
 #endif
@@ -582,7 +593,7 @@ void setRapidPressureRead(bool value)
     if (GetDiagnosticMode() == Diagnostic_Extreme_Mode)
         RapidPressureRead = true;
 }
-
+bool Shinko_Read = true;
 uint16_t PumpCounter = 0;
 uint16_t realtimetest[101];
 uint32_t MillisecLowLoop(uint32_t tick)
@@ -709,6 +720,23 @@ uint32_t MillisecLowLoop(uint32_t tick)
             if (isMotorConfigured(Motor_i))
                 MotorGetStatusFromFPGA(Motor_i);
         }
+        if ((WHS_Type == WHS_TYPE_NEW)&&(Shinko_Read == true))
+        {
+            if(ShinkoTempDeg.Read_Setup == 0x00)//didn't read it yet
+            {
+                WHS_Shinko_Communication(R_SETUP);
+            }
+            else
+            if(0)//TBD - need stop condition to write only once (all the steps) , Read_Setup != setup, Read_Setup != 0, Read_Setup != Prev_Read_Setup
+            {
+                // option to wrte + read setup and stop when read = write
+               WHS_Shinko_Communication(W_SETUP);
+            }
+            else
+            {
+                WHS_Shinko_Communication(R_Value); // Reading every fourth cycle (Set HW, Request, Set HW, Response)
+            }
+        }
     }
     if ((O500Millisecond_Tick)&&(RapidPressureRead == false))
     {
@@ -730,9 +758,8 @@ uint32_t MillisecLowLoop(uint32_t tick)
     {
         //char Lenstr[160];
         //static int Counter = 0;
-        MachineUpdateResponseFunc();
+        //MachineUpdateResponseFunc();
         //KeepAliveOneSecondCall();
-
         //TemperatureListString(Lenstr);
         //ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)Counter++,RpWarning,(int) msec_millisecondCounter,0);
         for (Sensor_i = StartPT100;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
@@ -767,6 +794,9 @@ uint32_t MillisecLowLoop(uint32_t tick)
             }
             */
         }
+        if (Head_Type == HEAD_TYPE_ARC) {
+            HeadBlowersControlLoop();
+        }
 
         //call waste state machine
         Waste_StateMachine_OneSecond_Call();
@@ -784,7 +814,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
     }
     if (OneMinute_Tick)
     {
-//        MachineUpdateResponseFunc();
+        MachineUpdateResponseFunc();
         /*        for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
             if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_SCREW)
@@ -808,6 +838,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         {
             waste_seq_step1();// include 1Sec delay           <- to open !!!!
         }*/
+        Shinko_Read = true;
     }
     if (OneHourTick)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 226d0d57a..f7351d0b1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -50,7 +50,7 @@ void MillisecLogClose(void);
 
 #endif
 
-
+extern bool Shinko_Read;
 extern bool watchdogCriticalAlarm;
 
 extern Task_Handle Millisecond_Task_Handle;