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| author | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2019-07-09 17:23:23 +0300 |
|---|---|---|
| committer | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2019-07-09 17:23:23 +0300 |
| commit | 2347458faa0f6cb95000514448d2806bd9b64ca7 (patch) | |
| tree | d270a54279bd823e8e30c636d974ec4c5099a934 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | d1a18e5fcb7ad1016e29c034e2a81ae0ab18af94 (diff) | |
| parent | 1dfd14ae3fbf868e8992420127a9cf3e6318e5ff (diff) | |
| download | Tango-2347458faa0f6cb95000514448d2806bd9b64ca7.tar.gz Tango-2347458faa0f6cb95000514448d2806bd9b64ca7.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 31 |
1 files changed, 24 insertions, 7 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 529e4d260..78203b236 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -40,11 +40,20 @@ int32_t BreakSensordebouncetimemilli = BREAK_SENSOR_LIMIT; HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0}; //******************************************************************************************************************** -uint32_t MotorsConfigMessage(HardwareMotor * request) +uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest) { uint32_t status = PASSED; - TimerMotors_t Motor_i; - Motor_i = request->hardwaremotortype; + TimerMotors_t Motor_i,MotorId; + MOTDRIVER_TYPE DriverType; + HardwareMotor *request; + if (HWrequest == NULL) + return ERROR; + for (MotorId = 0; MotorId < HWrequest->n_motors ; MotorId++) + { + request = HWrequest->motors[MotorId]; + if (request == NULL) + return ERROR; + Motor_i = request->hardwaremotortype; MotorsCfg[Motor_i].configword = request->configword; MotorsCfg[Motor_i].hardwaremotortype = request->hardwaremotortype; MotorsCfg[Motor_i].minfrequency = request->minfrequency; @@ -80,13 +89,21 @@ uint32_t MotorsConfigMessage(HardwareMotor * request) MotorsCfg[Motor_i].fnslpdec = request->fnslpdec; MotorsCfg[Motor_i].fsspd = request->fsspd; - status = MotorConfig( Motor_i, &MotorsCfg[Motor_i]); + MotorsCfg[Motor_i].gatecfg1 = request->gatecfg1; + MotorsCfg[Motor_i].gatecfg2 = request->gatecfg2; + MotorsCfg[Motor_i].tvalhold = request->tvalhold; + MotorsCfg[Motor_i].tvalrun = request->tvalrun ; + MotorsCfg[Motor_i].tvalacc = request->tvalacc ; + MotorsCfg[Motor_i].tvaldec = request->tvaldec ; + MotorsCfg[Motor_i].tfast = request->tfast ; + MotorsCfg[Motor_i].tonmin = request->tonmin ; + MotorsCfg[Motor_i].toffmin = request->toffmin ; + + status = MotorConfig( Motor_i, &MotorsCfg[Motor_i]); // if (Motor_i == MOTOR_RDRIVING) // ThreadInitialTestStub(request); - + } return status; -// } -// else return Motor_i; } uint32_t MotorPidRequestMessage(HardwarePidControl* request) |