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| author | Avi Levkovich <avi@twine-s.com> | 2020-02-19 10:29:19 +0200 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2020-02-19 10:29:19 +0200 |
| commit | 94fccc66fd2b8b6aed1371546dfd8cef68d5e60d (patch) | |
| tree | f9425f776368c43f129262e3ebecafba1203550f /Software/Embedded_SW/Embedded/Modules | |
| parent | eedaa39181e38a21a52e33c002cb6140e841794b (diff) | |
| download | Tango-94fccc66fd2b8b6aed1371546dfd8cef68d5e60d.tar.gz Tango-94fccc66fd2b8b6aed1371546dfd8cef68d5e60d.zip | |
Update Actuator + ControlLowLoop
Stub: stubManager.Run<ProgressResponse>("ProgressRequest" ,0xFEAD, 0xCAF101);
//Actuators: ID, power, Direction (01 = UP)
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
3 files changed, 6 insertions, 5 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index ba11ff58c..bea68e314 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -585,7 +585,7 @@ uint32_t ControlLowLoop(uint32_t tick) { if (ControlArray[ControlLowDevice_i].ControlActive) { - if (tick == ControlArray[ControlLowDevice_i].StartTick) + if (tick - ControlArray[ControlLowDevice_i].StartTick<=skipped_ticks) continue; if (ControlArray[ControlLowDevice_i].ControlTiming == eOneMillisecond) continue; diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index 4f5bec4f0..36d4505d0 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -315,10 +315,11 @@ uint32_t DiagnosticsLoadDigitalValues(void) DigitalOutputState[index++].value = ReadHeadMagnetBit(); DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_LED3; - DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTIN); + //DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTIN); DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPO_LED4; - DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTOT); + // indication of movement cause the switch in the tech board to change, also doesn't go through the task + //DigitalOutputState[index++].value = HeadCard_Actuators_Status(ACTOT); DigitalOutputState[index].interfaceio = INTERFACE_IOS__GPI_WCONTAINER_FULL; DigitalOutputState[index++].value = WHS_IsContainerFull(); diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c index 677d3fa5f..51fe807d8 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c @@ -391,8 +391,8 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) if((request -> delay & 0xFFF000) == 0xCAF000)//Actuator { - //HeadCard_Actuators_Control((ACTUATORS)(((request -> delay) & 0x100)>>8), /*(bool)((request -> delay & 0x10)>>4), */(bool)((request -> delay & 0x01)));//Actuators: ID, power, Direction - Trigger_Head_Actuators_Control((ACTUATORS)(((request -> delay) & 0x100)>>8), (bool)((request -> delay & 0x10)>>4), (bool)((request -> delay & 0x01)));//Actuators: ID, power, Direction + HeadCard_Actuators_Control((ACTUATORS)(((request -> delay) & 0x100)>>8), /*(bool)((request -> delay & 0x10)>>4), */(bool)((request -> delay & 0x01)));//Actuators: ID, power, Direction + //Trigger_Head_Actuators_Control((ACTUATORS)(((request -> delay) & 0x100)>>8), (bool)((request -> delay & 0x10)>>4), (bool)((request -> delay & 0x01)));//Actuators: ID, power, Direction //response.progress = HeadCard_Actuators_Status((ACTUATORS)((request -> delay) & 0x100)>>8); response.has_progress = true; } |