diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 38 |
1 files changed, 36 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index e1f8a593a..6f234e26a 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -77,6 +77,7 @@ uint32_t DrawerFansStatus = 0; bool watchdogCriticalAlarm = false; +MillisecMotorDataStruc ScrewSetMaxSpeedPending = {0}; MillisecMotorDataStruc ScrewMovePending = {0}; MillisecMotorDataStruc MotorData[NUM_OF_MOTORS] = {0}; MillisecMotorDataStruc SpeedSetPending[NUM_OF_MOTORS] = {0}; @@ -209,6 +210,29 @@ int32_t MillisecMoveScrew(unsigned long Data, int Length, MSecFptr Callback) return OK; } + +int32_t MillisecSetScrewSpeed(unsigned long Data, int Length, MSecFptr Callback) +{ + //========================== + MSBacklog[MsecLogindex]=Data; + Motor_Id[MsecLogindex]=HARDWARE_MOTOR_TYPE__MOTO_SCREW; + MsecLogindex++; + if (MsecLogindex>=199) + MsecLogindex = 0; + //========================== + + ScrewSetMaxSpeedPending.Callback = Callback; + ScrewSetMaxSpeedPending.Data = Data; + ScrewSetMaxSpeedPending.Length = Length; + ScrewSetMaxSpeedPending.DataRequired = false; + if (ScrewSetMaxSpeedPending.Active == false) + { + MotorActivity++; + ScrewSetMaxSpeedPending.Active = true; + } + + return OK; +} int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback) { if (MotorId >= NUM_OF_MOTORS) return -1; @@ -332,7 +356,17 @@ uint32_t MillisecLoop(uint32_t tick) } MotorActivity--; } - if (ScrewMovePending.Active == true) + + if (ScrewSetMaxSpeedPending.Active == true) + { + MotorSendFPGARequest(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSetMaxSpeedPending.Data,ScrewSetMaxSpeedPending.Length); + MotorActivity--; + ScrewSetMaxSpeedPending.Active = false; + if (ScrewSetMaxSpeedPending.Callback) + ScrewSetMaxSpeedPending.Callback(Motor_i,0); + + } + else if (ScrewMovePending.Active == true) { MotorSendFPGARequest(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewMovePending.Data,ScrewMovePending.Length); MotorActivity--; @@ -438,7 +472,7 @@ uint32_t MillisecLoop(uint32_t tick) { for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++) { - Read_MidTank_Pressure_Sensor(i); + Read_MidTank_Pressure_Sensor(Disp_i); } for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++) { |