diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control/control.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/control.c | 32 |
1 files changed, 28 insertions, 4 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index 0f9848ba1..0a092821e 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -170,6 +170,7 @@ void ControlStop(void) ControlRestart = false; ADCAcquireStop(); } +int FPGA_ReInit_Count = 0; ///avoid too many reinitializations of motors as happens when FPGA is corrupted uint32_t ControlActivityLed( uint32_t Parameter1) { static bool flag = false; @@ -189,19 +190,39 @@ uint32_t ControlActivityLed( uint32_t Parameter1) if (JobIsActive()) { JobEndReason = JOB_MOTOR_ALARM; + usnprintf(AlarmReasonStr, 100, "Hardware Failure Error"); SendJobProgress(0.0,0,false, "Hardware Failure Error"); AbortJob("FPGA Watchdog Error"); } - ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0); + if (FPGA_ReInit_Count++<20) + { + ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0); + + ACTIVITY_GREEN_LED_ON; + MotorConfiguredTimeout = 100; - ACTIVITY_GREEN_LED_ON; - FPGA_SetMotorsInit(); - Motor_ReconfigAllMotors(); + FPGA_SetMotorsInit(); + Motor_ReconfigAllMotors(); + } } } else ACTIVITY_GREEN_LED_OFF; + if(power.color == colorOFF) Pannel_Leds(POWER_ON_OFF,MODE_OFF); + if(jog.color == colorOFF) Pannel_Leds(THREAD_JOGGING,MODE_OFF); + if(load.color == colorOFF) Pannel_Leds(THREAD_JOGGING,MODE_OFF); + if(cart1.color == colorOFF) Pannel_Leds(CART_1,MODE_OFF); + if(cart2.color == colorOFF) Pannel_Leds(CART_2,MODE_OFF); + if(cart3.color == colorOFF) Pannel_Leds(CART_3,MODE_OFF); + + if(power.color == colorON) Pannel_Leds(POWER_ON_OFF,MODE_ON); + if(jog.color == colorON) Pannel_Leds(THREAD_JOGGING,MODE_ON); + if(load.color == colorON) Pannel_Leds(THREAD_JOGGING,MODE_ON); + if(cart1.color == colorON) Pannel_Leds(CART_1,MODE_ON); + if(cart2.color == colorON) Pannel_Leds(CART_2,MODE_ON); + if(cart3.color == colorON) Pannel_Leds(CART_3,MODE_ON); + if(power.color == fastBILNK) Pannel_Leds(POWER_ON_OFF,MODE_OFF); else @@ -593,6 +614,9 @@ uint32_t ControlLowLoop(uint32_t tick) continue; if (ControlArray[ControlLowDevice_i].ControlTiming == eOneMillisecond) continue; + if (ControlArray[ControlLowDevice_i].StartTick == tick) + continue; + if (((tick - ControlArray[ControlLowDevice_i].StartTick)%ControlArray[ControlLowDevice_i].ControlTiming)<=skipped_ticks) // run the control on exact intervals { ControlBacklog[backlogindex]=ControlLowDevice_i; |