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-rw-r--r--Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c23
-rw-r--r--Software/Embedded_SW/Embedded/Modules/Control/control.c65
2 files changed, 72 insertions, 16 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index b9079919c..67de0271f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -16,6 +16,7 @@
///////////////////////////////////////////////////////////////////////////////////////////
#include "include.h"
#include "Modules/General/GeneralHardware.h"
+#include "Modules/AlarmHandling/AlarmHandling.h"
#include "MillisecTask.h"
#include <driverlib/timer.h>
@@ -29,11 +30,9 @@
#include "drivers/Heater/TemperatureSensor.h"
#include "drivers/FPGA/FPGA_SPI_Comm.h"
#include "drivers/FPGA/FPGA.h"
-#include "drivers/Valves/Valve.h"
#include "modules/thread/thread_ex.h"
-#include "Drivers/Peripheral_GPIO/GPIO.h"
-#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "modules/ids/ids_ex.h"
Task_Handle Millisecond_Task_Handle;
/******************** Definitions ********************************************/
@@ -137,7 +136,7 @@ void MillisecStart(void)
ADCAcquireStart(0,1);
}
-
+uint32_t msec_millisecondCounter = 0;
void OneMilliSecondMillisecInterrupt(UArg arg0)
{
MillisecMessageStruc Message;
@@ -151,7 +150,7 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
//send message to the Millisec task
Message.messageId = OneMillisec;
- Message.tick = UsersysTickGet();
+ Message.tick = msec_millisecondCounter++;;
Message.msglen = sizeof(MillisecMessageStruc);
if (MillisecMsgQ != NULL)
Mailbox_post(MillisecMsgQ , &Message, BIOS_NO_WAIT);
@@ -229,17 +228,18 @@ uint32_t MillisecLoop(uint32_t tick)
//call all modules Millisec functions
//test dancers and speed encoders
//check all callback units (state machine waiting for completion of a change)
- bool Ten_msTick, Hundred_msTick, Onesecond_Tick;
+ bool Ten_msTick, Hundred_msTick, Onesecond_Tick,O900Millisecond_Tick;
Ten_msTick = (tick%eTenMilliSecond == 0) ?true:false;
Hundred_msTick = (tick%eHundredMillisecond == 0) ?true:false;
+ O900Millisecond_Tick = (tick%eOneSecond == 900) ?true:false;
Onesecond_Tick = (tick%eOneSecond == 0) ?true:false;
//gather Motor data from FPGA
#ifndef EVALUATION_BOARD
FPGA_GetBusy(); //load the busy motor information to all motors
FPGA_Read_limit_Switches_Registers();
//Read_FPGA_GPI_Rgisters();//FPGA_Read_limit_Switches();
- //FPGA_GetDispenserValveBusyOCD();
#endif
+
temp += MotorActivity;
if (MotorActivity)
{
@@ -341,15 +341,20 @@ uint32_t MillisecLoop(uint32_t tick)
Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER);
if (Hundred_msTick)
{
- ACTIVITY_RED_LED_CHANGE_MODE;
for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
MillisecReadFromTempSensor(Sensor_i, NULL);
+ AlarmHandler_SendDiagnostics();
}
- if (Onesecond_Tick)
+ if (O900Millisecond_Tick)
{
ADC_TriggerCollection();
}
+ if (Onesecond_Tick)
+ {
+ for (Sensor_i = 0;Sensor_i < MAX_SYSTEM_DISPENSERS;Sensor_i++)
+ CalculateDispenserPressure(Sensor_i);
+ }
/* OLD CODE
MotorStatus_Data[MOTOR_DRYER_DRIVING] = MotorGetStatusFromFPGA(MOTOR_DRYER_DRIVING);
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index a0ba50078..8e999a668 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -51,6 +51,7 @@
#include <inc/hw_ints.h>
#include "drivers/adc_sampling/adc.h"
+#include "Drivers/Peripheral_GPIO/GPIO.h"
#include "control.h"
#include "MillisecTask.h"
/******************** Definitions ********************************************/
@@ -93,6 +94,8 @@ static GateMutex_Handle gateControlDB;
Task_Handle Control_Task_Handle;
ControlDeviceStruc ControlArray[MAX_TANGO_CONTROL_DEVICES];
uint32_t ControlDatalog[MAX_TANGO_CONTROL_DEVICES];
+uint16_t ControlBacklog[1000]={0};
+uint16_t backlogindex = 0;
uint32_t Control_timerBase = TIMER0_BASE; //Timer handle
/******************** Functions ********************************************/
void OneMilliSecondFunction(UArg arg0);
@@ -148,6 +151,25 @@ void ControlStop(void)
ControlRestart = false;
ADCAcquireStop();
}
+uint32_t ControlActivityLed( uint32_t Parameter1, uint32_t Parameter2)
+{
+ static bool flag = false;
+ if (flag==true)
+ {
+ COMM_RED_LED_ON;
+ flag = false;
+ }
+ else
+ {
+ COMM_RED_LED_OFF;
+ flag = true;
+ }
+return OK;
+}
+uint32_t ControlEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
+{
+ return OK;
+}
void ControlStart(void)
{
@@ -159,6 +181,8 @@ void ControlStart(void)
TimerEnable(Control_timerBase, TIMER_A);
ADCAcquireStart(0,1);
+ AddControlCallback( ControlEmptyCBFunction, eHundredMillisecond, ControlActivityLed,0, 0, 0 );
+
}
}
@@ -260,45 +284,72 @@ uint32_t ControlLoop(uint32_t tick)
Hundred_msTick = (tick%eHundredMillisecond == 0) ?true:false;
Onesecond_Tick = (tick%eOneSecond == 0) ?true:false;
Tick98 = (tick%eHundredMillisecond == 99) ?true:false;
- Tick998 = (tick%eOneSecond == 998) ?true:false;
+ Tick998 = (tick%eOneSecond == 996) ?true:false;
for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES;Device_i++)
{
if (ControlArray[Device_i].ControlActive)
{
+ ControlBacklog[backlogindex]=Device_i;
+ if ( ++backlogindex >= 999)
+ backlogindex = 0;
switch (ControlArray[Device_i].ControlTiming)
{
case eOneMillisecond:
+ if(ControlArray[Device_i].ControlDataReadPtr)
ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
+ if(ControlArray[Device_i].ControlCallbackPtr)
ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
break;
case eTenMilliSecond:
if (Ten_msTick)
{
- ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
- ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+ if(ControlArray[Device_i].ControlDataReadPtr)
+ ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
+ if(ControlArray[Device_i].ControlCallbackPtr)
+ ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
}
break;
case eHundredMillisecond:
if (Tick98)
{
//there is a need to trigger the data collection from FPGA, from I2C or from ADC 1.5 milliseconds to collect the data
- ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+ if(ControlArray[Device_i].ControlDataReadPtr)
+ ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
}
if (Hundred_msTick)
{
//there is a need to trigger the data collection from FPGA, from I2C or from ADC 1.5 milliseconds to collect the data
- ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+ if(ControlArray[Device_i].ControlCallbackPtr)
+ ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
}
break;
case eOneSecond:
if (Tick998)
{
- ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+ if(ControlArray[Device_i].ControlDataReadPtr)
+ ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
}
if (Onesecond_Tick)
{
- ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+ if(ControlArray[Device_i].ControlCallbackPtr)
+ ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
+ else
+ LOG_ERROR (Device_i, "Invalid callback ptr");
}
break;
default:
generated by cgit v1.3.1 (git 2.54.0) at 2026-07-05 08:45:56 +0000