diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
3 files changed, 44 insertions, 3 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 4f78d2134..e8a60a8c4 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -44,7 +44,6 @@ Task_Handle Millisecond_Task_Handle; /******************** Definitions ********************************************/ -#define INVALID_MSG_ID 0xFFFF /******************** STRUCTURES AND ENUMs ********************************************/ typedef struct MillisecMotorData @@ -458,9 +457,12 @@ uint32_t MillisecLowLoop(uint32_t tick) { MillisecReadFromTempSensor(Sensor_i, NULL); } - if (watchdogCriticalAlarm == false) + if (GeneralHwReady == true) { + if (watchdogCriticalAlarm == false) + { Control_WD(ENABLE,5); //activate heaters/dispenser watchdog, 0.5 seconds + } } } diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index b7521d796..e4abc5e3c 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -56,7 +56,6 @@ #include "control.h" #include "MillisecTask.h" /******************** Definitions ********************************************/ -#define INVALID_MSG_ID 0xFFFF #define MAX_TANGO_CONTROL_DEVICES 100 /******************** STRUCTURES AND ENUMs ********************************************/ @@ -282,6 +281,42 @@ uint32_t AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlF return deviceId; } +int SafeRemoveHighControlCallback(uint32_t deviceId , ControlCBFunction Callback) +{ + if (RemoveControlCallback(deviceId, Callback )!=OK) + { + Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlDevice_i(),RpWarning,(int)deviceId,0); + if (RemoveControlCallback(GetControlDevice_i(),Callback)==OK) + { + Report("Remove control callback fixed",__FILE__,__LINE__,(int)GetControlDevice_i(),RpWarning,(int)deviceId,0); + } + else + { + Report("Remove control callback failed",__FILE__,__LINE__,(int)GetControlDevice_i(),RpWarning,(int)deviceId,0); + return ERROR; + } + } + return OK; +} + +int SafeRemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) +{ + if (RemoveControlCallback(deviceId, Callback )!=OK) + { + Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)deviceId,0); + if (RemoveControlCallback(GetControlLowDevice_i(),Callback)==OK) + { + Report("Remove control callback fixed",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)deviceId,0); + } + else + { + Report("Remove control callback failed",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)deviceId,0); + return ERROR; + } + } + return OK; +} + int RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) { if (deviceId == 0xFF) diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h index 0bcaecb03..8d7e219ac 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.h +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h @@ -39,6 +39,10 @@ void ControlStop(void); void ControlStart(void); uint32_t AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint16_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 ); int RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback ); +//The safe remove command can be used ONLY when called from the control callback itself +int SafeRemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback); +int SafeRemoveHighControlCallback(uint32_t deviceId , ControlCBFunction Callback); + uint32_t TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter1); uint32_t GetControlDevice_i(void); uint32_t GetControlLowDevice_i(void); |