diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 31 |
1 files changed, 24 insertions, 7 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 529e4d260..78203b236 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -40,11 +40,20 @@ int32_t BreakSensordebouncetimemilli = BREAK_SENSOR_LIMIT; HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0}; //******************************************************************************************************************** -uint32_t MotorsConfigMessage(HardwareMotor * request) +uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest) { uint32_t status = PASSED; - TimerMotors_t Motor_i; - Motor_i = request->hardwaremotortype; + TimerMotors_t Motor_i,MotorId; + MOTDRIVER_TYPE DriverType; + HardwareMotor *request; + if (HWrequest == NULL) + return ERROR; + for (MotorId = 0; MotorId < HWrequest->n_motors ; MotorId++) + { + request = HWrequest->motors[MotorId]; + if (request == NULL) + return ERROR; + Motor_i = request->hardwaremotortype; MotorsCfg[Motor_i].configword = request->configword; MotorsCfg[Motor_i].hardwaremotortype = request->hardwaremotortype; MotorsCfg[Motor_i].minfrequency = request->minfrequency; @@ -80,13 +89,21 @@ uint32_t MotorsConfigMessage(HardwareMotor * request) MotorsCfg[Motor_i].fnslpdec = request->fnslpdec; MotorsCfg[Motor_i].fsspd = request->fsspd; - status = MotorConfig( Motor_i, &MotorsCfg[Motor_i]); + MotorsCfg[Motor_i].gatecfg1 = request->gatecfg1; + MotorsCfg[Motor_i].gatecfg2 = request->gatecfg2; + MotorsCfg[Motor_i].tvalhold = request->tvalhold; + MotorsCfg[Motor_i].tvalrun = request->tvalrun ; + MotorsCfg[Motor_i].tvalacc = request->tvalacc ; + MotorsCfg[Motor_i].tvaldec = request->tvaldec ; + MotorsCfg[Motor_i].tfast = request->tfast ; + MotorsCfg[Motor_i].tonmin = request->tonmin ; + MotorsCfg[Motor_i].toffmin = request->toffmin ; + + status = MotorConfig( Motor_i, &MotorsCfg[Motor_i]); // if (Motor_i == MOTOR_RDRIVING) // ThreadInitialTestStub(request); - + } return status; -// } -// else return Motor_i; } uint32_t MotorPidRequestMessage(HardwarePidControl* request) |