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 | 44 |
1 files changed, 20 insertions, 24 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 1920db03a..869485b71 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -188,40 +188,36 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) } char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg"; -uint32_t StoreDancerConfigMessage() +uint32_t StoreDancerConfigMessage(int DancerId) { uint32_t status = OK; // FRESULT Fresult = FR_OK; //HardwareConfiguration DancerConfig; HardwareDancer Dancers[MAX_SYSTEM_DANCERS]; - // uint8_t* response_buffer; +#ifdef FOUR_WINDERS + uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2,EEPROM_STORAGE_DANCER_3,EEPROM_STORAGE_DANCER_4}; +#else + uint8_t DancerAddress[MAX_SYSTEM_DANCERS] = {EEPROM_STORAGE_DANCER_0,EEPROM_STORAGE_DANCER_1,EEPROM_STORAGE_DANCER_2}; +#endif // size_t response_size = 0; - int Dancer_i; + int Dancer_i = DancerId; //hardware_configuration__init(&DancerConfig); //DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS); - for (Dancer_i = 0; Dancer_i < MAX_SYSTEM_DANCERS; Dancer_i++) - { - hardware_dancer__init(&Dancers[Dancer_i]); - //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i]; - Dancers[Dancer_i].has_zeropoint = true; - Dancers[Dancer_i].hardwaredancertype = Dancer_i; - Dancers[Dancer_i].has_hardwaredancertype = true; - Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0); - //DancerConfig.n_dancers++; - DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint; - DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0); - } + hardware_dancer__init(&Dancers[Dancer_i]); + //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i]; + Dancers[Dancer_i].has_zeropoint = true; + Dancers[Dancer_i].hardwaredancertype = Dancer_i; + Dancers[Dancer_i].has_hardwaredancertype = true; + Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0); + //DancerConfig.n_dancers++; + DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint; + DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_0,DancersCfg[0].zeropoint); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_1,DancersCfg[1].zeropoint); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_2,DancersCfg[2].zeropoint); - Report("~~~~~~Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0); -#ifdef FOUR_WINDERS - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_3,DancersCfg[HARDWARE_DANCER_3].zeropoint); - status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_4,DancersCfg[HARDWARE_DANCER_4].zeropoint); - Report("~~~~~~Store eeprom 1",__FILE__,__LINE__,(int)DancersCfg[HARDWARE_DANCER_3].zeropoint,RpWarning,(int)DancersCfg[HARDWARE_DANCER_4].zeropoint,0); -#endif + + + status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint); + Report("~~~~~~Store eeprom dancer",__FILE__,__LINE__,Dancer_i,RpWarning,(int)DancersCfg[Dancer_i].zeropoint,0); /* response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig)); if (response_buffer) |