diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/control.c | 26 | ||||
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c | 10 |
2 files changed, 25 insertions, 11 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index bea68e314..0f9848ba1 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -51,6 +51,7 @@ #include <PMR/Diagnostics/EventType.pb-c.h> +#include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h" #include "drivers/adc_sampling/adc.h" #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h" #include "drivers/FPGA/FPGA_SPI_Comm.h" @@ -181,19 +182,22 @@ uint32_t ControlActivityLed( uint32_t Parameter1) ACTIVITY_RED_LED_OFF; // Heaters indication - all the Heaters OFF if(FPGA_WD_Occurred == true) { - FPGA_WD_Occurred = false; - AlarmHandlingSetAlarm(EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED,true); - if (JobIsActive()) + if (FPGABurningActive == false) { - JobEndReason = JOB_MOTOR_ALARM; - SendJobProgress(0.0,0,false, "Hardware Failure Error"); - AbortJob("FPGA Watchdog Error"); - } - ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0); + FPGA_WD_Occurred = false; + AlarmHandlingSetAlarm(EVENT_TYPE__FPGA_WATCHDOG_ACTIVATED,true); + if (JobIsActive()) + { + JobEndReason = JOB_MOTOR_ALARM; + SendJobProgress(0.0,0,false, "Hardware Failure Error"); + AbortJob("FPGA Watchdog Error"); + } + ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0); - ACTIVITY_GREEN_LED_ON; - FPGA_SetMotorsInit(); - Motor_ReconfigAllMotors(); + ACTIVITY_GREEN_LED_ON; + FPGA_SetMotorsInit(); + Motor_ReconfigAllMotors(); + } } else ACTIVITY_GREEN_LED_OFF; diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index 685542722..acecf4c7c 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -166,6 +166,16 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer) } if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI) { + if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING) + { + keepkvalright = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun; + MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 70); + } + if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING) + { + keepkvalleft = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun; + MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 70); + } MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback,10000); return OK; } |