diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c | 44 |
1 files changed, 41 insertions, 3 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index 4e573cb82..33af819f1 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -77,6 +77,44 @@ FPGA_GPI_ENUM Motor_Id_to_LS_Id[NUM_OF_MOTORS] = { MAX_GPI, //MOTO_SPARE2_2 = 28 }; +typedef enum { + MotorHomingDirectionUp, + MotorHomingDirectionDown, + MotorHomingDirectionNoHoming +}MotorHomingDirectionEnum; + +MotorHomingDirectionEnum Motor_Id_to_LS_Direction[NUM_OF_MOTORS] = { + MotorHomingDirectionNoHoming, //MOTO_DH_CLEANHEAD = 0, + MotorHomingDirectionNoHoming, //MOTO_DH_CLEANMECH = 1, + MotorHomingDirectionNoHoming, //MOTO_DH_LID = 2, + MotorHomingDirectionNoHoming, //MOTO_DRYER_DRIVING = 3, + MotorHomingDirectionNoHoming, //MOTO_DRYER_LID = 4, + MotorHomingDirectionNoHoming, //MOTO_DRYER_LOADARM = 5, + MotorHomingDirectionDown, //MOTO_DISPENSER_1 = 6, + MotorHomingDirectionDown, //MOTO_DISPENSER_2 = 7, + MotorHomingDirectionDown, //MOTO_DISPENSER_3 = 8, + MotorHomingDirectionDown, //MOTO_DISPENSER_4 = 9, + MotorHomingDirectionDown, //MOTO_DISPENSER_5 = 10, + MotorHomingDirectionDown, //MOTO_DISPENSER_6 = 11, + MotorHomingDirectionDown, //MOTO_DISPENSER_7 = 12, + MotorHomingDirectionDown, //MOTO_DISPENSER_8 = 13, + MotorHomingDirectionUp, //MOTO_SCREW = 14, + MotorHomingDirectionNoHoming, //MOTO_WINDER = 15, + MotorHomingDirectionDown, //MOTO_LDANCER1 = 16, + MotorHomingDirectionDown, //MOTO_LDANCER2 = 17, + MotorHomingDirectionNoHoming, //MOTO_LDRIVING = 18, + MotorHomingDirectionUp, //MOTO_LLOADING = 19, + MotorHomingDirectionUp, //MOTO_LPIVOT1 = 20, + MotorHomingDirectionDown, //MOTO_RDANCER = 21, + MotorHomingDirectionNoHoming, //MOTO_RDRIVING = 22, + MotorHomingDirectionUp, //MOTO_RLOADARM = 23, + MotorHomingDirectionDown, //MOTO_RLOADING = 24, + MotorHomingDirectionNoHoming, //MOTO_SPARE1_1 = 25, + MotorHomingDirectionNoHoming, //MOTO_SPARE1_2 = 26, + MotorHomingDirectionNoHoming, //MOTO_SPARE2_1 = 27, + MotorHomingDirectionNoHoming, //MOTO_SPARE2_2 = 28 + +}; char HomingToken[NUM_OF_MOTORS][36+1]={0}; /******************************************************************************** @@ -87,13 +125,13 @@ uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue) MessageContainer responseContainer; MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT; - responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], false, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size); - responseContainer.continuous = false; - HomingToken[deviceID][0] = 0; + responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size); + responseContainer.continuous = true; uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); size_t container_size = message_container__pack(&responseContainer, container_buffer); free(responseContainer.data.data); SendChars(container_buffer, container_size); + HomingToken[deviceID][0] = 0; return OK; |