From 0087c3567ff7322869fa6871e16372a49c382f38 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Wed, 20 Jun 2018 19:59:18 +0300
Subject: IDS Handling, Reports, Winder message flushing

---
 .../Embedded_SW/Embedded/Modules/Control/MillisecTask.c     | 13 +++++++++++++
 1 file changed, 13 insertions(+)

(limited to 'Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c')

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 67de0271f..3066153ab 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -192,6 +192,18 @@ int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Len
 
     return OK;
 }
+int MillisecFlushMsgQ(TimerMotors_t MotorId)
+{
+    MillisecMotorDataStruc MotorData = {0};
+    int pend = Mailbox_getNumPendingMsgs(MotorsMsgQ[MotorId]);
+    int i;
+    if (pend)
+    {
+        for (i=0;i<pend;i++)
+            Mailbox_pend(MotorsMsgQ[MotorId] , &MotorData, BIOS_NO_WAIT);
+    }
+   return pend;
+}
 int32_t MillisecWriteToMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback)
 {
     MillisecMotorDataStruc MotorData = {0};
@@ -354,6 +366,7 @@ uint32_t MillisecLoop(uint32_t tick)
     {
         for (Sensor_i = 0;Sensor_i < MAX_SYSTEM_DISPENSERS;Sensor_i++)
             CalculateDispenserPressure(Sensor_i);
+        FPGA_GetAllDispensersValveBusyOCD();
     }
 
     /*        OLD CODE
-- 
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