/*
 * MillisecTask.h
 *
 *  Created on: 15 במרץ 2018
 *      Author: shlomo
 */

#ifndef MODULES_CONTROL_MILLISECTASK_H_
#define MODULES_CONTROL_MILLISECTASK_H_

#include "drivers/adc_sampling/adc.h"
#include "control.h"
#include "drivers/Motors/Motor.h"
#include "drivers/Heater/TemperatureSensor.h"

typedef  uint32_t (* MSecFptr)(uint32_t deviceID, uint32_t ReadValue);
int32_t MillisecWriteToMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
int MillisecFlushMsgQ(TimerMotors_t MotorId);

int32_t MillisecReadFromTempSensor(uint32_t TempSensorId, MSecFptr Callback);
int MillisecFlushMsgQ(TimerMotors_t MotorId);

uint32_t getMotorStatusData(int MotorId);
uint32_t getMotorSpeedData(int MotorId);
uint32_t getTemperatureSensorData(int SensorId);
uint32_t getADCData(int DeviceId);

void MillisecInit(void);
void MillisecStop(void);
void MillisecStart(void);

extern Task_Handle Millisecond_Task_Handle;
#endif /* MODULES_CONTROL_MILLISECTASK_H_ */