void tick_task(uint8_t tick_type) {
if(tick_type == TICK_TASK_TYPE_CALCULATION) {
stepper_tick_calc_counter++;
stepper_current_sum += adc_channel_get_data(STEPPER_CURRENT_CHANNEL);
if(stepper_tick_calc_counter % 100 == 0) {
stepper_current = stepper_current_sum/100;
stepper_current_sum = 0;
}
// Switch Output Voltage between extern and stack
if(stepper_get_external_voltage() < STEPPER_VOLTAGE_EPSILON) {
PIO_Set(&pin_voltage_switch);
} else {
PIO_Clear(&pin_voltage_switch);
}
} else if(tick_type == TICK_TASK_TYPE_MESSAGE) {
stepper_tick_counter++;
if(stepper_position_reached) {
stepper_position_reached = false;
stepper_position_reached_signal();
}
stepper_check_error_signals();
}
}
void stepper_check_error_signals(void) {
if(stepper_tick_counter % 1000 != 0 || stepper_state == STEPPER_STATE_OFF) {
return;
}
const uint16_t external_voltage = stepper_get_external_voltage();
const uint16_t stack_voltage = stepper_get_stack_voltage();
// Under Voltage if external voltage is below minimum voltage (regardless
// of stack voltage), or if external voltage is zero and stack velotage is
// below minimum voltage
if((external_voltage > STEPPER_VOLTAGE_EPSILON &&
external_voltage < stepper_minimum_voltage) ||
(external_voltage < STEPPER_VOLTAGE_EPSILON &&
stack_voltage > STEPPER_VOLTAGE_EPSILON &&
stack_voltage < stepper_minimum_voltage)) {
UnderVoltageSignal uvs = {
com_stack_id,
TYPE_UNDER_VOLTAGE,
sizeof(UnderVoltageSignal),
external_voltage < STEPPER_VOLTAGE_EPSILON ? stack_voltage : external_voltage
};
send_blocking_with_timeout(&uvs,
sizeof(UnderVoltageSignal),
com_current);
led_on(LED_STD_RED);
} else {
led_off(LED_STD_RED);
}
}
void get_external_input_voltage(const ComType com, const GetExternalInputVoltage *data) {
GetExternalInputVoltageReturn geivr;
geivr.header = data->header;
geivr.header.length = sizeof(GetExternalInputVoltageReturn);
geivr.voltage = stepper_get_external_voltage();
send_blocking_with_timeout(&geivr, sizeof(GetExternalInputVoltageReturn), com);
}
void get_external_input_voltage(uint8_t com, const GetExternalInputVoltage *data) {
GetExternalInputVoltageReturn geivr;
geivr.stack_address = data->stack_address;
geivr.type = data->type;
geivr.length = sizeof(GetExternalInputVoltageReturn);
geivr.voltage = stepper_get_external_voltage();
send_blocking_with_timeout(&geivr, sizeof(GetExternalInputVoltageReturn), com);
}
