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_stack_input_voltage(const ComType com, const GetStackInputVoltage *data) {
GetStackInputVoltageReturn gsivr;
gsivr.header = data->header;
gsivr.header.length = sizeof(GetStackInputVoltageReturn);
gsivr.voltage = stepper_get_stack_voltage();
send_blocking_with_timeout(&gsivr, sizeof(GetStackInputVoltageReturn), com);
}
void get_stack_input_voltage(uint8_t com, const GetStackInputVoltage *data) {
GetStackInputVoltageReturn gsivr;
gsivr.stack_address = data->stack_address;
gsivr.type = data->type;
gsivr.length = sizeof(GetStackInputVoltageReturn);
gsivr.voltage = stepper_get_stack_voltage();
send_blocking_with_timeout(&gsivr, sizeof(GetStackInputVoltageReturn), com);
}
