extern void eo_currents_watchdog_Tick(EOCurrentsWatchdog* p, int16_t voltage, int16_t *currents)
{
if (p == NULL)
{
return;
}
int16_t current_value = 0;
for (uint8_t i = 0; i < s_eo_currents_watchdog.numberofmotors; i++)
{
//get current value
current_value = currents[i];
//Update currents broadcasted
//s_eo_currents_watchdog_UpdateMotorCurrents(i, current_value);
MController_update_motor_current_fbk(i, current_value);
// moved into s_eo_currents_watchdog_UpdateMotorCurrents
//error flags signalling is done internally
//s_eo_currents_watchdog_CheckSpike(i, current_value);
s_eo_currents_watchdog_CheckI2T(i, current_value);
//added following code only 4 debug purpose
if(current_value > maxReadCurrent[i])
{
maxReadCurrent[i] = current_value;
// if(0 == i)//only for first joint
// {
//
// eOerrmanDescriptor_t errdes = {0};
// errdes.code = eoerror_code_get(eoerror_category_Debug, eoerror_value_DEB_tag00);
// errdes.par16 = i;
// errdes.sourcedevice = eo_errman_sourcedevice_localboard;
// errdes.sourceaddress = 0;
// char str[eomn_info_status_extra_sizeof];
// snprintf(str, sizeof(str), "NEW MAX CURR VAL: =%d ", current_value);
// eo_errman_Error(eo_errman_GetHandle(), eo_errortype_debug, str, NULL, &errdes);
// }
}
}
// in here i proces the voltage
{
suppliedVoltage_counter++;
if(suppliedVoltage_counter < SUMMPLIED_VOLTAGE_COUNTER_MAX)
return;
nv_controller_ptr->status.supplyVoltage = voltage;
suppliedVoltage_counter = 0;
}
}
extern void eo_currents_watchdog_Tick(EOCurrentsWatchdog* p)
{
if (p == NULL)
{
return;
}
int16_t current_value = 0;
//check spikes and I2T
for (uint8_t i = 0; i < s_eo_currents_watchdog.numberofmotors; i++)
{
//get current value
current_value = eo_mcserv_GetMotorCurrent (eo_mcserv_GetHandle(), i);
//Update currents broadcasted
s_eo_currents_watchdog_UpdateMotorCurrents(i, current_value);
//error flags signalling is done internally
s_eo_currents_watchdog_CheckSpike(i, current_value);
s_eo_currents_watchdog_CheckI2T(i, current_value);
}
}
