[Krobot-commits] [SCM] krobot branch, master, updated. 81ad433ad4992f4c336e5bcf236cb4c3edf49ac5

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 81ad433ad4992f4c336e5bcf236cb4c3edf49ac5
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue Apr 12 14:47:38 2011 +0200

    [Controller_Motor_STM32] Refactored blinkyness in motor_controller
    
    The HIL mode has been tested and works perfectly.

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
index 0625ce5..2c0e6da 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -17,7 +17,7 @@
 PROC_DEFINE_STACK(stack_can_send, KERN_MINSTACKSIZE * 8);
 PROC_DEFINE_STACK(stack_can_receive, KERN_MINSTACKSIZE * 8);
 // globals
-uint8_t mode;
+volatile uint8_t mode;
 
 // Structures to represent data into CAN messages
 typedef struct {
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
index 56fef1a..3bc54e0 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
@@ -52,6 +52,40 @@ static inline uint8_t get_motor_index(uint8_t motor_id) {
   return motor_ind;
 }
 
+static inline void motor_led_on(uint8_t motor_id) {
+  switch (motor_id) {
+  case MOTOR1:
+    LED1_ON();
+    break;
+  case MOTOR2:
+    LED2_ON();
+    break;
+  case MOTOR3:
+    LED3_ON();
+    break;
+  case MOTOR4:
+    LED4_ON();
+    break;
+  }
+}
+
+static inline void motor_led_off(uint8_t motor_id) {
+  switch (motor_id) {
+  case MOTOR1:
+    LED1_OFF();
+    break;
+  case MOTOR2:
+    LED2_OFF();
+    break;
+  case MOTOR3:
+    LED3_OFF();
+    break;
+  case MOTOR4:
+    LED4_OFF();
+    break;
+  }
+}
+
 // Process functions for control and simulation
 static void NORETURN motorController_process(void);
 static void NORETURN motorController_HIL_process(void);
@@ -131,6 +165,9 @@ static void NORETURN motorController_process(void) {
   timer_setDelay(&timer, ms_to_ticks((mtime_t)(params->T*1000)));
   timer_setEvent(&timer);
 
+  // Switch off motor LED
+  motor_led_off(params->motor);
+
   while (1) {
     if (params->enable == 0) {
       params->running = 0;
@@ -202,38 +239,11 @@ static void NORETURN motorController_HIL_process(void) {
       timer_add(&timer);
 
       if (last_t >= 0.2) {
-        if (led_state == 0) {
-          led_state = 1;
-          switch (params->motor) {
-          case MOTOR1:
-            LED1_ON();
-            break;
-          case MOTOR2:
-            LED2_ON();
-            break;
-          case MOTOR3:
-            LED3_ON();
-            break;
-          case MOTOR4:
-            LED4_ON();
-            break;
-          }
+        led_state = !led_state;
+        if (led_state) {
+          motor_led_on(params->motor);
         } else {
-          led_state = 0;
-          switch (params->motor) {
-          case MOTOR1:
-            LED1_OFF();
-            break;
-          case MOTOR2:
-            LED2_OFF();
-            break;
-          case MOTOR3:
-            LED3_OFF();
-            break;
-          case MOTOR4:
-            LED4_OFF();
-            break;
-          }
+          motor_led_off(params->motor);
         }
         last_t -= 0.2;
       }


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