MulticoreCore.cpp

// Pico Electronic Leadscrew
// https://github.com/funkenjaeger/pico-els
//
// MIT License
//
// Copyright (c) 2025 Evan Dudzik
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "MulticoreCore.h"

MulticoreCore :: MulticoreCore(Encoder* e, StepperDrive* s, CrossCoreMessaging* x) : Core(e, s) {
    xCore = x;
}

void MulticoreCore :: pollStatus( void )
{
    uint16_t rpm = Core::getRPM();
    bool isAlarm = Core::getIsAlarm();
    bool isPowerOn = Core::getIsPowerOn();
    bool isPanic = Core::getIsPanic();
    xCore->pushCoreStatus(&rpm, &isAlarm, &isPowerOn, &isPanic);
}

void MulticoreCore :: checkQueues( void ) {  
    FEED_THREAD feed;
    bool powerOn, reverse;
    float driveRatio;
    
    if(xCore->checkFeedCommand(&feed)) {
        setFeed(&feed);
    }
    if(xCore->checkPowerOnCommand(&powerOn)) {
        setPowerOn(powerOn);
    }
    if(xCore->checkReverseCommand(&reverse)) {
        setReverse(reverse);
    }
    if(xCore->checkDriveRatioCommand(&driveRatio)) {
        setDriveRatio(driveRatio);
    }
}