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| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-05-15 13:00:27 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-05-15 13:00:27 +0300 |
| commit | 3f6ff04da7c8c3fb2d41ee0d5f355d9bd449492a (patch) | |
| tree | 1e6eff8754e6505dba23ccb3f843b2306fa5ac5c /Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | |
| parent | b02af867ffd45e22dfadc083f0fe6b1f57cb139c (diff) | |
| download | Tango-3f6ff04da7c8c3fb2d41ee0d5f355d9bd449492a.tar.gz Tango-3f6ff04da7c8c3fb2d41ee0d5f355d9bd449492a.zip | |
FPGA beautifying. some control improvements
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index eaf7e81d8..2fe813395 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -31,6 +31,7 @@ #include "modules/thread/thread_ex.h" +Task_Handle Millisecond_Task_Handle; /******************** Definitions ********************************************/ #define INVALID_MSG_ID 0xFFFF #define MAX_TANGO_CONTROL_DEVICES 200 @@ -231,6 +232,7 @@ uint32_t MillisecLoop(uint32_t tick) //gather Motor data from FPGA #ifndef EVALUATION_BOARD FPGA_GetBusy(); //load the busy motor information to all motors + FPGA_Read_limit_Switches(); #endif for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++) @@ -370,7 +372,7 @@ void MillisecTask(UArg arg0, UArg arg1) //Clock_setTimeout(HostKAClock, 1000); //Clock_start(HostKAClock); MillisecInit(); - + Millisecond_Task_Handle = Task_self(); while(1) { Mailbox_pend(MillisecMsgQ , &Message, BIOS_WAIT_FOREVER); |