remove warnings, put order, minor changes

1 files changed, 10 insertions, 6 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 6ddea7920..0ab763a3f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -224,7 +224,9 @@ uint32_t MillisecLoop(uint32_t tick)
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
 
     //gather Motor data from FPGA
+#ifndef EVALUATION_BOARD
     FPGA_GetBusy();  //load the busy motor information to all motors
+#endif
     for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
     {
         if (MotorDriverResponse[Motor_i].Busy == true)
@@ -294,11 +296,13 @@ uint32_t MillisecLoop(uint32_t tick)
     if (Hundred_msTick)
     {
     }
-#ifdef EVALUATION_BOARD
 
-    /* this cannot be done within one millisecond, and not needed
-     * instead, check if there is a motor waiting with data to send or read request
-     * MotorSpeed_Data[MOTOR_DRYER_DRIVING] = MotorGetSpeedFromFPGA(MOTOR_DRYER_DRIVING);
+    if (Onesecond_Tick)
+    {
+        ADC_TriggerCollection();
+    }
+
+    /*        OLD CODE
     MotorStatus_Data[MOTOR_DRYER_DRIVING] = MotorGetStatusFromFPGA(MOTOR_DRYER_DRIVING);
     MotorSpeed_Data[MOTOR_SCREW] = MotorGetSpeedFromFPGA(MOTOR_SCREW);
     MotorStatus_Data[MOTOR_SCREW] = MotorGetStatusFromFPGA(MOTOR_SCREW);
@@ -307,7 +311,7 @@ uint32_t MillisecLoop(uint32_t tick)
     MotorSpeed_Data[MOTOR_LDRIVING] = MotorGetSpeedFromFPGA(MOTOR_LDRIVING);
     MotorStatus_Data[MOTOR_LDRIVING] = MotorGetStatusFromFPGA(MOTOR_LDRIVING);
     MotorSpeed_Data[MOTOR_RDRIVING] = MotorGetSpeedFromFPGA(MOTOR_RDRIVING);
-    MotorStatus_Data[MOTOR_RDRIVING] = MotorGetStatusFromFPGA(MOTOR_RDRIVING);*/
+    MotorStatus_Data[MOTOR_RDRIVING] = MotorGetStatusFromFPGA(MOTOR_RDRIVING);
     //gather Dancer data from FPGA
     Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
     Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER);
@@ -342,7 +346,7 @@ uint32_t MillisecLoop(uint32_t tick)
             }
         }
     }
-#endif
+*/
     //gather data from FPGA
 
     return OK;