integration changes

1 files changed, 15 insertions, 5 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 0a4a8b791..a56457bdb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -254,10 +254,12 @@ uint32_t ControlLoop(uint32_t tick)
     //test dancers and speed encoders
     //check all callback units (state machine waiting for completion of a change)
     uint32_t Device_i;
-    bool Ten_msTick, Hundred_msTick, Onesecond_Tick;
+    bool Ten_msTick, Hundred_msTick, Onesecond_Tick,Tick98,Tick998;
     Ten_msTick      =   (tick%eTenMilliSecond == 0)      ?true:false;
-    Hundred_msTick  =   (tick%eHunderdMillisecond == 0)  ?true:false;
+    Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
+    Tick98          =   (tick%eHundredMillisecond == 98) ?true:false;
+    Tick998         =   (tick%eOneSecond == 998)         ?true:false;
 
     for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES;Device_i++)
     {
@@ -276,17 +278,25 @@ uint32_t ControlLoop(uint32_t tick)
                         ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
                     }
                     break;
-                case eHunderdMillisecond:
-                    if (Hundred_msTick)
+                case eHundredMillisecond:
+                    if (Tick98)
                     {
+                        //there is a need to trigger the data collection from FPGA, from I2C or from ADC 1.5 milliseconds to collect the data
                         ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+                    }
+                    if (Hundred_msTick)
+                    {
+                        //there is a need to trigger the data collection from FPGA, from I2C or from ADC 1.5 milliseconds to collect the data
                         ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
                     }
                     break;
                 case eOneSecond:
-                    if (Onesecond_Tick)
+                    if (Tick998)
                     {
                         ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
+                    }
+                    if (Onesecond_Tick)
+                    {
                         ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
                     }
                     break;