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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-03-26 14:22:12 +0300 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-03-26 14:22:12 +0300 |
| commit | 2f1579f22a700dc64533532d533dfacb3a3531d0 (patch) | |
| tree | f88cf8c1ae220e2d632965a9290ee788f3dcd3cc /Software/Embedded_SW/Embedded/Modules/Control | |
| parent | 1061758f95b7ba633e6bcc2c3556b42f033b1a79 (diff) | |
| parent | bca898b563219f5d02fb7d611a49f2a20306f214 (diff) | |
| download | Tango-2f1579f22a700dc64533532d533dfacb3a3531d0.tar.gz Tango-2f1579f22a700dc64533532d533dfacb3a3531d0.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index ded4c9f9e..c242401fd 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -47,6 +47,7 @@ uint32_t ADC_Data[MAX_ADC_DEVICES] = {0}; uint32_t TemperatureSensor_Data[MAX_TEMPERATURE_SENSOR_ID] = {0}; uint32_t MotorSpeed_Data[MOTOR_SPARE1_1] = {0}; uint32_t MotorStatus_Data[MOTOR_SPARE1_1] = {0}; +uint32_t MotorPosition_Data[MOTOR_SPARE1_1] = {0}; bool MotorBusy_Data[MOTOR_SPARE1_1] = {true}; /******************** GLOBAL PARAMETERS ********************************************/ @@ -154,7 +155,11 @@ uint32_t MillisecLoop(uint32_t tick) MotorStatus_Data[MOTOR_RDRIVING] = MotorGetStatusFromFPGA(MOTOR_RDRIVING); //gather Dancer data from FPGA //gather data from FPGA - + if (Ten_msTick) + { + MotorPosition_Data[MOTOR_SCREW] = MotorGetPositionFromFPGA(MOTOR_SCREW); + MotorPosition_Data[MOTOR_RDRIVING] = MotorGetPositionFromFPGA(MOTOR_RDRIVING); + } if (Hundred_msTick) { int adc_i; |