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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 | |
| 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')
4 files changed, 7 insertions, 3 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); diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h index f0009b43b..6949a4abe 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h @@ -30,4 +30,5 @@ void MillisecInit(void); void MillisecStop(void); void MillisecStart(void); +extern Task_Handle Millisecond_Task_Handle; #endif /* MODULES_CONTROL_MILLISECTASK_H_ */ diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index 08001cf01..40eee95c8 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -90,7 +90,7 @@ int ControlPhaseDelay = 300; //the control task enters only after data gathering Mailbox_Handle ControlMsgQ = NULL; bool ControlRestart; static GateMutex_Handle gateControlDB; - +Task_Handle Control_Task_Handle; ControlDeviceStruc ControlArray[MAX_TANGO_CONTROL_DEVICES]; uint32_t ControlDatalog[MAX_TANGO_CONTROL_DEVICES]; uint32_t Control_timerBase = TIMER0_BASE; //Timer handle @@ -321,7 +321,7 @@ void controlTask(UArg arg0, UArg arg1) //uint16_t length; //Clock_setTimeout(HostKAClock, 1000); //Clock_start(HostKAClock); - + Control_Task_Handle = Task_self(); while(1) { diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h index 76e90ed2e..853393739 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.h +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h @@ -40,5 +40,6 @@ uint32_t AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM Ctr int RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback ); uint32_t TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter1, uint32_t Parameter2); +extern Task_Handle Control_Task_Handle; #endif |