1 files changed, 76 insertions, 4 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 6f3a59852..ded4c9f9e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -22,6 +22,10 @@
 
 #include "drivers/adc_sampling/adc.h"
 #include "control.h"
+
+#include "drivers/Motors/Motor.h"
+#include "drivers/Heater/TemperatureSensor.h"
+
 /******************** Definitions  ********************************************/
 #define INVALID_MSG_ID    0xFFFF
 #define MAX_TANGO_CONTROL_DEVICES 200
@@ -30,7 +34,7 @@
 typedef enum
 {
     OneMillisec,
-}nillisecMessages;
+}MillisecMessages;
 
 typedef struct MillisecMessage{
     uint16_t messageId;
@@ -38,6 +42,13 @@ typedef struct MillisecMessage{
     uint32_t tick;
     uint8_t messageData[20];
 }MillisecMessageStruc;
+
+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};
+bool      MotorBusy_Data[MOTOR_SPARE1_1] = {true};
+
 /******************** GLOBAL PARAMETERS  ********************************************/
 Mailbox_Handle          MillisecMsgQ = NULL;
 bool                    MillisecRestart;
@@ -105,9 +116,6 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
     else
         ROM_TimerDisable(Millisec_timerBase,TIMER_A);
 
-    //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
-    //we might want to call it from the task, afetr execution of other taks!!!
-    ADC_TriggerCollection();
     //send message to the Millisec task
     Message.messageId = OneMillisec;
     Message.tick = UsersysTickGet();
@@ -133,7 +141,46 @@ uint32_t MillisecLoop(uint32_t tick)
     Hundred_msTick  =   (tick%eHunderdMillisecond == 0)  ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
 
+    //gather Motor data from FPGA
+    MotorSpeed_Data[MOTOR_DRYER_DRIVING] = MotorGetSpeedFromFPGA(MOTOR_DRYER_DRIVING);
+    MotorStatus_Data[MOTOR_DRYER_DRIVING] = MotorGetStatusFromFPGA(MOTOR_DRYER_DRIVING);
+    MotorSpeed_Data[MOTOR_SCREW] = MotorGetSpeedFromFPGA(MOTOR_SCREW);
+    MotorStatus_Data[MOTOR_SCREW] = MotorGetStatusFromFPGA(MOTOR_SCREW);
+    MotorSpeed_Data[MOTOR_WINDER] = MotorGetSpeedFromFPGA(MOTOR_WINDER);
+    MotorStatus_Data[MOTOR_WINDER] = MotorGetStatusFromFPGA(MOTOR_WINDER);
+    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);
+    //gather Dancer data from FPGA
     //gather data from FPGA
+
+    if (Hundred_msTick)
+    {
+        int adc_i;
+        for (adc_i = 0; adc_i < MAX_ADC_DEVICES ; adc_i++)
+            ADC_Data[adc_i] = ADC_GetReading(adc_i);
+        //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
+        //we might want to call it from the task, after execution of other tasks!!!
+        ADC_TriggerCollection();
+
+        TEMPERATURE_SENSOR_ID_ENUM pt100_i;
+        for (pt100_i = 0; pt100_i < (int)MAX_TEMPERATURE_SENSOR_ID ; pt100_i++)
+            TemperatureSensor_Data[pt100_i] = TemperatureSensorReadFromFPGA(pt100_i);
+        MotorGetnBusyFromFPGA(); // get all motors nBusy bit status from the FPGAs
+        TimerMotors_t motor_i;
+        for (motor_i = 0; motor_i < MOTOR_SPARE1_1 ; motor_i++)
+        {
+            MotorBusy_Data[motor_i] = MotorGetnBusyState(motor_i);
+            if (MotorBusy_Data[motor_i] == false) //can get data
+            {
+                MotorSpeed_Data[motor_i] = MotorGetSpeedFromFPGA(motor_i);
+                MotorStatus_Data[motor_i] = MotorGetStatusFromFPGA(motor_i);
+            }
+        }
+    }
+    //gather data from FPGA
+
     return OK;
 }
 /******************************************************************************
@@ -163,3 +210,28 @@ void MillisecTask(UArg arg0, UArg arg1)
         }
     }
 }
+
+
+uint32_t getMotorStatusData(int MotorId)
+{
+    assert (MotorId < MOTOR_SPARE1_1);
+    return MotorStatus_Data[MotorId];
+}
+uint32_t getMotorSpeedData(int MotorId)
+{
+    assert (MotorId < MOTOR_SPARE1_1);
+    return MotorSpeed_Data[MotorId];
+}
+
+uint32_t getTemperatureSensorData(int SensorId)
+{
+    assert (SensorId < MAX_TEMPERATURE_SENSOR_ID);
+    return TemperatureSensor_Data[SensorId];
+}
+
+uint32_t getADCData(int DeviceId)
+{
+    assert (DeviceId < MAX_ADC_DEVICES);
+    return ADC_Data[DeviceId];
+}
+