diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 55148e655..7e3118c13 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -65,6 +65,8 @@ #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.h> #include <Drivers/I2C_Communication/I2C_Task.h> +#include "drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.h" + Task_Handle Millisecond_Task_Handle; /******************** Definitions ********************************************/ @@ -717,6 +719,10 @@ uint32_t MillisecLowLoop(uint32_t tick) if (isMotorConfigured(Motor_i)) MotorGetStatusFromFPGA(Motor_i); } + if (WHS_Type == WHS_TYPE_NEW) + { + WHS_Shinko_Communication(); // Reading every fourth cycle (Set HW, Request, Set HW, Response) + } } if ((O500Millisecond_Tick)&&(RapidPressureRead == false)) { |