From 3f6ff04da7c8c3fb2d41ee0d5f355d9bd449492a Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Tue, 15 May 2018 13:00:27 +0300 Subject: FPGA beautifying. some control improvements --- Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c') 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); -- cgit v1.3.1