From 3f6ff04da7c8c3fb2d41ee0d5f355d9bd449492a Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Tue, 15 May 2018 13:00:27 +0300
Subject: FPGA beautifying. some control improvements

---
 Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 4 +++-
 Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h | 1 +
 Software/Embedded_SW/Embedded/Modules/Control/control.c      | 4 ++--
 Software/Embedded_SW/Embedded/Modules/Control/control.h      | 1 +
 4 files changed, 7 insertions(+), 3 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Control')

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
-- 
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