From a658f7b367c5fafe249706d8ff5762c893a548bb Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Wed, 18 Apr 2018 14:56:16 +0300
Subject: fix the control. in this version Motors PID wors for the first time

---
 Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 1 +
 Software/Embedded_SW/Embedded/Modules/Control/control.c      | 2 ++
 2 files changed, 3 insertions(+)

(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 4e16a5599..d9571f3ff 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -211,6 +211,7 @@ uint32_t MillisecLoop(uint32_t tick)
             }
         }
     }
+    Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
 
 #ifndef EVALUATION_BOARD
     /* this cannot be done within one millisecond, and not needed
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 6bf238507..28b4afb8d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -52,6 +52,7 @@
 
 #include "drivers/adc_sampling/adc.h"
 #include "control.h"
+#include "MillisecTask.h"
 /******************** Definitions  ********************************************/
 #define INVALID_MSG_ID    0xFFFF
 #define MAX_TANGO_CONTROL_DEVICES 200
@@ -152,6 +153,7 @@ void ControlStart(void)
     if (ControlRestart == false)
     {
         ControlRestart = true;
+        MillisecStart();
         ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000+(ControlPhaseDelay*120)/*one millisecond*/);
         TimerEnable(Control_timerBase, TIMER_A);
 
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