From d60f78be71fd705cb6bbea8ecb5b5c49858c973e Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Thu, 10 May 2018 13:57:03 +0300
Subject: change motors config, improve initialization and control, first
 control run

---
 .../Embedded_SW/Embedded/Modules/Control/MillisecTask.c     | 13 +++++++++----
 Software/Embedded_SW/Embedded/Modules/Control/control.c     |  2 +-
 2 files changed, 10 insertions(+), 5 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 12603b5ee..05d582eac 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -29,6 +29,8 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 
+#include "modules/thread/thread_ex.h"
+
 /******************** Definitions  ********************************************/
 #define INVALID_MSG_ID    0xFFFF
 #define MAX_TANGO_CONTROL_DEVICES 200
@@ -89,7 +91,7 @@ void MillisecInit(void)
     MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 20, NULL,&eb);
     for (i=0;i<NUM_OF_MOTORS;i++)
     {
-        MotorsMsgQ[i] = Mailbox_create(sizeof(MillisecMotorDataStruc), 6, NULL,&eb);
+        MotorsMsgQ[i] = Mailbox_create(sizeof(MillisecMotorDataStruc), 20, NULL,&eb);
     }
 
     MillisecRestart = false;
@@ -123,6 +125,9 @@ void MillisecStart(void)
 {
     MillisecRestart = true;
     ROM_TimerLoadSet(Millisec_timerBase, TIMER_A,120000/*one millisecond*/);
+    ROM_TimerEnable(Millisec_timerBase, TIMER_A);
+    ROM_IntEnable(INT_TIMER1A);
+    ROM_TimerIntEnable(Millisec_timerBase, TIMER_TIMA_TIMEOUT);
     ADCAcquireStart(0,1);
 }
 
@@ -291,9 +296,9 @@ uint32_t MillisecLoop(uint32_t tick)
             }
         }
     }
-    Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
-    Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER);
-    Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER);
+    Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(ROTENC_RDANCER);
+    Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(ROTENC_LDANCER1);
+    Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(ROTENC_LDANCER2);
     if (Hundred_msTick)
     {
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index a56457bdb..08001cf01 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -139,7 +139,7 @@ void ControlInit(void)
     ROM_IntEnable(INT_TIMER0A);
     ROM_TimerIntEnable(Control_timerBase, TIMER_TIMA_TIMEOUT);
 
-    ADCAcquireInit();
+    //ADCAcquireInit();
 
     return;
 }
-- 
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