Index: firmware/App/Controllers/LoadCell.c
===================================================================
diff -u
--- firmware/App/Controllers/LoadCell.c	(revision 0)
+++ firmware/App/Controllers/LoadCell.c	(revision bcd2887a992f73548dc0d9603595b57523b31902)
@@ -0,0 +1,78 @@
+/**********************************************************************//**
+ *
+ *  Copyright (c) 2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file LoadCell.c
+ *
+ *  @date 25-Feb-2020
+ *  @author S. Nejatali
+ *
+ *  @brief Processing sensor data.
+ *
+ **************************************************************************/
+
+#include "LoadCell.h"
+#include "Common.h"
+#include "SystemCommMessages.h"
+#include "FPGA.h"
+#include "TaskPriority.h"
+
+ /**@}*/
+
+/*********************************************************************//**
+ * @brief
+ * The execLoadCell function gets load cell data from FPGA and advertises them over CAN.
+ * @details
+ * Inputs : none
+ * Outputs : Advertising load call data.
+ * @return none
+ *************************************************************************/
+void execLoadCell(void)
+{
+#ifdef DEBUG_ENABLED
+     char debugStr[ 256 ];
+#endif
+     static U32 Counter = 0;
+     static U32 Load_cell_a1 = 0;
+     static U32 Load_cell_a2 = 0;
+     static U32 Load_cell_b1 = 0;
+     static U32 Load_cell_b2 = 0;
+     F32 load_cell_a1_f;
+     F32 load_cell_a2_f;
+     F32 load_cell_b1_f;
+     F32 load_cell_b2_f;
+     BOOL   result;
+
+     Load_cell_a1 += getFPGALoadCellA1();   // No overflow since ADC output is 24 bits.
+     Load_cell_a2 += getFPGALoadCellA2();
+     Load_cell_b1 += getFPGALoadCellB1();
+     Load_cell_b2 += getFPGALoadCellB2();
+
+     Counter++;
+     if (Counter == LOAD_CELL_REPORT_PERIOD)
+     {
+         Counter = 0;
+
+         load_cell_a1_f = (F32)(Load_cell_a1)*ADC2GRAM;   // division for averaging folded into ADC2GRAM
+         load_cell_a2_f = (F32)(Load_cell_a2)*ADC2GRAM;
+         load_cell_b1_f = (F32)(Load_cell_b1)*ADC2GRAM;
+         load_cell_b2_f = (F32)(Load_cell_b2)*ADC2GRAM;
+         result = broadcastLoadCellData( load_cell_a1_f, load_cell_a2_f, load_cell_b1_f, load_cell_b2_f );
+#ifdef DEBUG_ENABLED
+         if (result == FALSE)
+             sprintf( debugStr, "Adding load cell data to CAN buffer failed" );
+#else
+         (void)result;
+#endif
+         Load_cell_a1 = 0;
+         Load_cell_a2 = 0;
+         Load_cell_b1 = 0;
+         Load_cell_b2 = 0;
+     }
+}
+
+
+
Index: firmware/App/Controllers/LoadCell.h
===================================================================
diff -u
--- firmware/App/Controllers/LoadCell.h	(revision 0)
+++ firmware/App/Controllers/LoadCell.h	(revision bcd2887a992f73548dc0d9603595b57523b31902)
@@ -0,0 +1,27 @@
+/**********************************************************************//**
+ *
+ *  Copyright (c) 2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file LoadCell.h
+ *
+ *  @date 25-Feb-2020
+ *  @author S. Nejatali
+ *
+ *  @brief Processing sensor data.
+ *
+ **************************************************************************/
+
+#ifndef APP_CONTROLLERS_LOADCELL_H_
+#define APP_CONTROLLERS_LOADCELL_H_
+
+void execLoadCell(void);
+
+#define LOAD_CELL_REPORT_PERIOD         100/TASK_PRIORITY_INTERVAL      // Send a load cell value CAN message to HD every 100 ms
+#define LOAD_CELL_SAMPLES_TO_AVERAGE    LOAD_CELL_REPORT_PERIOD         // Averaging load cell data over the reporting interval
+#define ADC2GRAM                        0.0894/LOAD_CELL_SAMPLES_TO_AVERAGE  // division for averaging is folded into this value
+
+
+#endif /* APP_CONTROLLERS_LOADCELL_H_ */