merge

3 files changed, 19 insertions, 4 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index 1528473a1..f8e8d7b9e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -11,7 +11,6 @@
 #include <DataDef.h>
 #include "modules/control/millisecTask.h"
 #include "modules/thread/thread.h"
-#include "delay.h"
 #include "FPGA_GPIO.h"
 #include "drivers/FPGA/FPGA.h"
 #include "StateMachines/Printing/PrintingSTM.h"
@@ -19,6 +18,7 @@
 
 #include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
 #include <Drivers/I2C_Communication/I2C_Task.h>
+#include <Utilities/delay.h>
 
 FPGA_GPI FPGA_Gpi;
 
@@ -434,6 +434,12 @@ bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch)
         case GPI_LS_LSPARE2:
             LM_Status = LS_Left.bits.F1_LS_LSPARE2;
                 break;
+        case GPI_LS_SPARE2_2:
+            LM_Status = LS_Spare.bits.F3_LS_SPARE2_2;
+            break;
+        case GPI_LS_SPARE1_2:
+            LM_Status = LS_Spare.bits.F3_LS_SPARE1_2;
+            break;
         case I2C_HEADCARD_COVER_LS_FRONT:
         case I2C_HEADCARD_ARC_LS_ACTUATOR:
                 LM_Status = !(Head_I2C_EXP4_0x46.bits.INPUT_LS_FRONT_ARC_ACT);
@@ -537,9 +543,10 @@ uint32_t MagnetCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     if(Head_Type == HEAD_TYPE_FLAT)
         Trigger_Head_Magnet(DISABLE_MAGNET);
         //HeadCard_HeadMagnet_Disable();
+#ifndef FOUR_WINDERS
     else
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,Hard_Hiz );
-
+#endif
     if (SafeRemoveControlCallback(MagnetControlId, MagnetCallBackFunction )==OK)
         MagnetControlId = 0xFF;
     else
@@ -563,6 +570,7 @@ uint32_t ActivateHeadMagnet()
         F2_CTRL = F2_CTRL_Reg.ushort;
 #endif
     }
+#ifndef FOUR_WINDERS
     if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
     {
         if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
@@ -570,6 +578,7 @@ uint32_t ActivateHeadMagnet()
         else
             MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_CLOSE );
     }
+#endif
     MagnetControlId = AddControlCallback(NULL, MagnetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     return OK;
 }
@@ -597,6 +606,7 @@ uint32_t DeActivateHeadMagnet()
 #endif
     }
     Report("DeActivateHeadMagnet - open the lid magnet",__FILE__,__LINE__,(int)HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,RpWarning,(int)DH_LID_CLOSE,0);
+#ifndef FOUR_WINDERS
     if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
     {
         if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
@@ -605,6 +615,7 @@ uint32_t DeActivateHeadMagnet()
             MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_OPEN );
         //MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM, DH_LID_OPEN, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM], NULL,1000);
     }
+#endif
     //MagnetControlId = AddControlCallback(NULL, MagnetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     Task_sleep(500);
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
index a7999ea2e..e707a9b39 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
@@ -158,6 +158,11 @@ typedef enum
     GPI_EXTWINDER_Direct_BIT13,  //125
     GPI_EXTWINDER_Direct_BIT14,  //126
     GPI_EXTWINDER_Direct_BIT15,  //127
+
+    //LS_Spare
+    GPI_LS_SPARE2_2,             //128
+    GPI_LS_SPARE1_2,             //129
+
     //-------------------------------
     I2C_HEADCARD_COVER_LS_FRONT,
     I2C_HEADCARD_COVER_LS_REAR,
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c
index 2e3b3c3ff..549a41477 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c
@@ -29,13 +29,12 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <string.h>
+#include <Utilities/delay.h>
 #include "inc/hw_memmap.h"
 #include "inc/hw_types.h"
 #include "driverlib/gpio.h"
 #include "Drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
 
-#include "delay.h"
-
 #include "vmopcode.h"
 
 #include "Drivers/FPGA/Full_vme/FPGA_Programming_Up.h"