update actuator logic + reading safety

5 files changed, 66 insertions, 16 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 3988712df..24b0fce27 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
@@ -1153,15 +1153,16 @@ uint32_t Control_Dryer_Fan(bool StartStop, uint8_t PWM_Command_Precent)//use STA
     return status;
 }
 
-bool Emergency_Push_Button_Report()//TODO move to GPIO folder
+bool Safety_Incident_Report()//TODO move to GPIO folder
 {
-    bool IsEmergencyPressed = false;
+    bool IsSafetyIncidentOccurred = No_Safety_Event;
 
     if(ROM_GPIOPinRead(GPIO_PORTR_BASE, GPIO_PIN_2)) //EPB_S1 (GPI_PS1_DC_OK)
-        IsEmergencyPressed = true;
+        IsSafetyIncidentOccurred = Safety_Event_Occurred;
 
-        return IsEmergencyPressed;
+        return IsSafetyIncidentOccurred;
 }
+
 /*
 bool Dryer_Door_Switch()//move to Get_COVER_1_State
 {
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 a764e69db..0ff0fa2de 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
@@ -247,7 +247,7 @@ void PumpActivation(uint32_t seconds);
 bool IsDryerStopped (void);
 uint32_t Control_Dryer_Fan(bool StartStop, uint8_t PWM_Command_Precent);
 bool Check_Disp_Safety_Stop_Indication(uint8_t Dispenser_ID);
-bool Emergency_Push_Button_Report();
+bool Safety_Incident_Report();
 //bool Dryer_Door_Switch();
 uint8_t Pannel_Leds(PANEL_BUTTON_OR_CRAT_ID Pannel_Led_Id, OPERATION_MODE LED_Mode);
 uint8_t Init_Machine_Leds();
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
index 24690c25f..05423b8d8 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
@@ -520,6 +520,25 @@ uint32_t HeadCard_Actuators_Control(ACTUATORS Act_ID, bool Direction)
 }
 
 
+uint32_t HeadCard_ActStubCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) // use IfIndex for Act_ID
+{
+    uint32_t status = OK;
+
+    ACTUATORS Act_ID = (ACTUATORS)(IfIndex);
+
+    if(Act_ID == ACTIN)//0
+    {
+        Head_I2C_EXP4_0x46.bits.OUTPUT_ACTLOW_ACTIN_ON  = HIGH;
+    }
+    else//if(Act_ID == ACTOUT) 1
+    {
+        Head_I2C_EXP4_0x46.bits.OUTPUT_ACTLOW_ACTOT_ON  = HIGH;
+    }
+    Trigger_OutputsWriting();//status |= Head_Write_IO_Reg(0x46,HIGH);
+
+    return status;
+}
+
 uint32_t HeadCard_Actuators_Stub(ACTUATORS Act_ID, bool Enable, bool Direction)//ENABLE/DISABLE, DOWN/UP/DONTCARE
 {
     uint32_t status = OK;
@@ -538,6 +557,9 @@ uint32_t HeadCard_Actuators_Stub(ACTUATORS Act_ID, bool Enable, bool Direction)/
         {
             Head_I2C_EXP4_0x46.bits.OUTPUT_ACTLOW_ACTOT_ON  = LOW;
         }
+
+        //100msec delay - (need short command - Active LOW )
+        ActControlId = AddControlCallback("ctuatorControl", HeadCard_ActStubCallBackFunction, (eHundredMillisecond), TemplateDataReadCBFunction,Act_ID,0, 0 );
     }
     else
     {
@@ -598,7 +620,7 @@ uint32_t HeadCard_Actuators_Status(ACTUATORS Act_ID)//
 {
     uint32_t Motion_Status = STOPPED;
 
-    //Head_Read_IO_Reg(0x46,HIGH); //I2C task  - Actuators_Control
+    //Head_Read_IO_Reg(0x46,HIGH); //Trigger_InputsReading(); Done every Hundred_msTick
 
     if(Act_ID == ACTIN)
     {
@@ -650,23 +672,35 @@ uint8_t Head_Test_IO()
     return status;
 }
 
-typedef enum {
+#define ACTUATOR_RELOCATING_MOVEUP_TIME 160
+
+typedef enum
+{
     ActuatorIdle,
     ActuatorMoveDown,
     ActuatorWait,  //wait for the actuator to get to the lower position
     ActuatorMoveUp,
     ActuatorLocated
 }ActuatorLocatingEnum;
+
 ActuatorLocatingEnum ActuatorLocating = ActuatorIdle;
-uint32_t     ActuatorLocatingControl = 0xFF;
+uint32_t ActuatorLocatingControl = 0xFF;
 uint32_t count_time = 0, moveuptime = 0;
-#define ACTUATOR_RELOCATING_MOVEUP_TIME 160
 uint32_t MovingUpTime = ACTUATOR_RELOCATING_MOVEUP_TIME;
-bool isActuatorOnLowestLocation(void)
+
+bool isActuatorOnLowestLocation(void) // Give indication if the actuator stopped in this case reached to the lowest point
 {
-#warning give here indication if the actuator reached the lowest point
-    return true;
+    bool Status = FALSE;
+
+    //read the inputs in Hundred_msTick
+
+    if(HeadCard_Actuators_Status(ACTIN) == STOPPED)
+    {
+        Status = TRUE;
+    }
+    return Status;
 }
+
 uint32_t HeadCard_Actuators_Relocate_callback(uint32_t IfIndex, uint32_t BusyFlag) // use IfIndex for Act_ID
 {
     count_time++;
@@ -675,15 +709,15 @@ uint32_t HeadCard_Actuators_Relocate_callback(uint32_t IfIndex, uint32_t BusyFla
         case ActuatorIdle:
             break;
         case ActuatorMoveDown:
-            Trigger_Head_Actuators_Stub(ACTIN, true, false);
+            Trigger_Head_Actuators_Stub(ACTIN, ENABLE, DOWN);
             ActuatorLocating = ActuatorWait;
             ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0);
             break;
         case ActuatorWait:
-            if (isActuatorOnLowestLocation())
+            if (isActuatorOnLowestLocation())//read the inputs in Hundred_msTick
             {
                 ActuatorLocating = ActuatorMoveUp;
-                Trigger_Head_Actuators_Stub(ACTIN, true, true);
+                Trigger_Head_Actuators_Stub(ACTIN, ENABLE, UP);
                 moveuptime = count_time;
                 ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0);
             }
@@ -691,7 +725,7 @@ uint32_t HeadCard_Actuators_Relocate_callback(uint32_t IfIndex, uint32_t BusyFla
         case ActuatorMoveUp:
             if (count_time>=(moveuptime+MovingUpTime))
             {
-                Trigger_Head_Actuators_Stub(ACTIN, false, false);
+                Trigger_Head_Actuators_Stub(ACTIN, DISABLE, DONTCARE);
                 ActuatorLocating = ActuatorLocated;
                 ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0);
             }
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
index c06e8f4df..f126c254b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
@@ -275,6 +275,19 @@ void Trigger_InputsReading(void)
 
 }
 
+void Trigger_OutputsWriting(void)
+{
+    I2C_ReadingMessageStruc I2C_ReadingMessage;
+    //uint8_t Midtank_i;
+
+    I2C_ReadingMessage.messageId = Head_Outputs_Writing;
+    if (I2C_ReadingMsgQ != NULL)
+        Mailbox_post(I2C_ReadingMsgQ , &I2C_ReadingMessage, BIOS_NO_WAIT);
+    return;
+
+}
+
+
 void Trigger_WHS_init_IO(void)
 {
     I2C_ReadingMessageStruc I2C_ReadingMessage;
@@ -653,6 +666,7 @@ void I2C_ReadingTask(UArg arg0, UArg arg1)
             Head_Read_IO_Reg(0x46, LOW_AND_HIGH);//READ HEAD CARD LS + ACT status + BREAK_HTOT
             break;
         case Head_Outputs_Writing:
+            Head_Write_IO_Reg(0x46,HIGH);//ACT
             break;
         case DispenserReadData:
             Dispenser_EEPROM_Read_Data(I2C_ReadingMessage.parameter);
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h
index 2a98296b4..16f86f9ed 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h
@@ -51,6 +51,7 @@ void Trigger_Head_Actuators_Stub(uint32_t Act_ID, bool Active_Low_Pwr, bool Dire
 void Trigger_Head_Actuators_Disable(void);
 void Trigger_Head_Fan_Control(uint32_t Fan_ID, uint16_t PWM);
 void Trigger_InputsReading(void);
+void Trigger_OutputsWriting(void);
 void Trigger_Head_Magnet(int direction);
 void Trigger_Head_MixerValve(int direction);
 void Trigger_Head_PressureArc(bool Enable_Disable);