PT100 FPGA interface through 1 millisec task

2 files changed, 55 insertions, 3 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 44e5e682f..b4ceebbc2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -63,7 +63,7 @@ uint32_t  Dancer_Data[NUM_OF_DANCERS] = {0};
 
 MillisecMotorDataStruc MotorData[NUM_OF_MOTORS] = {0};
 MillisecMotorDataStruc SpeedSetPending[NUM_OF_MOTORS] = {0};
-
+MillisecMotorDataStruc PT100Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
 /******************** GLOBAL PARAMETERS  ********************************************/
 Mailbox_Handle          MillisecMsgQ = NULL;
 Mailbox_Handle          MotorsMsgQ[NUM_OF_MOTORS] = {NULL};
@@ -152,6 +152,25 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
     ROM_IntMasterEnable();
     return ;
 }
+int32_t MillisecWriteToTempSensor(uint32_t TempSensorId, unsigned long Data, int Length, MSecFptr Callback)
+{
+    if (TempSensorId >= MAX_TEMPERATURE_SENSOR_ID) return -1;
+    PT100Data[TempSensorId].Callback = Callback;
+    PT100Data[TempSensorId].Data = Data;
+    PT100Data[TempSensorId].Length = Length;
+    PT100Data[TempSensorId].DataRequired = false;
+    PT100Data[TempSensorId].Active = true;
+}
+int32_t MillisecReadFromTempSensor(uint32_t TempSensorId, unsigned long Data, int Length, MSecFptr Callback)
+{
+    if (TempSensorId >= MAX_TEMPERATURE_SENSOR_ID) return -1;
+    PT100Data[TempSensorId].Callback = Callback;
+    PT100Data[TempSensorId].Data = Data;
+    PT100Data[TempSensorId].Length = Length;
+    PT100Data[TempSensorId].DataRequired = true;
+    PT100Data[TempSensorId].Active = true;
+
+}
 //typedef  uint32_t (* MSecFptr)(uint32_t deviceID, uint32_t ReadValue);
 int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback)
 {
@@ -188,7 +207,7 @@ int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Len
 }
 uint32_t MillisecLoop(uint32_t tick)
 {
-    int Motor_i;
+    int Motor_i,Sensor_i;
     unsigned int MotorInfo = 0;
     //call all modules Millisec functions
     //test dancers and speed encoders
@@ -236,7 +255,37 @@ uint32_t MillisecLoop(uint32_t tick)
         }
     }
     Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
-
+    if (Hundred_msTick)
+    {
+        //FPGA_GetTempSensorBusy();
+        for (Sensor_i = 0;Sensor_i < NUM_OF_MOTORS;Sensor_i++)
+        {
+            //if (TempDriverDriverResponse[Sensor_i].Busy == true)
+            //    continue;
+            if (PT100Data[Sensor_i].WaitForData == true) //Read request sent, data is waiting
+            {
+                if (MotorGetFPGAResponse(Sensor_i,&MotorInfo) == OK) //got the data from the FPGA
+                {
+                    PT100Data[Sensor_i].WaitForData = false;
+                    if (PT100Data[Sensor_i].Callback)
+                        PT100Data[Sensor_i].Callback(Sensor_i,MotorInfo);
+                }
+            }
+            if (PT100Data[Sensor_i].Active == true)
+            {
+                MotorSendFPGARequest(Sensor_i,PT100Data[Sensor_i].Data,PT100Data[Sensor_i].Length);
+                if (PT100Data[Sensor_i].DataRequired == true)
+                {
+                    PT100Data[Sensor_i].WaitForData = true; // mark the motor for data request next round
+                }
+                else
+                {
+                    if (PT100Data[Sensor_i].Callback)
+                        PT100Data[Sensor_i].Callback(Sensor_i,0); // call the callback to report execution
+                }
+            }
+        }
+    }
 #ifndef EVALUATION_BOARD
     /* this cannot be done within one millisecond, and not needed
      * instead, check if there is a motor waiting with data to send or read request
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index d27018031..f0009b43b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -18,6 +18,9 @@ int32_t MillisecWriteToMotor(TimerMotors_t MotorId, unsigned long Data, int Leng
 int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
 int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback);
 
+int32_t MillisecWriteToTempSensor(uint32_t TempSensorId, unsigned long Data, int Length, MSecFptr Callback);
+int32_t MillisecReadFromTempSensor(uint32_t TempSensorId, unsigned long Data, int Length, MSecFptr Callback);
+
 uint32_t getMotorStatusData(int MotorId);
 uint32_t getMotorSpeedData(int MotorId);
 uint32_t getTemperatureSensorData(int SensorId);