Add Read_Screw_Encoder()

2 files changed, 56 insertions, 1 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
index aff2e7cd1..41a28b4c1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
@@ -9,7 +9,7 @@
 
 #include "FPGA_Rename.h"
 #include "FPGA_COMM.h"
-#include <DataDef.h>
+#include "FPGA.h"
 
 #include "driverlib/sysctl.h" //for SysCtlDelay
 #include <driverlib/sysctl.h>
@@ -426,3 +426,46 @@ uint32_t Read_Speed_Sensor_TypeII()//must be delay between Set_Speed_Sensor_Type
     return Speed_Hz;
 }
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+typedef union
+{
+    struct
+    {
+        uint16_t M:10;//0..9
+        uint16_t Direction:1;//10
+        uint8_t  Spare:5;//11-15
+    }Bits;
+    uint32_t Word;
+}SCREW_ENC_M;
+
+typedef union
+{
+    struct
+    {
+         uint16_t M;
+         uint16_t L;
+    }Word;
+    uint32_t Position;
+}SCREW_POS;
+
+
+
+
+SCREW_ENC Screw_RotEnc;
+
+void Read_Screw_Encoder()
+{
+    SCREW_ENC_M Screw_Enc_M;
+    SCREW_POS Screw_Pos;
+
+    Screw_Pos.Word.L = F1_SCREW_ROTENC_L; // Must First Read the register of Lsw.
+    Screw_Enc_M.Word = F1_SCREW_ROTENC_M;
+
+    Screw_Pos.Word.M = Screw_Enc_M.Bits.M;
+
+
+    Screw_RotEnc.Position = Screw_Pos.Position;
+    Screw_RotEnc.Direction = Screw_Enc_M.Bits.Direction;
+    Screw_RotEnc.Index = F1_SCREW_ROTENC_I;
+}
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
index 0e5cdb66a..8564c2266 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
@@ -19,4 +19,16 @@ uint32_t Read_Dryer_Fan_Tacho();
 void Set_Speed_Sensor_TypeII_Registers(uint32_t Counter, uint32_t Prescaler);
 uint32_t Read_Speed_Sensor_TypeII();
 
+void Read_Screw_Encoder();
+
+typedef struct
+{
+    uint32_t Position;
+    bool Direction;
+    uint16_t Index; // This counter counts the amount of index pulses that have occurred since the last time the register was read.
+
+}SCREW_ENC;
+
+extern SCREW_ENC Screw_RotEnc;;
+
 #endif //FPGA_H