update the temperature sensor module

6 files changed, 352 insertions, 55 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index c92c8f5b4..54f92c23b 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -3,6 +3,7 @@
 
 #define EVALUATION_BOARD // to use the LCD only when using the evaluation board
 #define USE_HIGH_SPEED_GPIO // to use AHB GPIO (A..J) ports A-J APB or AHB, ports K-Q on AHB only
+//#define WithTempSensorFiltrer (to use the function Filter_Temparature_Measurement)
 
 #define ON  1
 #define OFF 0
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 66c4faf58..e2057864b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -6,6 +6,7 @@
 #include "FPGA_SPI_Comm.h"
 #include "drivers/FPGA/Moters_Driver/L6470.h"
 #include "Drivers/Motors/Motor.h"
+#include "modules/control/millisecTask.h"
 #include "drivers/Heater/TemperatureSensor.h"
 
 extern TempSensorResponseStruct TempSensorResponse[MAX_TEMPERATURE_SENSOR_ID];
@@ -392,49 +393,28 @@ void FPGA_SetMotorsInit()
 uint32_t FPGA_MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorConfig)
 {
     uint32_t temp;
-
-    Fpga_Spi[_motorId].TX_MOSI = x_HARD_HIZ ;
-    Fpga_Spi[_motorId].AMT_OF_Words = 1;
-    FPGA_SPI_Transnit(_motorId);
-
-    SysCtlDelay(1000);//TODO
-
+    if( MillisecWriteToMotor(_motorId, x_HARD_HIZ, 1, NULL) < 0 ) return ERROR;
     temp = x_SET_PARAM | x_ACC;
     temp = temp << 12;
     temp |= MotorDriverCfg[_motorId].ACC;
-    Fpga_Spi[_motorId].TX_MOSI = temp;
-    Fpga_Spi[_motorId].AMT_OF_Words = 3;
-    FPGA_SPI_Transnit(_motorId);
-
-    SysCtlDelay(1000);//TODO
+    if( MillisecWriteToMotor(_motorId, temp, 3, NULL) < 0 ) return ERROR;
 
     temp = x_SET_PARAM | x_DEC;
     temp = temp << 12;
     temp |= MotorDriverCfg[_motorId].DEC;
-    Fpga_Spi[_motorId].TX_MOSI = temp;
-    Fpga_Spi[_motorId].AMT_OF_Words = 3;
-    FPGA_SPI_Transnit(_motorId);
-
-    SysCtlDelay(1000);//TODO
+    if( MillisecWriteToMotor(_motorId, temp, 3, NULL) < 0 ) return ERROR;
 
     temp = x_SET_PARAM | x_MAX_SPEED;
     temp = temp << 10;
     temp |= MotorDriverCfg[_motorId].MaxSpeed;
-    Fpga_Spi[_motorId].TX_MOSI = temp;
-    Fpga_Spi[_motorId].AMT_OF_Words = 3;
-    FPGA_SPI_Transnit(_motorId);
-
-    SysCtlDelay(1000);//TODO
+    if( MillisecWriteToMotor(_motorId, temp, 3, NULL) < 0 ) return ERROR;
 
     if(MotorDriverCfg[_motorId].HasMicroStep)
     {
         temp = x_SET_PARAM | x_STEP_MODE;
         temp = temp << 8;
         temp |= !x_SYNC_EN | MotorDriverCfg[_motorId].Microstep | x_SYNC_SEL_1;
-        Fpga_Spi[_motorId].TX_MOSI = temp;
-        Fpga_Spi[_motorId].AMT_OF_Words = 2;
-        FPGA_SPI_Transnit(_motorId);
-        SysCtlDelay(1000);//TODO
+        if( MillisecWriteToMotor(_motorId, temp, 2, NULL) < 0 ) return ERROR;
     }
 
     if(MotorDriverCfg[_motorId].HasConfigWord)
@@ -442,13 +422,9 @@ uint32_t FPGA_MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorC
         temp = x_SET_PARAM | x_CONFIG;
         temp = temp << 24;
         temp |= MotorDriverCfg[_motorId].ConfigWord;
-        Fpga_Spi[_motorId].TX_MOSI = temp;
-        Fpga_Spi[_motorId].AMT_OF_Words = 4;
-        FPGA_SPI_Transnit(_motorId);
-        SysCtlDelay(1000);//TODO
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
     }
-
-    return OK;
+return OK;
 }
 
 
@@ -886,7 +862,7 @@ int SPISendFPGARequest(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t Data, uint32
         return ERROR;
 }
 
-int SpiGetFPGAResponse(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t *Data)  //returns -1 on busy or other error
+int SPIGetFPGAResponse(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t *Data)  //returns -1 on busy or other error
 {
     INT2SHORT Int2Short;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
index 4658d3496..0975948dd 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
@@ -26,4 +26,5 @@ void FPGA_SetMotorsInit();
 uint32_t FPGA_MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorConfig);
 
 int SPISendFPGARequest(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t Data, uint32_t Length);
-int SpiGetFPGAResponse(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t *Data);
+int SPIGetFPGAResponse(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t *Data);
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/PT100RTD.h b/Software/Embedded_SW/Embedded/Drivers/Heater/PT100RTD.h
new file mode 100644
index 000000000..d524c51f4
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/PT100RTD.h
@@ -0,0 +1,141 @@
+/*
+ * PT100RTD.h
+ *
+ *  Created on: Apr 25, 2018
+ *      Author: avi
+ *
+ *   This library uses integer math to convert a Pt100 RTD resistance to a
+ *   celsius temperature of two decimal point precision.
+ *
+ *   It searches an ordered list of empirical resistances which correspond to
+ *   temperatures ranging -200C to +850C, the complete span for which 100 ohm
+ *   platinum RTDs are specified.  It interpolates temperatures from intermediate
+ */
+
+#ifndef DRIVERS_HEATER_PT100RTD_H_
+#define DRIVERS_HEATER_PT100RTD_H_
+
+/*******************************************************************
+*    pt100rtd list of resistances v temperature
+*
+*    DIN 43760 resistance values (ohms) were multiplied by 100 and
+*    converted to 16 bit unsigned integers with no loss of accuracy.
+*
+*    Examples:
+*   1852 represents 18.52 ohms and corresponds to a temperature of -200C.
+*   10000 ==> 100.00 ohms @   0C
+*   13851 ==> 138.51 ohms @ 100C
+*
+*   The list resides in flash since it's too large for SRAM or EEPROM
+*******************************************************************/
+
+const static uint16_t Pt100_table[1051] = {
+    1852, 1896, 1939, 1982, 2025, 2068, 2111, 2154, 2197, 2240,
+    2283, 2326, 2369, 2412, 2455, 2497, 2539, 2582, 2625, 2667,
+    2710, 2752, 2795, 2837, 2880, 2922, 2965, 3007, 3049, 3092,
+    3134, 3176, 3218, 3261, 3303, 3345, 3386, 3428, 3470, 3512,
+    3554, 3596, 3638, 3680, 3722, 3763, 3805, 3847, 3889, 3931,
+    3972, 4014, 4056, 4097, 4139, 4180, 4222, 4264, 4305, 4346,
+    4388, 4429, 4471, 4512, 4553, 4595, 4635, 4676, 4718, 4759,
+    4800, 4841, 4882, 4923, 4964, 5006, 5047, 5088, 5129, 5170,
+    5211, 5252, 5292, 5333, 5374, 5415, 5456, 5497, 5538, 5578,
+    5619, 5660, 5700, 5741, 5782, 5822, 5863, 5904, 5944, 5985,
+    6026, 6067, 6107, 6148, 6187, 6229, 6269, 6310, 6350, 6391,
+    6430, 6470, 6511, 6551, 6591, 6631, 6672, 6712, 6752, 6792,
+    6833, 6873, 6913, 6953, 6993, 7033, 7073, 7113, 7153, 7193,
+    7233, 7273, 7313, 7353, 7393, 7433, 7473, 7513, 7553, 7593,
+    7633, 7673, 7713, 7752, 7792, 7832, 7872, 7911, 7951, 7991,
+    8031, 8070, 8110, 8150, 8189, 8229, 8269, 8308, 8348, 8388,
+    8427, 8467, 8506, 8546, 8585, 8625, 8664, 8704, 8743, 8783,
+    8822, 8862, 8901, 8940, 8980, 9019, 9059, 9098, 9137, 9177,
+    9216, 9255, 9295, 9334, 9373, 9412, 9452, 9491, 9530, 9569,
+    9609, 9648, 9687, 9726, 9765, 9804, 9844, 9883, 9922, 9961,
+    10000,10039,10078,10117,10156,10195,10234,10273,10312,10351,
+    10390,10429,10468,10507,10546,10585,10624,10663,10702,10740,
+    10779,10818,10857,10896,10935,10973,11012,11051,11090,11128,
+    11167,11206,11245,11283,11322,11361,11399,11438,11477,11515,
+    11554,11593,11631,11670,11708,11747,11785,11824,11862,11901,
+    11940,11978,12016,12055,12093,12132,12170,12209,12247,12286,
+    12324,12362,12401,12439,12477,12517,12555,12593,12632,12670,
+    12708,12746,12785,12823,12861,12899,12938,12976,13014,13052,
+    13090,13128,13167,13205,13243,13281,13319,13357,13395,13433,
+    13471,13509,13547,13585,13623,13661,13699,13737,13775,13813,
+    13851,13889,13927,13965,14003,14039,14077,14115,14153,14191,
+    14229,14266,14304,14342,14380,14418,14456,14494,14532,14569,
+    14607,14645,14682,14720,14758,14795,14833,14871,14908,14946,
+    14983,15021,15058,15096,15134,15171,15209,15246,15284,15321,
+    15358,15395,15432,15471,15508,15546,15583,15621,15658,15696,
+    15733,15771,15808,15845,15883,15920,15956,15994,16031,16068,
+    16105,16143,16180,16217,16254,16291,16328,16366,16403,16440,
+    16477,16514,16551,16588,16625,16662,16700,16737,16774,16811,
+    16848,16885,16922,16959,16996,17033,17069,17106,17143,17180,
+    17217,17254,17291,17327,17364,17401,17439,17475,17512,17549,
+    17586,17623,17659,17696,17733,17770,17806,17843,17880,17916,
+    17953,17990,18026,18063,18099,18136,18173,18209,18246,18282,
+    18319,18355,18392,18428,18465,18501,18538,18574,18611,18647,
+    18684,18720,18756,18793,18829,18865,18902,18938,18974,19011,
+    19047,19083,19120,19156,19192,19228,19266,19302,19338,19374,
+    19410,19447,19483,19519,19555,19590,19626,19662,19698,19735,
+    19771,19807,19843,19879,19915,19951,19987,20023,20059,20095,
+    20131,20167,20203,20238,20274,20310,20346,20382,20418,20454,
+    20490,20525,20561,20597,20633,20670,20705,20741,20777,20813,
+    20848,20884,20920,20955,20991,21027,21062,21098,21134,21169,
+    21205,21240,21276,21312,21347,21383,21419,21455,21490,21526,
+    21561,21597,21632,21668,21703,21739,21773,21808,21844,21879,
+    21915,21950,21985,22021,22056,22091,22127,22162,22197,22232,
+    22268,22303,22338,22373,22409,22445,22480,22515,22550,22585,
+    22621,22656,22691,22726,22761,22796,22831,22866,22901,22936,
+    22972,23007,23042,23077,23112,23147,23181,23216,23251,23286,
+    23321,23356,23391,23426,23460,23495,23530,23565,23600,23635,
+    23670,23705,23740,23775,23809,23844,23879,23914,23948,23983,
+    24018,24052,24087,24122,24156,24191,24225,24260,24295,24329,
+    24364,24398,24433,24467,24502,24536,24571,24605,24640,24674,
+    24709,24743,24778,24812,24846,24881,24915,24950,24984,25018,
+    25053,25089,25121,25155,25190,25224,25259,25294,25328,25362,
+    25396,25430,25465,25499,25533,25567,25601,25635,25670,25704,
+    25738,25772,25806,25840,25874,25908,25942,25976,26010,26044,
+    26078,26112,26146,26180,26214,26248,26283,26317,26350,26384,
+    26418,26452,26486,26520,26554,26587,26621,26655,26689,26722,
+    26756,26790,26824,26857,26891,26925,26958,26992,27026,27059,
+    27093,27127,27160,27194,27227,27261,27295,27328,27362,27395,
+    27429,27462,27496,27529,27563,27596,27631,27664,27697,27731,
+    27764,27798,27831,27864,27898,27931,27964,27998,28031,28064,
+    28098,28131,28164,28197,28231,28264,28297,28330,28363,28397,
+    28430,28463,28496,28529,28562,28595,28630,28663,28696,28729,
+    28762,28795,28828,28861,28894,28927,28960,28993,29026,29059,
+    29092,29125,29158,29190,29223,29256,29290,29323,29356,29389,
+    29421,29454,29487,29520,29553,29585,29618,29651,29684,29716,
+    29749,29782,29814,29847,29880,29912,29945,29978,30010,30043,
+    30075,30108,30141,30173,30206,30238,30271,30303,30336,30368,
+    30401,30433,30466,30498,30530,30563,30595,30628,30660,30692,
+    30725,30757,30789,30822,30854,30886,30919,30951,30983,31015,
+    31048,31080,31112,31145,31178,31210,31243,31275,31307,31339,
+    31371,31404,31436,31468,31500,31532,31564,31596,31628,31660,
+    31692,31724,31756,31788,31820,31852,31885,31917,31949,31981,
+    32012,32044,32076,32108,32140,32172,32203,32234,32266,32298,
+    32330,32361,32393,32425,32457,32488,32521,32553,32585,32616,
+    32648,32679,32711,32743,32774,32806,32838,32869,32901,32932,
+    32964,32995,33027,33058,33090,33121,33153,33184,33216,33247,
+    33279,33310,33341,33373,33404,33436,33468,33499,33531,33562,
+    33593,33625,33656,33687,33718,33750,33781,33812,33843,33875,
+    33906,33937,33968,33999,34030,34062,34094,34125,34155,34187,
+    34218,34249,34280,34311,34342,34373,34404,34435,34466,34497,
+    34528,34559,34590,34621,34652,34683,34715,34746,34776,34807,
+    34838,34869,34900,34931,34961,34992,35023,35054,35085,35115,
+    35146,35177,35207,35238,35269,35299,35330,35361,35391,35422,
+    35453,35483,35514,35544,35575,35606,35637,35668,35698,35729,
+    35759,35790,35820,35851,35881,35912,35942,35972,36003,36033,
+    36064,36094,36124,36155,36185,36215,36246,36276,36306,36336,
+    36367,36397,36427,36457,36488,36518,36549,36579,36609,36640,
+    36670,36700,36730,36760,36790,36820,36850,36881,36911,36941,
+    36971,37001,37031,37061,37091,37121,37152,37182,37212,37241,
+    37271,37301,37331,37361,37391,37421,37451,37480,37510,37540,
+    37570,37600,37629,37659,37689,37719,37749,37779,37809,37839,
+    37868,37898,37928,37957,37987,38017,38046,38076,38105,38135,
+    38165,38194,38224,38253,38283,38312,38342,38371,38401,38430,
+    38460,38489,38518,38548,38577,38607,38637,38666,38696,38725,
+    38755,38784,38813,38842,38872,38901,38931,38961,38990,39019,
+    39048           // Pt100 resistance * 100 at 850C
+};
+
+#endif /* DRIVERS_HEATER_PT100RTD_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c b/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c
index 86460bbe0..2501fea9b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.c
@@ -11,6 +11,68 @@
 #include "PMR/Hardware/HardwarePidControlType.pb-c.h"
 #include "Drivers/Heater/ADS1220.h"
 #include "Drivers/Heater/TemperatureSensor.h"
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+#include "modules/control/millisecTask.h"
+#include "PT100RTD.h"
+
+uint32_t TemperatureSensorReadFromFPGA_Res(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t Data);
+
+typedef enum
+{
+    SENSOR_CONFIG_REG0,
+    SENSOR_CONFIG_REG1,
+    SENSOR_CONFIG_REG2,
+    SENSOR_CONFIG_REG3,
+    SENSOR_CONFIG_RESTART_CONVERSIONS,
+    SENSOR_CONFIG_END
+
+}SENSOR_CONFIG_STAGES_ENUM;
+
+SENSOR_CONFIG_STAGES_ENUM SensConfigStages[MAX_TEMPERATURE_SENSOR_ID] = {SENSOR_CONFIG_REG0};
+
+uint8_t FPGA_SensorInitConfigReg()
+{
+     #define Rref 1650  //ohm
+     //#define Rref 825 //ohm
+
+    uint8_t i;
+
+    for(i=0;i<MAX_TEMPERATURE_SENSOR_ID;i++) // for noe we are using the same configuration to all of them
+    {
+        TempSensConfig[i].Reg0.bits.PGA_BYPASS     = 0x00 ;//Bit 0   PGA enabled (default)
+
+        if(Rref==1650)
+            TempSensConfig[i].Reg0.bits.GAIN       = 0x04;//Bits 1-3  Gain = 16
+        else if(Rref == 825)
+            TempSensConfig[i].Reg0.bits.GAIN       = 0x03;//Bits 1-3  Gain = 8
+
+        TempSensConfig[i].Reg0.bits.MUX            = 0x06;//Bits 5-7  AINP = AIN1, AINN = AIN0
+
+        TempSensConfig[i].Reg1.bits.BCS            = 0x00;//Bit 0     Current sources off (default)
+        TempSensConfig[i].Reg1.bits.TS             = 0x00;//Bit 1     Disables temperature sensor (default)
+        TempSensConfig[i].Reg1.bits.CM             = 0x01;//Bit 2     Continuous conversion mode
+        TempSensConfig[i].Reg1.bits.MODE           = 0x00;//Bits 3-4  Normal mode (256-kHz modulator clock, default)
+        //TempSensConfig[i].Reg1.bits.DR             = 0x06;//Bits 5-7  Data rate 1000 SPS (Sample every 1 mSec)
+        TempSensConfig[i].Reg1.bits.DR             = 0x00;//Bits 5-7  Data rate 20 SPS (Sample every 50 mSec)
+
+        if(Rref==1650)
+            TempSensConfig[i].Reg2.bits.IDAC       = 0x03;//Bits 0-2  IDAC current setting 100 uA
+        else if(Rref == 825)
+            TempSensConfig[i].Reg2.bits.IDAC       = 0x06;//Bits 0-2  IDAC current setting 1000 uA
+
+        TempSensConfig[i].Reg2.bits.PSW            = 0x00;//Bit  3    Switch is always open (default)
+        TempSensConfig[i].Reg2.bits.HZ50_60        = 0x01;//Bits 4-5  No 50-Hz or 60-Hz rejection (default)
+        TempSensConfig[i].Reg2.bits.VREF           = 0x01;//Bits 6-7  Internal 2.048-V reference selected (default)
+
+        TempSensConfig[i].Reg3.bits.Always_write_0 = 0x00;//Bit  0;
+        TempSensConfig[i].Reg3.bits.DRDYM          = 0x00;//Bit  1    Only the dedicated DRDY pin is used to indicate when data are ready (default)
+        TempSensConfig[i].Reg3.bits.I2MUX          = 0x04;//Bits 2-4  IDAC2 connected to AIN3/REFN1
+        TempSensConfig[i].Reg3.bits.I1MUX          = 0x03;//Bits 5-7  IDAC1 connected to AIN2
+
+    }
+
+    return OK;
+}
 
 uint32_t TemperatureSensorsInit(void)
 {
@@ -25,22 +87,11 @@ uint32_t TemperatureSensorsInit(void)
         }
     #endif
 
+   FPGA_SensorInitConfigReg();
+
     return OK;
 }
 
-typedef enum
-{
-    SENSOR_CONFIG_REG0,
-    SENSOR_CONFIG_REG1,
-    SENSOR_CONFIG_REG2,
-    SENSOR_CONFIG_REG3,
-    SENSOR_CONFIG_RESTART_CONVERSIONS,
-    SENSOR_CONFIG_END
-
-}SENSOR_CONFIG_STAGES_ENUM;
-
-SENSOR_CONFIG_STAGES_ENUM SensConfigStages[MAX_TEMPERATURE_SENSOR_ID] = {SENSOR_CONFIG_REG0};
-
 uint32_t FPGA_SensorConfig_callback(TEMPERATURE_SENSOR_ID_ENUM SensorId, uint32_t ReadValue)
 {
     #ifndef EVALUATION_BOARD
@@ -57,7 +108,7 @@ uint32_t FPGA_SensorConfig_callback(TEMPERATURE_SENSOR_ID_ENUM SensorId, uint32_
                 temp = temp << 8;
                 temp |= TempSensConfig[SensorId].Reg0.Byte;
 
-                //MillisecWriteToSenor(SensorId, temp, 2, FPGA_SensorConfig_callback);
+                MillisecWriteToTempSensor(SensorId, temp, 2, NULL);
             break;
 
          case SENSOR_CONFIG_REG1:
@@ -66,7 +117,7 @@ uint32_t FPGA_SensorConfig_callback(TEMPERATURE_SENSOR_ID_ENUM SensorId, uint32_
                  temp = temp << 8;
                  temp |= TempSensConfig[SensorId].Reg1.Byte;
 
-                 //MillisecWriteToSenor(SensorId, temp, 2, FPGA_SensorConfig_callback);
+                 MillisecWriteToTempSensor(SensorId, temp, 2, NULL);
             break;
 
          case SENSOR_CONFIG_REG2:
@@ -75,7 +126,7 @@ uint32_t FPGA_SensorConfig_callback(TEMPERATURE_SENSOR_ID_ENUM SensorId, uint32_
                  temp = temp << 8;
                  temp |= TempSensConfig[SensorId].Reg2.Byte;
 
-                 //MillisecWriteToSenor(SensorId, temp, 2, FPGA_SensorConfig_callback);
+                 MillisecWriteToTempSensor(SensorId, temp, 2, NULL);
             break;
 
          case SENSOR_CONFIG_REG3:
@@ -84,7 +135,7 @@ uint32_t FPGA_SensorConfig_callback(TEMPERATURE_SENSOR_ID_ENUM SensorId, uint32_
                  temp = temp << 8;
                  temp |= TempSensConfig[SensorId].Reg3.Byte;
 
-                 //MillisecWriteToSenor(SensorId, temp, 2, FPGA_SensorConfig_callback);
+                 MillisecWriteToTempSensor(SensorId, temp, 2, NULL);
             break;
 
          case SENSOR_CONFIG_RESTART_CONVERSIONS:
@@ -92,7 +143,7 @@ uint32_t FPGA_SensorConfig_callback(TEMPERATURE_SENSOR_ID_ENUM SensorId, uint32_
                  //Start or restart conversions
                  //The START/SYNC command is used to start a single conversion, or (when sent during an
                  //ongoing conversion) to reset the digital filter, and then restarts a single new conversion
-                 //MillisecWriteToSenor(SensorId, ADS1220_CMD_SYNC, 1, FPGA_SensorConfig_callback);
+                 MillisecWriteToTempSensor(SensorId, ADS1220_CMD_SYNC, 1, NULL);
             break;
          case SENSOR_CONFIG_END:
              break;
@@ -115,15 +166,142 @@ uint32_t TemperatureSensorRead(TEMPERATURE_SENSOR_ID_ENUM SensorId)
     else temperature[SensorId] -= 0.3;
     return  (int)temperature[SensorId];
 #else
-    //return OK;
+    return TempSensorResponse[SensorId].Temparature;
 #endif
 }
 
+
+
+
+uint32_t Filter_Temparature_Measurement(TEMPERATURE_SENSOR_ID_ENUM SensorId, int32_t Current_Measurement_C, uint32_t NoOfAvrSamples)
+{
+    #define MaxAvrSamples 100 //MAX of average samples
+
+    uint32_t Filtered_Measurement;
+
+    static int32_t Sample_buf[MAX_TEMPERATURE_SENSOR_ID][MaxAvrSamples] = {0};
+
+    static uint8_t SampleIndex[MAX_TEMPERATURE_SENSOR_ID] = {0};
+
+    uint8_t i;
+    uint32_t Status = OK;
+
+    #ifdef TEMPERATURE_MEASUREMENT_HiGH_LIMIT
+        if (Current_Measurement_C > MAX_TEMPERATURE_MEASUREMENT)
+        {
+            Current_Measurement_C  = MAX_TEMPERATURE_MEASUREMENT;
+            Status =  ERROR;
+        }
+    #endif
+
+    #ifdef TEMPERATURE_MEASUREMENT_LOW_LIMIT
+        if (Current_Measurement_C < MIN_TEMPERATURE_MEASUREMENT)
+        {
+
+            Current_Measurement_C  = MAX_TEMPERATURE_MEASUREMENT;
+            Status =  ERROR;
+        }
+    #endif
+
+    Sample_buf[SensorId][SampleIndex[SensorId]] = Current_Measurement_C;
+
+    SampleIndex[SensorId] = SampleIndex[SensorId]++;
+
+    if(SampleIndex[SensorId] > (NoOfAvrSamples - 1))
+        SampleIndex[SensorId] = 0;
+
+    int32_t TempSum = 0;
+
+    for(i=0; i<NoOfAvrSamples; i++)
+    {
+        TempSum += Sample_buf[SensorId][i];
+    }
+
+    Filtered_Measurement = TempSum / NoOfAvrSamples;
+
+    TempSensorResponse[SensorId].Temparature_C = Filtered_Measurement;
+
+    return Status;
+}
+
 uint32_t TemperatureSensorReadFromFPGA(TEMPERATURE_SENSOR_ID_ENUM SensorId)
 {
-    return OK;
+    uint32_t Status = OK;
+
+    // send the command byte
+    //SPISendFPGARequest( SensorId,ADS1220_CMD_RDATA, 3);
+
+    MillisecReadFromTempSensor(SensorId, ADS1220_CMD_RDATA, 3, TemperatureSensorReadFromFPGA_Res);
+
+    return Status;
+}
+
+uint32_t Calc_Resistance(TEMPERATURE_SENSOR_ID_ENUM SensorId, unsigned int Current_Measurement)
+{
+
+    uint32_t Resistance_100;
+
+    unsigned int Factor_2Rref_E_H;
+    unsigned int Factor_2Rref_E_L;
+
+    //Resistance = Measurement / (2^23) *2 * Rref / Gain
+
+    Factor_2Rref_E_H = 200 * Rref; // 200 to calculate Resistance*100
+
+    Factor_2Rref_E_L = 8388608 * (2<<(TempSensConfig[SensorId].Reg0.bits.GAIN -1));//2^23*Gain
+
+    Resistance_100 = (float)Current_Measurement  / (float)Factor_2Rref_E_L * (float)Factor_2Rref_E_H;
+
+    return Resistance_100;
+}
+
+int32_t RTD (uint32_t Resistance_100) //Resistance * 100
+{
+    int16_t i = 0;
+    int32_t Temperature_c;
+
+    const int PT100_TABLE_MAXIDX = ((sizeof(Pt100_table) / sizeof(Pt100_table[0])) - 1) ;
+
+    while( (Resistance_100 < Pt100_table[i]) && (i < PT100_TABLE_MAXIDX) )
+    {
+        i++;
+    }
+
+    Temperature_c = i-200;
+
+    return Temperature_c;
 }
 
 
 
 
+uint32_t TemperatureSensorReadFromFPGA_Res(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t Data)
+{
+    uint32_t Status = OK;
+
+    int32_t Current_Measurement_C = 0;
+
+    uint32_t Resistance_100;
+
+    //uint32_t Data;
+
+    //SPIGetFPGAResponse(SensorId, &Data);
+
+    // sign extend data //TODO ?
+    if (Data & 0x800000)
+        Data |= 0xff000000;
+
+    Resistance_100 = Calc_Resistance(SensorId, Data);
+
+    Current_Measurement_C = RTD (Resistance_100);
+
+    #ifdef WithTempSensorFiltrer
+        uint32_t NoOfAvrSamples = 5;//TODO - how many Samples
+        Status = Filter_Temparature_Measurement(SensorId, Current_Measurement_C, NoOfAvrSamples);
+    #else
+        TempSensorResponse[SensorId].Temparature_C = Current_Measurement_C;
+    #endif
+
+    return Status;
+}
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.h b/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.h
index 81d9aa863..4f5d15335 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/TemperatureSensor.h
@@ -30,7 +30,7 @@ MAX_TEMPERATURE_SENSOR_ID
 
 typedef struct
 {
-  uint32_t Temparature;
+  int32_t Temparature_C;
   bool Busy;
 
 }TempSensorResponseStruct;