update the Screw ENC logic (acording to the FPGA change request)

2 files changed, 22 insertions, 13 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
index 3e839b53c..e3eaf4547 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
@@ -432,8 +432,7 @@ typedef union
 {
     struct
     {
-        uint16_t M:10;//0..9
-        uint16_t Direction:1;//10
+        uint16_t M:10;//0..10
         uint8_t  Spare:5;//11-15
     }Bits;
     uint32_t Word;
@@ -443,8 +442,8 @@ typedef union
 {
     struct
     {
-        uint16_t L;
-        uint16_t M;
+         uint16_t L;
+         uint16_t M;
     }Word;
     uint32_t Position;
 }SCREW_POS;
@@ -454,18 +453,29 @@ typedef union
 
 SCREW_ENC Screw_RotEnc;
 
-void Read_Screw_Encoder()
+uint32_t Read_Screw_Encoder()//the value of Screw_RotEnc.Position is legal only when the status is OK
 {
+    uint32_t status = OK;
+
+    uint16_t Save_M = 0;
+
     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_Pos.Word.L = F1_SCREW_ROTENC_L;
     Screw_Enc_M.Word = F1_SCREW_ROTENC_M;
+    Save_M = Screw_Enc_M.Bits.M;
 
-    Screw_Pos.Word.M = Screw_Enc_M.Bits.M;
+    if(Save_M != Screw_Pos.Word.M)
+        status = ERROR;
+    else
+        Screw_RotEnc.Position = Screw_Pos.Position;
 
+    Screw_RotEnc.Index_Counter = F1_SCREW_ROTENC_I;
 
-    Screw_RotEnc.Position = Screw_Pos.Position;
-    Screw_RotEnc.Direction = Screw_Enc_M.Bits.Direction;
-    Screw_RotEnc.Index = F1_SCREW_ROTENC_I;
+    return status;
 }
+
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
index 8564c2266..f225227f0 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
@@ -19,13 +19,12 @@ 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();
+uint32_t Read_Screw_Encoder();//the value of Screw_RotEnc.Position is legal only when the status is OK
 
 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.
+    uint16_t Index_Counter; // This counter counts the amount of index pulses that have occurred since the last time the register was read.
 
 }SCREW_ENC;