Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

10 files changed, 286 insertions, 34 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 4b0ca5af4..79866acb2 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
@@ -498,7 +498,7 @@ uint32_t DeActivateCoolerPump() //WHS  - Pump the waste accumulated in cooler to
 uint32_t ActivateHeadMagnet()
 {
     Report("ActivateHeadMagnet - Close the lid magnet",__FILE__,__LINE__,(int)HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,RpWarning,(int)DH_LID_OPEN,0);
-    Task_sleep(500);
+    //Task_sleep(500);
     F2_CTRL_Reg.ushort &= ~SPARE_SSR13_CTRL;
     F2_CTRL = F2_CTRL_Reg.ushort;
     if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
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 6b367f76f..2645af25b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -1123,11 +1123,12 @@ void FPGA_SetGoToPosition(TimerMotors_t _motorId)//GoTo
     if (MotorDriverRequest[_motorId].Position > 0x3FFFFF) //TODO to check if it is needed here
         MotorDriverRequest[_motorId].Position = 0x3FFFFF;
 
-    temp |= (MotorDriverRequest[_motorId].Position);;
+    temp |= (MotorDriverRequest[_motorId].Position);
     Fpga_Spi[_motorId].TX_MOSI = temp;
 
     //MillisecWriteToMotor(_motorId, temp, 4, NULL);
-    FPGA_SPI_Transnit(_motorId);
+    //FPGA_SPI_Transnit(_motorId);
+    MillisecWriteToMotor(_motorId, temp, 4, NULL);
 
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
index 93c432f32..27063dab4 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
@@ -4,7 +4,7 @@
  *  Created on: Aug 12, 2018
  *      Author: avi
  *
- *      8-Channel, I2C, 12-Bit SAR ADC with Temperature Sensor  AD7291
+ *      8-Channel, I2C, 12-Bit SAR ADC with Temperature Sensor  AD7291 (AD7291BCPZ)
  *      Mid tank pressure sensor. Bosch 02612300215
  */
 #include <stdint.h>
@@ -51,7 +51,7 @@ uint32_t I2C_ADC_Config(uint32_t I2C_Slave_Add,uint32_t channel )
     return Status;
 }
 
-const uint8_t SetRead = 0x01;
+static const uint8_t SetRead = 0x01;
 
 uint32_t I2C_ADC_Set_For_Read_Ch(uint32_t I2C_Slave_Add )
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.c
index e29fcc15d..c2e817656 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.c
@@ -3,6 +3,8 @@
  *
  *  Created on: Sep 12, 2019
  *      Author: avi
+ *
+ *      8-Channel, I2C, 12-Bit SAR ADC with Temperature Sensor  AD7291 (AD7291BCPZ)
  */
 
 /*
@@ -14,4 +16,213 @@ ADDR 0x50
 
 */
 
+#include "include.h"
+#include "Head_ADC.h"
+#include "../I2C_Head_Mux.h"
+#include <Drivers/I2C_Communication/I2C.h>
+
+static const uint8_t SetRead = 0x01;
+static uint8_t I2C_Read_buf[2] = {0,0};
+static uint8_t I2C_Head_Config_Buf[3];
+uint32_t Head_ADC_Bits[HEAD_NUM_OF_ADC];
+double Head_ADC_Measuring[HEAD_NUM_OF_ADC];
+
+uint32_t Head_I2C_ADC_Set_For_Read_Ch(uint32_t I2C_Slave_Add )
+{
+    uint32_t Status = OK;
+
+    Select_Main_Head_Mux_Channel();
+
+    Status = I2C_Write(I2C_ID_HEAD_CARD, I2C_Slave_Add, &SetRead, 1);
+
+    return Status;
+}
+
+uint32_t Head_I2C_ADC_Read_Ch(uint32_t I2C_Slave_Add )
+{
+    uint32_t VsampleInBits = 0,temp;
+
+    uint8_t No_BytesToRead = 2;
+
+    Select_Main_Head_Mux_Channel();
+
+    I2C_Read(I2C_ID_HEAD_CARD, I2C_Slave_Add, I2C_Read_buf,  No_BytesToRead );
+
+    temp = (I2C_Read_buf[0] << 8) | I2C_Read_buf[1];
+
+    VsampleInBits=temp & 0x0fff;
+
+    return VsampleInBits;
+}
+
+uint32_t I2C_Head_ADC_Config(uint32_t I2C_Slave_Add,uint32_t channel )
+{
+    uint32_t Status = OK;
+
+    I2C_Head_Config_Buf[0] = 0x00;
+    I2C_Head_Config_Buf[1] = channel;
+    I2C_Head_Config_Buf[2] = 0x80;
+
+    Status = I2C_Write(I2C_ID_HEAD_CARD, I2C_Slave_Add, I2C_Head_Config_Buf, 3);
+
+    return Status;
+}
+
+double Read_Head_ADC(HEAD_ADC_t Head_ADC_ID)
+{
+    uint32_t Status = OK;
+    uint32_t I2C_Slave_Add;
+    uint32_t Channel;
+    uint32_t VsampleInBits;
+
+    assert (Head_ADC_ID < HEAD_NUM_OF_ADC);
+
+    switch(Head_ADC_ID)
+    {
+        //HEAD_ADC1_0x50:
+        case HEAD_CURRENT_ZONE_1:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x00;
+            break;
+        case HEAD_CURRENT_ZONE_2:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x01;
+            break;
+        case HEAD_CURRENT_ZONE_3:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x02;
+            break;
+        case HEAD_CURRENT_ZONE_4:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x03;
+            break;
+        case HEAD_CURRENT_ZONE_5:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x04;
+            break;
+        case HEAD_CURRENT_ZONE_6:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x05;
+            break;
+        case HEAD_CURRENT_ZONE_7:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x06;
+            break;
+        case HEAD_CURRENT_ZONE_8:
+                I2C_Slave_Add = 0x50;
+                Channel = 0x07;
+
+        //HEAD_ADC2_0x54:
+        case HEAD_CURRENT_ZONE_9:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x01;
+            break;
+        case HEAD_CURRENT_ZONE_10:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x02;
+            break;
+        case HEAD_CURRENT_ZONE_11:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x03;
+            break;
+        case HEAD_CURRENT_ZONE_12:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x04;
+            break;
+        case HEAD_CURRENT_HTIN_1:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x05;
+            break;
+        case HEAD_CURRENT_HTIN_2:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x06;
+            break;
+        case HEAD_CURRENT_HTIN_3:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x07;
+            break;
+        case HEAD_CURRENT_HTIN_4:
+                I2C_Slave_Add = 0x54;
+                Channel = 0x01;
+
+        //HEAD_ADC3_0x56:
+        case HEAD_CURRENT_HTOT_1:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x02;
+            break;
+        case HEAD_CURRENT_HTOT_2:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x03;
+            break;
+        case HEAD_CURRENT_HTOT_3:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x04;
+            break;
+        case HEAD_CURRENT_HTOT_4:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x04;
+            break;
+        case HEAD_CURRENT_MIXER:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x05;
+            break;
+        case HEAD_CURRENT_HT_TOTAL:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x06;
+            break;
+        case HEAD_CURRENT_VALUE:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x07;
+            break;
+        case HEAD_CURRENT_24V:
+                I2C_Slave_Add = 0x56;
+                Channel = 0x08;
+            break;
+        default:
+
+            break;
+    }
+
+    Status = I2C_Head_ADC_Config(I2C_Slave_Add, Channel);
+    SysCtlDelay(1);
+    Status |= Head_I2C_ADC_Set_For_Read_Ch(I2C_Slave_Add);
+    SysCtlDelay(1);
+    VsampleInBits = Head_I2C_ADC_Read_Ch(I2C_Slave_Add);
+
+    if (Status)
+        LOG_ERROR(Status, "Head ADC I2C actions failed");
+
+    Head_ADC_Bits[Head_ADC_ID] = VsampleInBits;//just for debug
+/*
+    if(Head_ADC_ID <= HEAD_CURRENT_ZONE_12)
+        Head_ADC_Measuring[Head_ADC_ID] = Calc_Head_Current(VsampleInBits, Head_ADC_ID, 1.3, 2500, 4096 );
+    else
+    if(Head_ADC_ID <= HEAD_CURRENT_HTOT_4)
+        Head_ADC_Measuring[Head_ADC_ID] = Calc_Head_Current(VsampleInBits, Head_ADC_ID, 2.1, 5000, 4096 );
+    else
+    if(Head_ADC_ID == HEAD_CURRENT_MIXER)
+        Head_ADC_Measuring[Head_ADC_ID] = Calc_Head_Current(VsampleInBits, Head_ADC_ID, 1.7, 2500, 4096 );
+    else
+    if(Head_ADC_ID == HEAD_CURRENT_MIXER)
+        Head_ADC_Measuring[Head_ADC_ID] = Calc_Head_Current(VsampleInBits, Head_ADC_ID, 2.35, 0, 4.9 ); ???
+    else
+    if(Head_ADC_ID == HEAD_CURRENT_MIXER)
+        Head_ADC_Measuring[Head_ADC_ID] = Calc_Head_Current(VsampleInBits, Head_ADC_ID, 0.5, 2500, 4096 );
+    else
+    if(Head_ADC_ID == HEAD_CURRENT_MIXER)
+        Head_ADC_Measuring[Head_ADC_ID] = Calc_Head_Current(VsampleInBits, Head_ADC_ID, 2.05, 27500, 4096 ); ???
+*/
+   return Head_ADC_Measuring[Head_ADC_ID];
+}
+
+//------------------------------
+uint32_t Head_Test_ADC()
+{
+    uint32_t status = PASSED;
+
+   Read_Head_ADC(0x50);
+   Read_Head_ADC(0x54);
+   Read_Head_ADC(0x56);
 
+    return status;
+}
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h
index 73c7c444b..ff925d94a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h
@@ -8,9 +8,9 @@
 #ifndef DRIVERS_I2C_COMMUNICATION_HEAD_CARD_ADC_HEAD_ADC_H_
 #define DRIVERS_I2C_COMMUNICATION_HEAD_CARD_ADC_HEAD_ADC_H_
 
-
-enum
+typedef enum
 {
+    //----------------------------------------- HEAD_ADC1_0x50
     //Maximum value: 1.3V, 1 LSB: 2500/4096 mA
     HEAD_CURRENT_ZONE_1,  //0
     HEAD_CURRENT_ZONE_2,  //1
@@ -21,44 +21,41 @@ enum
     HEAD_CURRENT_ZONE_7,  //6
     HEAD_CURRENT_ZONE_8,  //7
 
-}HEAD_ADC1_0x50;
-
-enum
-{
+    //----------------------------------------- HEAD_ADC2_0x54
     //Maximum value: 1.3V, 1 LSB: 2500/4096 mA
-    HEAD_CURRENT_ZONE_9,  //0
-    HEAD_CURRENT_ZONE_10, //1
-    HEAD_CURRENT_ZONE_11, //2
-    HEAD_CURRENT_ZONE_12, //3
+    HEAD_CURRENT_ZONE_9,  //8
+    HEAD_CURRENT_ZONE_10, //9
+    HEAD_CURRENT_ZONE_11, //10
+    HEAD_CURRENT_ZONE_12, //11
 
     //Maximum value: 2.1V, 1 LSB: 5000/4096 mA
-    HEAD_CURRENT_HTIN_1,  //4
-    HEAD_CURRENT_HTIN_2,  //5
-    HEAD_CURRENT_HTIN_3,  //6
-    HEAD_CURRENT_HTIN_4,  //7
+    HEAD_CURRENT_HTIN_1,  //12
+    HEAD_CURRENT_HTIN_2,  //13
+    HEAD_CURRENT_HTIN_3,  //14
+    HEAD_CURRENT_HTIN_4,  //15
 
-}HEAD_ADC2_0x54;
-
-enum
-{
+    //----------------------------------------- HEAD_ADC3_0x56
     //Maximum value: 2.1V, 1 LSB: 5000/4096 mA
-    HEAD_CURRENT_HTOT_1,  //0
-    HEAD_CURRENT_HTOT_2,  //1
-    HEAD_CURRENT_HTOT_3,  //2
-    HEAD_CURRENT_HTOT_4,  //3
+    HEAD_CURRENT_HTOT_1,  //16
+    HEAD_CURRENT_HTOT_2,  //17
+    HEAD_CURRENT_HTOT_3,  //18
+    HEAD_CURRENT_HTOT_4,  //19
 
     //Maximum value: 1.7V, 1 LSB: 2500/4096 mA
-    HEAD_CURRENT_MIXER,   //4
+    HEAD_CURRENT_MIXER,   //20
 
     //Maximum value: 2.34V, 1 LSB: 4.9 mA
-    HEAD_CURRENT_HT_TOTAL,//5
+    HEAD_CURRENT_HT_TOTAL,//21
 
     //Maximum value: 0.5V, 1 LSB: 2500/4096 mA
-    HEAD_CURRENT_VALUE,   //6
+    HEAD_CURRENT_VALUE,   //22
 
     //Maximum value: (2.05 -2.3) V, 1 LSB: 27500/4096 mV
-    HEAD_CURRENT_24V      //7
+    HEAD_CURRENT_24V,     //23
+
+    HEAD_NUM_OF_ADC            //24
+}HEAD_ADC_t;
 
-}HEAD_ADC3_0x56;
+double Read_Head_ADC(HEAD_ADC_t Head_ADC_ID);
 
 #endif /* DRIVERS_I2C_COMMUNICATION_HEAD_CARD_ADC_HEAD_ADC_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.c
index 7a6bb7d30..53b5f613f 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.c
@@ -5,6 +5,25 @@
  *      Author: avi
  */
 
+#include "include.h"
+#include "../IO_Ports/Head_IO.h"
+#include "../I2C_Head_Mux.h"
+#include <Drivers/I2C_Communication/I2C.h>
+#include "Head_Heaters.h"
 
+uint32_t Activate_Head_Card_Heaters(Head_Heaters Head_Heater_ID)//12 Zones
+{
+    uint32_t status= OK;
+    Head_I2C_EXP1_0x40.ushort |= Head_Heater_ID;
+    status = Head_Write_IO_Reg(0x40);
+    return status;
+}
 
+uint32_t Deactivate_Head_Card_Heaters(Head_Heaters Head_Heater_ID)//12 Zones
+{
+    uint32_t status= OK;
+    Head_I2C_EXP1_0x40.ushort &= ~Head_Heater_ID;
+    status = Head_Write_IO_Reg(0x40);
+    return status;
+}
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.h
index 522824b0f..cffdd865d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Heaters/Head_Heaters.h
@@ -9,7 +9,22 @@
 #define DRIVERS_I2C_COMMUNICATION_HEAD_CARD_HEATERS_HEAD_HEATERS_H_
 
 
-
+typedef enum
+{
+    //Don't change the value -  keep it according to the bits in F3_GPO_02_bus
+        HEAD_HEATER_ZN1   =     BIT0,
+        HEAD_HEATER_ZN2   =     BIT1,
+        HEAD_HEATER_ZN3   =     BIT2,
+        HEAD_HEATER_ZN4   =     BIT3,
+        HEAD_HEATER_ZN5   =     BIT4,
+        HEAD_HEATER_ZN6   =     BIT5,
+        HEAD_HEATER_ZN7   =     BIT6,
+        HEAD_HEATER_ZN8   =     BIT7,
+        HEAD_HEATER_ZN9   =     BIT8,
+        HEAD_HEATER_ZN10  =     BIT9,
+        HEAD_HEATER_ZN11  =     BIT10,
+        HEAD_HEATER_ZN12  =     BIT11,
+}Head_Heaters;
 
 
 #endif /* DRIVERS_I2C_COMMUNICATION_HEAD_CARD_HEATERS_HEAD_HEATERS_H_ */
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 c7e9a5e9e..96f564b7a 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
@@ -221,6 +221,8 @@ uint32_t Head_Read_IO_Reg(uint8_t TCA9555_ADDRESS)
         return status;
 }
 
+
+
 //------------------------------
 uint8_t Head_Test_IO()
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h
index 21df04f9e..452f986ea 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h
@@ -72,6 +72,7 @@ typedef union
         bool OUTPUT_ON_HTIN4       : 1; //p17
     }bits;
     unsigned char uchar[2];
+    unsigned short ushort;
 }HEAD_I2C_EXP1_0x40;
 
 //I2C expander
@@ -98,6 +99,7 @@ typedef union
         bool OUTPUT_ACTLOW_HTOT_LATCH_RST : 1; //p17 Pull-Up
     }bits;
     unsigned char uchar[2];
+    unsigned short ushort;
 }HEAD_I2C_EXP2_0x42;
 
 //I2C expander: Break Zones, Break HTIN
@@ -152,6 +154,11 @@ typedef union
     unsigned char uchar[2];
 }HEAD_I2C_EXP4_0x46;
 
+extern HEAD_I2C_EXP1_0x40  Head_I2C_EXP1_0x40;
+extern HEAD_I2C_EXP2_0x42  Head_I2C_EXP1_0x42;
+extern HEAD_I2C_EXP3_0x44  Head_I2C_EXP1_0x44;
+extern HEAD_I2C_EXP4_0x46  Head_I2C_EXP1_0x46;
+
 uint32_t Head_IO_Init();
 uint32_t Head_Write_IO_Reg(uint8_t TCA9555_ADDRESS);
 uint32_t Head_Read_IO_Reg(uint8_t TCA9555_ADDRESS);
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
index 1e4b1c0b3..aab2f3329 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
@@ -66,7 +66,7 @@ uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
                 }
                 if(MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID)
                 {
-                    int Pos_Value = (direction == 1)?0:2;
+                    uint32_t Pos_Value = ((direction == 1)?0:2);
                     MotorGoTo(MotorId, Pos_Value );
                 }
                 else