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

3 files changed, 58 insertions, 1 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index ecd04b742..c5371b413 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -47,6 +47,9 @@ extern bool Special_Dispensers;
 #define ON  1
 #define OFF 0
 
+#define INTERNAL 0
+#define EXTERNAL 1
+
 enum
 {
     PASSED = 0,
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
index 4a5b14a5d..abbbd1429 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
@@ -700,7 +700,10 @@
 #define F3_SPARE2_ROTENC_DATA_p_2_RX_msb       (*((volatile short  *)(FPGA3_BASE | 0x2D2))) //16 bit MSB if nessesary
 #define F3_SPARE2_ROTENC_DATA_p_2_TX           (*((volatile short  *)(FPGA3_BASE | 0x2DE))) //This register triggers a TX transmission
 
-#define F3_Moto_Driver_SPI_DIRECTION1          (*((volatile short  *)(FPGA3_BASE | 0x380)))    //
+//Control the motors clock source due to EMC issues
+#define F3_MOTO_CLK_SRC_SEL                    (*((volatile short  *)(FPGA3_BASE | 0x370))) //bit that control motors source selects 32Mhz or low
+
+#define F3_Moto_Driver_SPI_DIRECTION1          (*((volatile short  *)(FPGA3_BASE | 0x380))) //This bit  control of the direction of SDIO 0-4
 
 //PWM LEDS FPGA VER 050219
 #define  F3_low_var_LED1                       (*((volatile short  *)(FPGA3_BASE | 0x390))) //Parameter for prescaler divisions - 8bit low duty cycle value for pmw
@@ -1770,6 +1773,21 @@ typedef union
     unsigned short ushort;
 }F3_SPI_DIRECTION1;
 
+//F3_MOTO_CLK_SRC_SEL
+typedef union
+{
+    struct
+    {
+        bool     RDRIVING   : 1;  //0 (MOTO_CLK1_2)
+        bool     LDRIVING   : 1;  //1 (MOTO_CLK2_1)
+        bool     SCREW      : 1;  //2 (MOTO_CLK5_1)
+        bool     WINDER     : 1;  //3 (MOTO_CLK5_2)
+        uint16_t RESERVE    : 12; //4-16
+    }Motor;
+    unsigned short ushort;
+}F3MotoClkSrcSel;
+
+F3MotoClkSrcSel F3_Moto_Clk_Src_Sel;
 
 //L6470_MOSI = 0x00;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 2ff84c4a6..6a51d8e10 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -72,6 +72,12 @@ uint32_t MotorsInit(void)
             MotorConfigState[i] = false;
         }
 
+    //option to change itafter initialization  (to solve EMC issues) in the function Control_motors_clock_source
+    F3_Moto_Clk_Src_Sel.Motor.LDRIVING = EXTERNAL;
+    F3_Moto_Clk_Src_Sel.Motor.RDRIVING = EXTERNAL;
+    F3_Moto_Clk_Src_Sel.Motor.SCREW    = EXTERNAL;
+    F3_Moto_Clk_Src_Sel.Motor.WINDER   = EXTERNAL;
+    F3_MOTO_CLK_SRC_SEL = F3_Moto_Clk_Src_Sel.ushort;
 
     return OK;
 }
@@ -599,3 +605,33 @@ void test_Home_Pos()
     }
 */
 }
+
+/* no need can be done with stub directly to the fpga address
+uint32_t Control_motors_clock_source(TimerMotors_t motorId, bool Inetrnal_Or_External)// INTERNAL / EXTERNAL
+{
+    uint32_t Status = OK;
+    switch(motorId)
+    {
+        case HARDWARE_MOTOR_TYPE__MOTO_RDRIVING:
+                F3_Moto_Clk_Src_Sel.Motor.RDRIVING = Inetrnal_Or_External;
+            break;
+        case HARDWARE_MOTOR_TYPE__MOTO_LDRIVING:
+                F3_Moto_Clk_Src_Sel.Motor.LDRIVING = Inetrnal_Or_External;
+            break;
+        case HARDWARE_MOTOR_TYPE__MOTO_SCREW:
+                F3_Moto_Clk_Src_Sel.Motor.SCREW = Inetrnal_Or_External;
+            break;
+        case HARDWARE_MOTOR_TYPE__MOTO_WINDER:
+                F3_Moto_Clk_Src_Sel.Motor.WINDER = Inetrnal_Or_External;
+            break;
+        default:
+            Status =  ERROR;
+            break;
+    }
+
+    F3_MOTO_CLK_SRC_SEL = F3_Moto_Clk_Src_Sel.ushort;
+
+    return Status;
+}
+*/
+