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

3 files changed, 94 insertions, 20 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 bd716eea8..de196fdc2 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
@@ -18,10 +18,14 @@
 
 FPGA_GPI FPGA_Gpi;
 
+extern F2_CTRL_REG F2_CTRL_Reg;
+
 bool FPGA_Gpi_Buf[MAX_GPI] = {0};
 
 extern bool Machine_Idle_Mode;
 
+extern F3_GPO_01_REG F3_GPO_01_Reg;
+
 void Read_FPGA_GPI_Rgisters()
 {
     uint32_t i;
@@ -427,21 +431,24 @@ bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch)
 
 uint32_t ActivateDilutorPump()
 {
-        F2_CTRL |= CHILLER_SSR9_CTRL;
+        F2_CTRL_Reg.ushort |= CHILLER_SSR9_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
 uint32_t DeActivateDilutorPump()
 {
 
-    F2_CTRL &= ~CHILLER_SSR9_CTRL;
+    F2_CTRL_Reg.ushort &= ~CHILLER_SSR9_CTRL;
+    F2_CTRL = F2_CTRL_Reg.ushort;
     return OK;
 }
 //----------------------------------
 
 void Power_Off()//Power Down
 {
-    F2_CTRL |= PDOWN_RL1_CTRL;
+    F2_CTRL_Reg.ushort |= PDOWN_RL1_CTRL;
+    F2_CTRL = F2_CTRL_Reg.ushort;
 }
 
 void Power_Reset()// Resets the MCU
@@ -455,41 +462,75 @@ void Power_Reset()// Resets the MCU
 
 uint32_t ActivateChiller()
 {
-        F2_CTRL |= SPARE_SSR12_CTRL;
+        F2_CTRL_Reg.ushort |= SPARE_SSR12_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
 uint32_t DeActivateChiller()
 {
-        F2_CTRL &= ~SPARE_SSR12_CTRL;
+        F2_CTRL_Reg.ushort &= ~SPARE_SSR12_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
 uint32_t ActivateHeadMagnet()
 {
         Task_sleep(500);
-        F2_CTRL &= ~SPARE_SSR13_CTRL;
+        F2_CTRL_Reg.ushort &= ~SPARE_SSR13_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
+
         return OK;
 }
 
 uint32_t DeActivateHeadMagnet()
 {
-        F2_CTRL |= SPARE_SSR13_CTRL;
+        F2_CTRL_Reg.ushort |= SPARE_SSR13_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         Task_sleep(500);
         return OK;
 }
 
 uint32_t ReadHeadMagnetBit()
 {
-        return (F2_CTRL & BIT0);
+        return (F2_CTRL & BIT0);//SSR13 is not in the WD therefore it it possible to read the bit
 }
 
 uint32_t DeActivateAllSSR()
 {
-        F2_CTRL = 0;
+        F2_CTRL_Reg.ushort = 0;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
+bool Is_FPGA_WD_Occurred()
+{
+    if( (F1_Moto_Driver_NSTBYRST1 != 0xFFFF) ||
+        (F1_Moto_Driver_NSTBYRST2 != 0xFFFF) ||
+        (F2_Moto_Driver_NSTBYRST1 != 0xFFFF) ||
+        (F3_Moto_Driver_NSTBYRST1 != 0xFFFF) )
+    {
+        /*
+           To recover:
+               //1. Disable all FPGA's WD:
+               Control_WD(DISABLE,0);
+               //2. Enqable all FPGA's WD:
+               Control_WD(ENABLE,250);
+               //3. Call FPGA_SetMotorsInit:
+               FPGA_SetMotorsInit();
+               //4. Init Motor's Drivers:
+
+               //OR
+
+               //Reset MCU (will reset also the FPGA):
+               Power_Reset();
+         */
+        return true;
+    }
+    else
+        return false;
+
+}
 
 uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec) // Control_WD(ENABLE, 30);//Enable the watchdog for 3 seconds
 /*
@@ -501,6 +542,8 @@ uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec) // Contr
  * the control register will take the value it had before to be resetted.
  */
 {
+    uint32_t status = OK;
+
 #ifndef EVALUATION_BOARD
 
     short WD_Enable = 0x4000 | SetTimer_Steps100mSec;
@@ -513,12 +556,14 @@ uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec) // Contr
     }
     else
     {
+        status |= Is_FPGA_WD_Occurred();
+
         F1_Watchdog_reg = WD_Enable; // Enable the watchdog F3_GPO_01_bus BIT4 DYEINGH_SSR11_CTRL HeadHeaterZ6
         F2_Watchdog_reg = WD_Enable; // Enable the watchdog F2_CTRL + reset dispensers motor drivers
         F3_Watchdog_reg = WD_Enable; // Enable the watchdog F1_gpo_01 BIT2 DYEINGH_SSR10_CTRL HeadHeaterZ5
     }
 #endif
-    return OK;
+    return status;
 }
 
 uint32_t ReadBreakSensor()
@@ -689,16 +734,20 @@ uint8_t Buzzer(OPERATION_MODE Buzzer_Mode)
     switch(Buzzer_Mode)
     {
     case MODE_ON:
-            F3_GPO_01_bus |= BIT5;
+            //F3_GPO_01_bus |= BIT5;
+            F3_GPO_01_Reg.bits.F3_GPO_BUZZER = ON;
         break;
     case MODE_OFF:
-            F3_GPO_01_bus &= ~BIT5;
+            //F3_GPO_01_bus &= ~BIT5;
+            F3_GPO_01_Reg.bits.F3_GPO_BUZZER = OFF;
         break;
     default:
         Status = ERROR;
         break;
     }
 
+    F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
+
     return Status;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
index 0c44ef71e..14c548f2a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
@@ -38,6 +38,10 @@ typedef struct
 
 uint32_t HeaterActive = 0;
 
+extern F2_CTRL_REG F2_CTRL_Reg;
+extern F1_GPO_REG F1_GPO_Reg;
+extern F3_GPO_01_REG F3_GPO_01_Reg;
+
 static GPIOIntPortMap portMap[MAX_HEATERS_NUM] =
 {
     {DRYER_SSR3_CTRL,    false},  // HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature  **** Not connected ****
@@ -67,15 +71,23 @@ uint32_t ActivateHeater (int HeaterId)
 #ifndef EVALUATION_BOARD
     if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5)
     {
-        F1_gpo_01 |= portMap[HeaterId].m_pin;
+        //F1_gpo_01 |= portMap[HeaterId].m_pin;
+        F1_GPO_Reg.ushort |= portMap[HeaterId].m_pin;
+        F1_gpo_01 = F1_GPO_Reg.ushort;
+
     }
     else if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6)
     {
-        F3_GPO_01_bus |= portMap[HeaterId].m_pin;
+        //F3_GPO_01_bus |= portMap[HeaterId].m_pin;
+        F3_GPO_01_Reg.ushort |= portMap[HeaterId].m_pin;
+        F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
+
     }
     else
     {
-        F2_CTRL |= portMap[HeaterId].m_pin;
+        //F2_CTRL |= portMap[HeaterId].m_pin;
+        F2_CTRL_Reg.ushort  |= portMap[HeaterId].m_pin;
+        F2_CTRL = F2_CTRL_Reg.ushort;
     }
 #endif
    //---------------------------------------------------------------------------------------
@@ -114,15 +126,21 @@ uint32_t DeActivateHeater (int HeaterId)
 #ifndef EVALUATION_BOARD
     if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5)
     {
-        F1_gpo_01 &= ~portMap[HeaterId].m_pin;
+        //F1_gpo_01 &= ~portMap[HeaterId].m_pin;
+        F1_GPO_Reg.ushort&= ~portMap[HeaterId].m_pin;
+        F1_gpo_01 = F1_GPO_Reg.ushort;
     }
     else if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6)
     {
-        F3_GPO_01_bus &= ~portMap[HeaterId].m_pin;
+        //F3_GPO_01_bus &= ~portMap[HeaterId].m_pin;
+        F3_GPO_01_Reg.ushort &= ~portMap[HeaterId].m_pin;
+        F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
     }
     else
     {
-        F2_CTRL &= ~portMap[HeaterId].m_pin;
+        //F2_CTRL &= ~portMap[HeaterId].m_pin;
+        F2_CTRL_Reg.ushort  &= ~portMap[HeaterId].m_pin;
+        F2_CTRL = F2_CTRL_Reg.ushort;
     }
 #endif
 //---------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 4e653f98e..c546dc30a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -24,6 +24,8 @@ VALVE_GPO_REG Valve_GPO_Reg;
 extern F1_GPO_REG F1_GPO_Reg;
 DISPENSER_VALVE_GPO_REG Dispenser_Valve_GPO_Reg;
 
+extern F3_GPO_01_REG F3_GPO_01_Reg;
+
 Valves_t IDS_Id_to_AirValve[MAX_IDS_UNITS] = {VALVE_2W_MID_AIR_1,VALVE_2W_MID_AIR_2,VALVE_2W_MID_AIR_3,VALVE_2W_MID_AIR_4,VALVE_2W_MID_AIR_5,VALVE_2W_MID_AIR_6,VALVE_2W_MID_AIR_7,VALVE_2W_MID_AIR_8};
 Valves_t IDS_Id_to_CartrideValve[MAX_IDS_UNITS] = {VALVE_2W_CART_MID_1,VALVE_2W_CART_MID_2,VALVE_2W_CART_MID_3,VALVE_2W_CART_MID_4,VALVE_2W_CART_MID_5,VALVE_2W_CART_MID_6,VALVE_2W_CART_MID_7,VALVE_2W_CART_MID_8};
 
@@ -385,13 +387,18 @@ uint8_t Lubricant_2Way_Valve(bool Direction)
 
     if(Direction == OPEN)
     {
-            F3_GPO_01_bus |= BIT0;
+            //F3_GPO_01_bus |= BIT0;
+            F3_GPO_01_Reg.bits.F3_LUBRICANT_VALVE = OPEN;
     }
     else //Direction = CLOSE
     {
 
-        F3_GPO_01_bus &= ~(BIT0);
+        //F3_GPO_01_bus &= ~(BIT0);
+        F3_GPO_01_Reg.bits.F3_LUBRICANT_VALVE = CLOSE;
     }
+
+    F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
+
     return Status;
 }