2 files changed, 20 insertions, 9 deletions
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c
index 4da372ed5..e5c78cf79 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c
@@ -16,19 +16,21 @@
 
 #include "Drivers/Motors/Motor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
+#include "drivers/FPGA/FPGA_INTERRUPTS/fpga_interrupts.h"
 
 #define Screw_Not_Busy_Mask 0x02
 
 volatile uint32_t delay;
 
 static bool flag = 0;
+SCREW_InterruptCallback Callback_Fptr = NULL;
 
 void PortPIntHandler(void)//FPGA1_INTn()
 {
 
     volatile uint32_t temp = F1_Moto_Driver_NBUSY2_D; // read the busy value
 
-    delay=400;
+    /*delay=400;
 
     if (GPIOIntStatus(GPIO_PORTP_BASE, false) & GPIO_PIN_0)
     {
@@ -53,14 +55,18 @@ void PortPIntHandler(void)//FPGA1_INTn()
     while(delay)
     {
         delay -=1;
-    }
+    }*/
     // must be done minimum 20uSec after the move command !!!
-    temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value (read it after moving to prevent interrupt before movement)
+//    temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value (read it after moving to prevent interrupt before movement)
     GPIOIntClear(GPIO_PORTP_BASE, GPIO_INT_PIN_0);
+
+    if (Callback_Fptr)
+        Callback_Fptr();
 }
 
 
-void Screw_Interrupt(bool IsEnable)
+
+void Screw_Interrupt(bool IsEnable ,SCREW_InterruptCallback callback)
 {
     volatile short temp = F1_Moto_Driver_NBUSY2_M;
 
@@ -69,12 +75,14 @@ void Screw_Interrupt(bool IsEnable)
         temp |= Screw_Not_Busy_Mask; // Mask F1_MOTO_SCREW_A1_NBUSY
         F1_Moto_Driver_NBUSY2_M = temp;
         temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value
+        Callback_Fptr = callback;
     }
     else
     {
         temp &= ~Screw_Not_Busy_Mask; // Unask F1_MOTO_SCREW_A1_NBUSY
         F1_Moto_Driver_NBUSY2_M = temp;
         temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value
+        Callback_Fptr = NULL;
     }
 }
 
@@ -86,10 +94,10 @@ void Init_GPI_Interrupts()
     // **** Settings for FPGA1_INTn *****
 
     // Pin P0 setup
-    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);        // Enable port p
-    SysCtlDelay(3);
-    GPIOPinTypeGPIOInput(GPIO_PORTP_BASE, GPIO_PIN_0);  // Init PP0 as input
-    GPIOPadConfigSet(GPIO_PORTP_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);  // Enable weak pullup resistor for PP0
+    //SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);        // Enable port p
+    //SysCtlDelay(3);
+    //GPIOPinTypeGPIOInput(GPIO_PORTP_BASE, GPIO_PIN_0);  // Init PP0 as input
+    //GPIOPadConfigSet(GPIO_PORTP_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);  // Enable weak pullup resistor for PP0
 
     // Interrupt setup
     GPIOIntDisable(GPIO_PORTP_BASE, GPIO_PIN_0);        // Disable interrupt for PP0 (in case it was enabled)
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h
index f17ce0bac..7eafc551b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h
@@ -8,9 +8,12 @@
 #ifndef DRIVERS_FPGA_FPGA_INTERRUPTS_FPGA_INTERRUPTS_H_
 #define DRIVERS_FPGA_FPGA_INTERRUPTS_FPGA_INTERRUPTS_H_
 
+typedef  void (* SCREW_InterruptCallback)(void);
+
+
+void Screw_Interrupt(bool IsEnable ,SCREW_InterruptCallback callback);
 
 void Init_GPI_Interrupts();
-void Screw_Interrupt(bool IsEnable);
 
 
 #endif /* DRIVERS_FPGA_FPGA_INTERRUPTS_FPGA_INTERRUPTS_H_ */