Index: App/Services/FPGA.c
===================================================================
diff -u -r40a959e1341c8964f872df462ac3a2d874e3b0b3 -r81ca79980a75ab71985d3d610bcef45fd6730458
--- App/Services/FPGA.c	(.../FPGA.c)	(revision 40a959e1341c8964f872df462ac3a2d874e3b0b3)
+++ App/Services/FPGA.c	(.../FPGA.c)	(revision 81ca79980a75ab71985d3d610bcef45fd6730458)
@@ -54,7 +54,7 @@
 #define FPGA_READ_CMD_NAK               0xAF
 
 #define FPGA_CRC_LEN                    2
-#define FPGA_WRITE_CMD_HDR_LEN          5
+#define FPGA_WRITE_CMD_HDR_LEN          4
 #define FPGA_READ_CMD_HDR_LEN           4
 #define FPGA_WRITE_RSP_HDR_LEN          1
 #define FPGA_READ_RSP_HDR_LEN           1
@@ -480,7 +480,7 @@
     FPGA_STATE_T result = FPGA_STATE_READ_HEADER;
 
     // did we get an FPGA response?
-    if ( fpgaReceiptCounter > 0 )
+    if ( ( TRUE == fpgaWriteCommandACKed ) && ( TRUE == fpgaReadCommandACKed ) )
     {
         // did FPGA Ack the read command?
         if ( fpgaReadResponseBuffer[0] == FPGA_READ_CMD_ACK )
@@ -510,11 +510,38 @@
 static FPGA_STATE_T handleFPGAWriteAllActuatorsState( void )
 {
     FPGA_STATE_T result = FPGA_STATE_RCV_ALL_SENSORS;
+    U16 crc;
 
+    // construct bulk write command to write actuator data registers starting at address 3  (TODO - change address later)
+    fpgaWriteCmdBuffer[0] = FPGA_WRITE_CMD_CODE;
+    fpgaWriteCmdBuffer[1] = 0x02;    // start at FPGA address 8
+    fpgaWriteCmdBuffer[2] = 0x00;
+    fpgaWriteCmdBuffer[3] = 1;  // TODO - replace 1 with sizeof(FPGA_ACTUATORS_T)
+//    memcpy( &(fpgaWriteCmdBuffer[FPGA_WRITE_CMD_HDR_LEN]), &fpgaActuatorSetPoints, sizeof(FPGA_ACTUATORS_T) );
+    fpgaWriteCmdBuffer[FPGA_WRITE_CMD_HDR_LEN] = 99; // TODO - remove and replace with memcpy above
+    crc = crc16( fpgaWriteCmdBuffer, FPGA_WRITE_CMD_HDR_LEN+1 ); // TODO - replace +1 with +sizeof(FPGA_ACTUATORS_T)
+    fpgaWriteCmdBuffer[FPGA_WRITE_CMD_HDR_LEN+1] = GET_LSB_OF_WORD( crc ); // TODO - replace +1 with +sizeof(FPGA_ACTUATORS_T)
+    fpgaWriteCmdBuffer[FPGA_WRITE_CMD_HDR_LEN+1+1] = GET_MSB_OF_WORD( crc ); // TODO - replace +1 with +sizeof(FPGA_ACTUATORS_T)
+    // construct bulk read command to read sensor data registers starting at address 8
+    fpgaReadCmdBuffer[0] = FPGA_READ_CMD_CODE;
+    fpgaReadCmdBuffer[1] = 0x08;    // start at FPGA address 8
+    fpgaReadCmdBuffer[2] = 0x00;
+    fpgaReadCmdBuffer[3] = sizeof(FPGA_SENSORS_T);
+    crc = crc16( fpgaReadCmdBuffer, FPGA_READ_CMD_HDR_LEN );
+    fpgaReadCmdBuffer[4] = GET_LSB_OF_WORD( crc );
+    fpgaReadCmdBuffer[5] = GET_MSB_OF_WORD( crc );
+    // prep DMA for sending the bulk write cmd and receiving its response
+    setupDMAForWriteCmd( FPGA_WRITE_CMD_HDR_LEN + 1 + FPGA_CRC_LEN );  // TODO s/b sizeof(FPGA_ACTUATORS_T) instead of 1
+    setupDMAForWriteResp( FPGA_WRITE_RSP_HDR_LEN );
+    // prep DMA for sending the bulk read cmd and receiving its response
+    setupDMAForReadCmd( FPGA_READ_CMD_HDR_LEN + FPGA_CRC_LEN );
+    setupDMAForReadResp( FPGA_READ_RSP_HDR_LEN + sizeof(FPGA_SENSORS_T) + FPGA_CRC_LEN );
+    // set fpga comm flags for bulk write cmd and follow-up bulk read command
     fpgaWriteCommandInProgress = TRUE;
     fpgaBulkWriteAndReadInProgress = TRUE;
-    // TODO - setup for bulk write and follow-up bulk read commands
-    // TODO - initiate bulk write command
+    // initiate bulk write command and it's receipt - read will follow
+    startDMAReceiptOfWriteResp();
+    startDMAWriteCmd();
 
     return result;
 }
@@ -533,17 +560,35 @@
 {
     FPGA_STATE_T result = FPGA_STATE_WRITE_ALL_ACTUATORS;
 
-    // check commands success
+    // check bulk write command success
     if ( FALSE == fpgaWriteCommandACKed )
     {
         // TODO - ???
     }
-    if ( FALSE == fpgaReadCommandACKed )
+
+    // if bulk read command is ACK'd, collect the readings
+    if ( TRUE == fpgaReadCommandACKed )
     {
+        // did we get an FPGA response?
+        if ( ( TRUE == fpgaWriteCommandACKed ) && ( TRUE == fpgaReadCommandACKed ) )
+        {
+            // did FPGA Ack the read command?
+            if ( fpgaReadResponseBuffer[0] == FPGA_READ_CMD_ACK )
+            {
+                // does the FPGA response CRC check out?
+                if ( 1 ) // TODO - check response CRC
+                {   // capture the read values
+                    memcpy( &fpgaSensorReadings, fpgaReadResponseBuffer, sizeof(FPGA_SENSORS_T) );
+                    result = FPGA_STATE_WRITE_ALL_ACTUATORS;
+                }
+            }
+        }
+    }
+    else
+    {
         // TODO - ???
     }
 
-    // TODO - collect sensor readings
 
     return result;
 }
@@ -577,7 +622,7 @@
 {
     dmaSetCtrlPacket( DMA_CH2, fpgaDMAWriteControlRecord );
     dmaSetChEnable( DMA_CH2, DMA_HW );
-    scilinREG->SETINT = SCI_DMA_TRANSMIT_INT;
+    setSCI2DMATransmitInterrupt();
 }
 
 /*************************************************************************
@@ -609,7 +654,7 @@
 {
     dmaSetCtrlPacket( DMA_CH0, fpgaDMAWriteRespControlRecord );
     dmaSetChEnable( DMA_CH0, DMA_HW );
-    scilinREG->SETINT = SCI_DMA_RECEIVE_INT;
+    setSCI2DMAReceiveInterrupt();
 }
 
 /*************************************************************************
@@ -641,7 +686,7 @@
 {
     dmaSetCtrlPacket( DMA_CH2, fpgaDMAReadControlRecord );
     dmaSetChEnable( DMA_CH2, DMA_HW );
-    scilinREG->SETINT = SCI_DMA_TRANSMIT_INT;
+    setSCI2DMATransmitInterrupt();
 }
 
 /*************************************************************************
@@ -673,7 +718,7 @@
 {
     dmaSetCtrlPacket( DMA_CH0, fpgaDMAReadRespControlRecord );
     dmaSetChEnable( DMA_CH0, DMA_HW );
-    scilinREG->SETINT = SCI_DMA_RECEIVE_INT;
+    setSCI2DMAReceiveInterrupt();
 }
 
 /*************************************************************************