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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-10-16 13:48:33 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-10-16 13:48:33 +0300 |
| commit | d27432fbfa2707bbe77704ad8eab80ccb68673d5 (patch) | |
| tree | b0745257851c351d54a8d15b02f0a4e958aec356 /Software/Embedded_SW/Embedded/Drivers/FPGA | |
| parent | ac0d158f8fa37a73cacf87bc904f79cd2d323583 (diff) | |
| download | Tango-d27432fbfa2707bbe77704ad8eab80ccb68673d5.tar.gz Tango-d27432fbfa2707bbe77704ad8eab80ccb68673d5.zip | |
fix parameters
Diffstat (limited to 'Software/Embedded_SW/Embedded/Drivers/FPGA')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c | 17 |
1 files changed, 5 insertions, 12 deletions
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 13efd983a..e712187bd 100644 --- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c +++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c @@ -418,6 +418,11 @@ void FPGA_SetMotorsInit() { uint8_t i=0; + for(i=0;i<NUM_OF_MOTORS;i++) + { + Change_Motor_SPI_Direction(i,Current_Or_Voltage); + } + //LOW logic level resets the logic and puts the device into Standby mode. F1_Moto_Driver_NSTBYRST1 = 0; F1_Moto_Driver_NSTBYRST2 = 0; @@ -435,18 +440,6 @@ void FPGA_SetMotorsInit() { MotorDriverRequest[i].Stop = Hard_Hiz; FPGA_SetMotStop((HardwareMotorType)i); - switch (i) //set the kval hold to a lower value for now - { - case HARDWARE_MOTOR_TYPE__MOTO_LDANCER1: - case HARDWARE_MOTOR_TYPE__MOTO_LDANCER2: - case HARDWARE_MOTOR_TYPE__MOTO_RDANCER: - case HARDWARE_MOTOR_TYPE__MOTO_LLOADING: - case HARDWARE_MOTOR_TYPE__MOTO_RLOADING: - MotorSetKvalHold(i, 3); - break; - default: - break; - } #ifdef TEST_POWERSTEP01 |