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

1 files changed, 6 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 38c0f86f1..88d62a495 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -11,6 +11,9 @@
 #include "PMR/Hardware/HardwareDancer.pb-c.h"
 #include "PMR/Hardware/HardwareWinder.pb-c.h"
 #include "PMR/Hardware/HardwareBreakSensor.pb-c.h"
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+
+#include "Modules/AlarmHandling/AlarmHandling.h"
 #include "PMR/Printing/JobSpool.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 
@@ -49,6 +52,8 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
     HardwareMotor *request;
     if (HWrequest == NULL)
         return ERROR;
+    AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_HW_CONFIG_FAILED,OFF);
+
     for (MotorId = 0; MotorId < HWrequest->n_motors ; MotorId++)
     {
         request = HWrequest->motors[MotorId];
@@ -69,13 +74,12 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
         MotorsCfg[Motor_i].configword = request->configword;
         if(MotorDriverResponse[Motor_i].DriverType == CombinrdMotDriver)
         {
-            MotorsCfg[Motor_i].directionthreadwize = !(request->directionthreadwize);//PowerSTEP01
+            MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize ^ 1;//PowerSTEP01
         }
         else
         {
             MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;//L6470 + L6472
         }
-        MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;
         MotorsCfg[Motor_i].kvalhold = request->kvalhold;
         MotorsCfg[Motor_i].kvalrun = request->kvalrun;
         MotorsCfg[Motor_i].kvalacc = request->kvalacc;