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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2019-03-05 18:25:47 +0200 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2019-03-05 18:25:47 +0200 |
| commit | 745cb5da6ddf2418258892fa49f4e03b28645bed (patch) | |
| tree | 0930fa09cb46e82c639b5b03e1c1964878d1bd6e /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 6f7a264193ce4ad0c12d4fff317a1ac222f7512f (diff) | |
| parent | fe40020b684bb0301050e2b116554fca2a37f8d2 (diff) | |
| download | Tango-745cb5da6ddf2418258892fa49f4e03b28645bed.tar.gz Tango-745cb5da6ddf2418258892fa49f4e03b28645bed.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 435d7aef3..a1e91f6fc 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -17,6 +17,8 @@ #include "drivers/Flash_Memory/fatfs/ff.h" #include "drivers/SSI_Comm/Dancer/Dancer.h" +#include "drivers/FPGA/Moters_Driver/PowerSTEP01.h" + #include "thread.h" MotorDriverConfigStruc MotorsCfg[NUM_OF_MOTORS]={0}; HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0}; @@ -52,6 +54,14 @@ uint32_t MotorsConfigMessage(HardwareMotor * request) MotorsCfg[Motor_i].pulseperround = request->pulseperround; MotorsCfg[Motor_i].pulleyradius = request->pulleyradius; MotorsCfg[Motor_i].configword = request->configword; + if(MotorDriverResponse[Motor_i].DriverType == VoltageCombinedMotDriver) + { + MotorsCfg[Motor_i].directionthreadwize = !(request->directionthreadwize);//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; |