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| author | Avi Levkovich <avi@twine-s.com> | 2019-09-23 13:34:01 +0300 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2019-09-23 13:34:01 +0300 |
| commit | ced65bd856f1a5d5b55910cb8f5993562b8ea89b (patch) | |
| tree | 83ada01921742370035cab3d2b7cca404991ee7b /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 1aa9206775dbc3ffe196c58f6c6055f0aec96470 (diff) | |
| download | Tango-ced65bd856f1a5d5b55910cb8f5993562b8ea89b.tar.gz Tango-ced65bd856f1a5d5b55910cb8f5993562b8ea89b.zip | |
fix bug: directionthreadwize with powerstep01
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 3 |
1 files changed, 1 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..5d84bb5d0 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -69,13 +69,12 @@ 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; |