merge alarm handling from remote

1 files changed, 15 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..4454565c1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -2,6 +2,7 @@
  **************************************************************************************************************************/
 
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/PowerSTEP01.h>
 #include "include.h"
 
 #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
@@ -21,6 +22,9 @@
 MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS]={0};
 HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
 
+int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
+int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
+
 int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
 int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
 double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
@@ -52,6 +56,14 @@ 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;
@@ -95,7 +107,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
     MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
 #endif
     for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++)
+    {
         MotorSamples[Motor_i][i] = 0;  //reset the samples value for control beginning
+        MotorSpeedSamples[Motor_i][i] = 0;
+    }
     NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
     temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);