merge conflict

1 files changed, 10 insertions, 3 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index fd48e799a..1dd101f82 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -28,6 +28,7 @@
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "modules/heaters/heaters.h"
 #include "modules/General/process.h"
 #include "modules/ids/ids_ex.h"
@@ -117,8 +118,8 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 
   if (Current_Read < Previous_Read)
   {
-    ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
     Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
+    ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,Time_Pass,(int)Current_Read,RpWarning,(int)Previous_Read,0);
   }
   else
     Time_Pass = Current_Read - Previous_Read;
@@ -178,7 +179,10 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             initialpos = 0;
         }
         prevprev = PreviousPosition;
-        positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition);
+        if (Extended_Motor_Param[ThreadMotorIdToMotorId[index]] == true) //powerstep driver reverses the direction
+            positionDiff = Control_Delta_Position_Pass(PoolerPreviousPosition,PoolerCurrentPosition);
+        else
+            positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
         //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
         PreviousPosition = CurrentPosition;
 
@@ -268,7 +272,10 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             Poolerinitialpos = 0;
         }
         prevprev = PoolerPreviousPosition;
-        positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
+        if (Extended_Motor_Param[ThreadMotorIdToMotorId[index]] == true) //powerstep driver reverses the direction
+            positionDiff = Control_Delta_Position_Pass(PoolerPreviousPosition,PoolerCurrentPosition);
+        else
+            positionDiff = Control_Delta_Position_Pass(PoolerCurrentPosition,PoolerPreviousPosition);
         //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
         PoolerPreviousPosition = PoolerCurrentPosition;