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

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;