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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2020-02-18 21:06:43 +0200 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2020-02-18 21:06:43 +0200 |
| commit | bb51ac752b58b3d64e86a8150e7a9b1f5749e379 (patch) | |
| tree | 5d6756d7ace5ee2b0fb00fba179c3d9c72e37a8e /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | 96691cea7e86b1df3f6cd5b3f45ae614e5f09821 (diff) | |
| parent | 309f8cedb45a5d8ce7b1b88dea75226ab3577509 (diff) | |
| download | Tango-bb51ac752b58b3d64e86a8150e7a9b1f5749e379.tar.gz Tango-bb51ac752b58b3d64e86a8150e7a9b1f5749e379.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 13 |
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; |