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

6 files changed, 10 insertions, 13 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 9337676e4..0ea10bafc 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -11,13 +11,13 @@
 
 #include "AlarmHandling.h"
 #include <driverlib/timer.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 #include <inc/hw_ints.h>
 
 #include "drivers/adc_sampling/adc.h"
 #include "Control/control.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/SSI_Comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index a29eea480..e2ff16d5a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -20,13 +20,13 @@
 
 #include "MillisecTask.h"
 #include <driverlib/timer.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 #include <inc/hw_ints.h>
 
 #include "drivers/adc_sampling/adc.h"
 #include "control.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/SSI_Comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index c2d79bb69..38c33ca38 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -13,9 +13,9 @@
 #include "Control/control.h"
 
 #include <Container.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/SSI_Comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index b70c5a744..9760b1715 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -170,7 +170,7 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
                 Valve_Set((Valves_t) (request->index+VALVE_2W_MID_AIR_LF), Atm_MidTank_ON);
 
 
-                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, /*request->speed*/1200,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
+                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, /*request->speed*/1000,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
                 ustrncpy (HomingToken[MotorId], requestContainer->token,36);
                 return OK;
             }
@@ -254,20 +254,17 @@ uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
     {
         if (JobIsActive() == false)
         {
-            if (request->has_direction)
+            switch (request->direction)
             {
-                switch (request->direction)
-                {
                 case MOTOR_DIRECTION__Forward:
                     Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
                     break;
                 case MOTOR_DIRECTION__Backward:
                     Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
                     break;
-                }
-                MotorSetDirection(MotorId,request->direction);
-                MotorSetSpeed(MotorId, /*request->speed*/150);
             }
+            MotorSetDirection(MotorId,request->direction);
+            MotorSetSpeed(MotorId, /*request->speed*/150);
         }
         else
         {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 3a0b25ba8..d37015b61 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -2,6 +2,7 @@
 #ifndef MODULES_THREAD_THREAD_H_
 #define MODULES_THREAD_THREAD_H_
 
+#include "../../Drivers/SSI_Comm/SSI_Comm.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
@@ -13,8 +14,6 @@
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
-
 #include "thread_ex.h"
 
 typedef struct
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index d56ff34cf..89a85221d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -20,7 +20,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
+//#include "drivers/SSI_Comm/ssi_comm.h"
+#include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"