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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-10-16 13:48:33 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-10-16 13:48:33 +0300 |
| commit | d27432fbfa2707bbe77704ad8eab80ccb68673d5 (patch) | |
| tree | b0745257851c351d54a8d15b02f0a4e958aec356 /Software/Embedded_SW/Embedded | |
| parent | ac0d158f8fa37a73cacf87bc904f79cd2d323583 (diff) | |
| download | Tango-d27432fbfa2707bbe77704ad8eab80ccb68673d5.tar.gz Tango-d27432fbfa2707bbe77704ad8eab80ccb68673d5.zip | |
fix parameters
Diffstat (limited to 'Software/Embedded_SW/Embedded')
3 files changed, 8 insertions, 15 deletions
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c index 13efd983a..e712187bd 100644 --- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c +++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c @@ -418,6 +418,11 @@ void FPGA_SetMotorsInit() { uint8_t i=0; + for(i=0;i<NUM_OF_MOTORS;i++) + { + Change_Motor_SPI_Direction(i,Current_Or_Voltage); + } + //LOW logic level resets the logic and puts the device into Standby mode. F1_Moto_Driver_NSTBYRST1 = 0; F1_Moto_Driver_NSTBYRST2 = 0; @@ -435,18 +440,6 @@ void FPGA_SetMotorsInit() { MotorDriverRequest[i].Stop = Hard_Hiz; FPGA_SetMotStop((HardwareMotorType)i); - switch (i) //set the kval hold to a lower value for now - { - case HARDWARE_MOTOR_TYPE__MOTO_LDANCER1: - case HARDWARE_MOTOR_TYPE__MOTO_LDANCER2: - case HARDWARE_MOTOR_TYPE__MOTO_RDANCER: - case HARDWARE_MOTOR_TYPE__MOTO_LLOADING: - case HARDWARE_MOTOR_TYPE__MOTO_RLOADING: - MotorSetKvalHold(i, 3); - break; - default: - break; - } #ifdef TEST_POWERSTEP01 diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index 169cf5a11..6db76e842 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -415,7 +415,7 @@ void Diagnostic100msecCollection(void) if (DiagnosticMode >= Diagnostic_Extended_Mode) { - if (JobIsActive()) + //if (JobIsActive()) { DiagnosticLoadMotor(FEEDER_MOTOR, ThreadGetMotorSpeed (FEEDER_MOTOR)); DiagnosticLoadMotor(DRYER_MOTOR, ThreadGetMotorSpeed (DRYER_MOTOR)); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 5935396a0..a860c553c 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -202,7 +202,7 @@ MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/ MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz); - +//move to exact location? // Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); CallbackCounter = 0; Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); @@ -497,7 +497,7 @@ MotorControlConfig[FEEDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize); - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4); + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius); LoadingControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR); Report("AddControlCallback feeder",__FILE__,__LINE__,LoadingControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0); |