From cab14d84256329f483c53f658a205415a5c029f4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 3 May 2009 00:19:36 +0200 Subject: * digital/asserv: - changed blocking detection. --- digital/asserv/src/asserv/eeprom.avr.c | 30 ++++++++++++++++++++++++------ 1 file changed, 24 insertions(+), 6 deletions(-) (limited to 'digital/asserv/src/asserv/eeprom.avr.c') diff --git a/digital/asserv/src/asserv/eeprom.avr.c b/digital/asserv/src/asserv/eeprom.avr.c index cbb92b33..ddc10f3c 100644 --- a/digital/asserv/src/asserv/eeprom.avr.c +++ b/digital/asserv/src/asserv/eeprom.avr.c @@ -99,12 +99,21 @@ eeprom_read_params (void) pos_alpha.kd = eeprom_read_word (p16++); pos_aux[0].kd = eeprom_read_word (p16++); pos_aux[1].kd = eeprom_read_word (p16++); + pos_theta.blocked_error_limit = eeprom_read_word (p16++); + pos_theta.blocked_speed_limit = eeprom_read_word (p16++); + pos_theta.blocked_counter_limit = eeprom_read_word (p16++); + pos_alpha.blocked_error_limit = eeprom_read_word (p16++); + pos_alpha.blocked_speed_limit = eeprom_read_word (p16++); + pos_alpha.blocked_counter_limit = eeprom_read_word (p16++); + pos_aux[0].blocked_error_limit = eeprom_read_word (p16++); + pos_aux[0].blocked_speed_limit = eeprom_read_word (p16++); + pos_aux[0].blocked_counter_limit = eeprom_read_word (p16++); + pos_aux[1].blocked_error_limit = eeprom_read_word (p16++); + pos_aux[1].blocked_speed_limit = eeprom_read_word (p16++); + pos_aux[1].blocked_counter_limit = eeprom_read_word (p16++); pos_e_sat = eeprom_read_word (p16++); pos_i_sat = eeprom_read_word (p16++); pos_d_sat = eeprom_read_word (p16++); - pos_blocked_error_limit = eeprom_read_word (p16++); - pos_blocked_speed_limit = eeprom_read_word (p16++); - pos_blocked_counter_limit = eeprom_read_word (p16++); traj_eps = eeprom_read_word (p16++); traj_aeps = eeprom_read_word (p16++); traj_set_angle_limit (eeprom_read_word (p16++)); @@ -145,12 +154,21 @@ eeprom_write_params (void) eeprom_write_word (p16++, pos_alpha.kd); eeprom_write_word (p16++, pos_aux[0].kd); eeprom_write_word (p16++, pos_aux[1].kd); + eeprom_write_word (p16++, pos_theta.blocked_error_limit); + eeprom_write_word (p16++, pos_theta.blocked_speed_limit); + eeprom_write_word (p16++, pos_theta.blocked_counter_limit); + eeprom_write_word (p16++, pos_alpha.blocked_error_limit); + eeprom_write_word (p16++, pos_alpha.blocked_speed_limit); + eeprom_write_word (p16++, pos_alpha.blocked_counter_limit); + eeprom_write_word (p16++, pos_aux[0].blocked_error_limit); + eeprom_write_word (p16++, pos_aux[0].blocked_speed_limit); + eeprom_write_word (p16++, pos_aux[0].blocked_counter_limit); + eeprom_write_word (p16++, pos_aux[1].blocked_error_limit); + eeprom_write_word (p16++, pos_aux[1].blocked_speed_limit); + eeprom_write_word (p16++, pos_aux[1].blocked_counter_limit); eeprom_write_word (p16++, pos_e_sat); eeprom_write_word (p16++, pos_i_sat); eeprom_write_word (p16++, pos_d_sat); - eeprom_write_word (p16++, pos_blocked_error_limit); - eeprom_write_word (p16++, pos_blocked_speed_limit); - eeprom_write_word (p16++, pos_blocked_counter_limit); eeprom_write_word (p16++, traj_eps); eeprom_write_word (p16++, traj_aeps); eeprom_write_word (p16++, traj_angle_limit); -- cgit v1.2.3