From 52f67403d2976204e3b7d515534e6a99e05e1050 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 15 Apr 2013 22:33:01 +0200 Subject: digital/asserv, digital/mimot: rename aux.[ch] files --- digital/asserv/src/asserv/Makefile | 2 +- digital/asserv/src/asserv/aux.c | 258 -------------------------------- digital/asserv/src/asserv/aux.h | 103 ------------- digital/asserv/src/asserv/aux_traj.c | 258 ++++++++++++++++++++++++++++++++ digital/asserv/src/asserv/aux_traj.h | 103 +++++++++++++ digital/asserv/src/asserv/main.c | 2 +- digital/asserv/src/asserv/models.host.c | 2 +- digital/asserv/src/asserv/twi_proto.c | 2 +- 8 files changed, 365 insertions(+), 365 deletions(-) delete mode 100644 digital/asserv/src/asserv/aux.c delete mode 100644 digital/asserv/src/asserv/aux.h create mode 100644 digital/asserv/src/asserv/aux_traj.c create mode 100644 digital/asserv/src/asserv/aux_traj.h (limited to 'digital/asserv') diff --git a/digital/asserv/src/asserv/Makefile b/digital/asserv/src/asserv/Makefile index 5c9bbc4c..197db5c9 100644 --- a/digital/asserv/src/asserv/Makefile +++ b/digital/asserv/src/asserv/Makefile @@ -1,7 +1,7 @@ BASE = ../../../avr PROGS = asserv asserv_SOURCES = main.c timer.avr.c \ - postrack.c traj.c aux.c cs.c \ + postrack.c traj.c aux_traj.c cs.c \ twi_proto.c eeprom.avr.c seq.c \ simu.host.c models.host.c MODULES = proto uart utils math/fixed twi spi \ diff --git a/digital/asserv/src/asserv/aux.c b/digital/asserv/src/asserv/aux.c deleted file mode 100644 index 5b942bd9..00000000 --- a/digital/asserv/src/asserv/aux.c +++ /dev/null @@ -1,258 +0,0 @@ -/* aux.c - Auxiliary motors commands. */ -/* asserv - Position & speed motor control on AVR. {{{ - * - * Copyright (C) 2008 Nicolas Schodet - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ -#include "common.h" -#include "aux.h" - -#include "modules/utils/utils.h" -#include "io.h" - -#include AC_ASSERV_CONTACTS_H - -#ifdef HOST -# include "simu.host.h" -#endif - -/** Motors states. */ -struct aux_t aux[AC_ASSERV_AUX_NB]; - -/** Trajectory modes. */ -enum -{ - /* Everything done. */ - AUX_TRAJ_DONE, - /* Detect end of speed controled position control. */ - AUX_TRAJ_SPEED, - /* Goto position, with blocking detection. */ - AUX_TRAJ_GOTO, - /* Goto position, try to unblock. */ - AUX_TRAJ_GOTO_UNBLOCK, - /* Find zero mode, turn until zero is not seen. */ - AUX_TRAJ_FIND_ZERO_NOT, - /* Find zero mode, turn until zero is not seen, then reverse. */ - AUX_TRAJ_FIND_ZERO_NOT_REVERSE, - /* Find zero mode, turn until zero is seen. */ - AUX_TRAJ_FIND_ZERO, - /* Find zero by forcing into limit. */ - AUX_TRAJ_FIND_LIMIT, -}; - -/** Initialise motors states. */ -void -aux_init (void) -{ - aux[0].cs = &cs_aux[0]; - aux[0].zero_pin = &IO_PIN (CONTACT_AUX0_ZERO_IO); - aux[0].zero_bv = IO_BV (CONTACT_AUX0_ZERO_IO); - aux[0].handle_blocking = 0; - aux[1].cs = &cs_aux[1]; - aux[1].zero_pin = &IO_PIN (CONTACT_AUX1_ZERO_IO); - aux[1].zero_bv = IO_BV (CONTACT_AUX1_ZERO_IO); - aux[1].handle_blocking = 0; -} - -/** Update positions. */ -void -aux_pos_update (void) -{ - uint8_t i; - /* Easy... */ - for (i = 0; i < AC_ASSERV_AUX_NB; i++) - aux[i].pos += aux[i].cs->encoder->diff; -} - -/** Wait for zero speed mode. */ -void -aux_traj_speed (struct aux_t *aux) -{ - if (aux->cs->speed.use_pos - && aux->cs->speed.pos_cons == aux->cs->pos.cons) - { - control_state_finished (&aux->cs->state); - aux->traj_mode = AUX_TRAJ_DONE; - } -} - -/** Start speed mode. */ -void -aux_traj_speed_start (struct aux_t *aux) -{ - /* Speed setup should have been done yet. */ - control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, 0); - aux->traj_mode = AUX_TRAJ_SPEED; -} - -/** Goto position. */ -void -aux_traj_goto (struct aux_t *aux) -{ - switch (aux->traj_mode) - { - case AUX_TRAJ_GOTO: - if (aux->cs->blocking_detection.blocked) - { - aux->traj_mode = AUX_TRAJ_GOTO_UNBLOCK; - speed_control_pos_offset_from_here (&aux->cs->speed, -250); - aux->wait = 225 / 2; - } - else if (UTILS_ABS ((int32_t) (aux->cs->speed.pos_cons - - aux->cs->pos.cur)) < 300) - { - aux->traj_mode = AUX_TRAJ_DONE; - control_state_finished (&aux->cs->state); - } - break; - case AUX_TRAJ_GOTO_UNBLOCK: - if (!--aux->wait) - { - aux->traj_mode = AUX_TRAJ_GOTO; - speed_control_pos (&aux->cs->speed, aux->goto_pos); - } - break; - } -} - -void -aux_traj_goto_start (struct aux_t *aux, uint16_t pos) -{ - aux->traj_mode = AUX_TRAJ_GOTO; - speed_control_pos_offset_from_here (&aux->cs->speed, - (int16_t) (pos - aux->pos)); - aux->goto_pos = aux->cs->speed.pos_cons; - control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, - aux->handle_blocking ? CS_MODE_BLOCKING_DETECTION - : 0); -} - -/** Find zero mode. */ -void -aux_traj_find_zero (struct aux_t *aux) -{ - uint8_t zero = *aux->zero_pin & aux->zero_bv; - switch (aux->traj_mode) - { - case AUX_TRAJ_FIND_ZERO_NOT: - if (zero) - aux->traj_mode = AUX_TRAJ_FIND_ZERO; - break; - case AUX_TRAJ_FIND_ZERO_NOT_REVERSE: - if (zero) - { - aux->cs->speed.cons_f = -aux->cs->speed.cons_f; - aux->traj_mode = AUX_TRAJ_FIND_ZERO; - } - break; - case AUX_TRAJ_FIND_ZERO: - if (!zero) - { - speed_control_set_speed (&aux->cs->speed, 0); - control_state_finished (&aux->cs->state); - aux->pos = 0; - aux->traj_mode = AUX_TRAJ_DONE; - } - break; - } -} - -/** Start find zero mode. */ -void -aux_traj_find_zero_start (struct aux_t *aux, int16_t speed) -{ - aux->traj_mode = AUX_TRAJ_FIND_ZERO_NOT; - speed_control_set_speed (&aux->cs->speed, speed); - control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, 0); -} - -/** Start find zero reverse mode. */ -void -aux_traj_find_zero_reverse_start (struct aux_t *aux, int16_t speed) -{ - aux->traj_mode = AUX_TRAJ_FIND_ZERO_NOT_REVERSE; - speed_control_set_speed (&aux->cs->speed, speed); - control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, 0); -} - -/** Find limit mode. */ -void -aux_traj_find_limit (struct aux_t *aux) -{ - /* If blocking, limit is found. */ - if (aux->cs->blocking_detection.blocked) - { - control_state_set_mode (&aux->cs->state, CS_MODE_NONE, 0); - control_state_finished (&aux->cs->state); - output_set (aux->cs->output, 0); - aux->pos = 0; - aux->traj_mode = AUX_TRAJ_DONE; - } -} - -/** Start find limit mode. */ -void -aux_traj_find_limit_start (struct aux_t *aux, int16_t speed) -{ - aux->traj_mode = AUX_TRAJ_FIND_LIMIT; - speed_control_set_speed (&aux->cs->speed, speed); - control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, - CS_MODE_BLOCKING_DETECTION); -} - -/** Update trajectories for one motor. */ -static void -aux_traj_update_single (struct aux_t *aux) -{ - if (aux->cs->state.modes & CS_MODE_TRAJ_CONTROL) - { - switch (aux->traj_mode) - { - case AUX_TRAJ_SPEED: - aux_traj_speed (aux); - break; - case AUX_TRAJ_GOTO: - case AUX_TRAJ_GOTO_UNBLOCK: - aux_traj_goto (aux); - break; - case AUX_TRAJ_FIND_ZERO_NOT: - case AUX_TRAJ_FIND_ZERO_NOT_REVERSE: - case AUX_TRAJ_FIND_ZERO: - aux_traj_find_zero (aux); - break; - case AUX_TRAJ_FIND_LIMIT: - aux_traj_find_limit (aux); - break; - case AUX_TRAJ_DONE: - break; - } - } -} - -/** Update trajectories. */ -void -aux_traj_update (void) -{ - uint8_t i; - for (i = 0; i < AC_ASSERV_AUX_NB; i++) - aux_traj_update_single (&aux[i]); -} - diff --git a/digital/asserv/src/asserv/aux.h b/digital/asserv/src/asserv/aux.h deleted file mode 100644 index 6d2c583c..00000000 --- a/digital/asserv/src/asserv/aux.h +++ /dev/null @@ -1,103 +0,0 @@ -#ifndef aux_h -#define aux_h -/* aux.h */ -/* asserv - Position & speed motor control on AVR. {{{ - * - * Copyright (C) 2008 Nicolas Schodet - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ -#include "cs.h" - -#if AC_ASSERV_AUX_NB - -# define AUX_IF(x...) x -# define AUX_OR_0(x) (x) - -/** Auxiliary motor informations. */ -struct aux_t -{ - /** Associated control system. */ - control_system_single_t *cs; - /** Absolute position. */ - int16_t pos; - /** Trajectory mode. */ - uint8_t traj_mode; - /** Goto position position. */ - uint32_t goto_pos; - /** Wait counter. */ - uint16_t wait; - /** Top zero port input register. */ - volatile uint8_t *zero_pin; - /** Top zero port bit value. */ - uint8_t zero_bv; - /** Handle blocking by aux instead of pos. */ - uint8_t handle_blocking; -}; - -extern struct aux_t aux[AC_ASSERV_AUX_NB]; - -void -aux_init (void); - -void -aux_pos_update (void); - -void -aux_traj_speed_start (struct aux_t *aux); - -void -aux_traj_goto_start (struct aux_t *aux, uint16_t pos); - -void -aux_traj_find_zero_start (struct aux_t *aux, int16_t speed); - -void -aux_traj_find_zero_reverse_start (struct aux_t *aux, int16_t speed); - -void -aux_traj_find_limit_start (struct aux_t *aux, int16_t speed); - -void -aux_traj_update (void); - -#else /* !AC_ASSERV_AUX_NB */ - -# define AUX_IF(x...) -# define AUX_OR_0(x) 0 - -extern inline void -aux_init (void) -{ -} - -extern inline void -aux_pos_update (void) -{ -} - -extern inline void -aux_traj_update (void) -{ -} - -#endif /* !AC_ASSERV_AUX_NB */ - -#endif /* aux_h */ diff --git a/digital/asserv/src/asserv/aux_traj.c b/digital/asserv/src/asserv/aux_traj.c new file mode 100644 index 00000000..0b0bcbce --- /dev/null +++ b/digital/asserv/src/asserv/aux_traj.c @@ -0,0 +1,258 @@ +/* aux_traj.c - Auxiliary motors commands. */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2008 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "aux_traj.h" + +#include "modules/utils/utils.h" +#include "io.h" + +#include AC_ASSERV_CONTACTS_H + +#ifdef HOST +# include "simu.host.h" +#endif + +/** Motors states. */ +struct aux_t aux[AC_ASSERV_AUX_NB]; + +/** Trajectory modes. */ +enum +{ + /* Everything done. */ + AUX_TRAJ_DONE, + /* Detect end of speed controled position control. */ + AUX_TRAJ_SPEED, + /* Goto position, with blocking detection. */ + AUX_TRAJ_GOTO, + /* Goto position, try to unblock. */ + AUX_TRAJ_GOTO_UNBLOCK, + /* Find zero mode, turn until zero is not seen. */ + AUX_TRAJ_FIND_ZERO_NOT, + /* Find zero mode, turn until zero is not seen, then reverse. */ + AUX_TRAJ_FIND_ZERO_NOT_REVERSE, + /* Find zero mode, turn until zero is seen. */ + AUX_TRAJ_FIND_ZERO, + /* Find zero by forcing into limit. */ + AUX_TRAJ_FIND_LIMIT, +}; + +/** Initialise motors states. */ +void +aux_init (void) +{ + aux[0].cs = &cs_aux[0]; + aux[0].zero_pin = &IO_PIN (CONTACT_AUX0_ZERO_IO); + aux[0].zero_bv = IO_BV (CONTACT_AUX0_ZERO_IO); + aux[0].handle_blocking = 0; + aux[1].cs = &cs_aux[1]; + aux[1].zero_pin = &IO_PIN (CONTACT_AUX1_ZERO_IO); + aux[1].zero_bv = IO_BV (CONTACT_AUX1_ZERO_IO); + aux[1].handle_blocking = 0; +} + +/** Update positions. */ +void +aux_pos_update (void) +{ + uint8_t i; + /* Easy... */ + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + aux[i].pos += aux[i].cs->encoder->diff; +} + +/** Wait for zero speed mode. */ +void +aux_traj_speed (struct aux_t *aux) +{ + if (aux->cs->speed.use_pos + && aux->cs->speed.pos_cons == aux->cs->pos.cons) + { + control_state_finished (&aux->cs->state); + aux->traj_mode = AUX_TRAJ_DONE; + } +} + +/** Start speed mode. */ +void +aux_traj_speed_start (struct aux_t *aux) +{ + /* Speed setup should have been done yet. */ + control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, 0); + aux->traj_mode = AUX_TRAJ_SPEED; +} + +/** Goto position. */ +void +aux_traj_goto (struct aux_t *aux) +{ + switch (aux->traj_mode) + { + case AUX_TRAJ_GOTO: + if (aux->cs->blocking_detection.blocked) + { + aux->traj_mode = AUX_TRAJ_GOTO_UNBLOCK; + speed_control_pos_offset_from_here (&aux->cs->speed, -250); + aux->wait = 225 / 2; + } + else if (UTILS_ABS ((int32_t) (aux->cs->speed.pos_cons + - aux->cs->pos.cur)) < 300) + { + aux->traj_mode = AUX_TRAJ_DONE; + control_state_finished (&aux->cs->state); + } + break; + case AUX_TRAJ_GOTO_UNBLOCK: + if (!--aux->wait) + { + aux->traj_mode = AUX_TRAJ_GOTO; + speed_control_pos (&aux->cs->speed, aux->goto_pos); + } + break; + } +} + +void +aux_traj_goto_start (struct aux_t *aux, uint16_t pos) +{ + aux->traj_mode = AUX_TRAJ_GOTO; + speed_control_pos_offset_from_here (&aux->cs->speed, + (int16_t) (pos - aux->pos)); + aux->goto_pos = aux->cs->speed.pos_cons; + control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, + aux->handle_blocking ? CS_MODE_BLOCKING_DETECTION + : 0); +} + +/** Find zero mode. */ +void +aux_traj_find_zero (struct aux_t *aux) +{ + uint8_t zero = *aux->zero_pin & aux->zero_bv; + switch (aux->traj_mode) + { + case AUX_TRAJ_FIND_ZERO_NOT: + if (zero) + aux->traj_mode = AUX_TRAJ_FIND_ZERO; + break; + case AUX_TRAJ_FIND_ZERO_NOT_REVERSE: + if (zero) + { + aux->cs->speed.cons_f = -aux->cs->speed.cons_f; + aux->traj_mode = AUX_TRAJ_FIND_ZERO; + } + break; + case AUX_TRAJ_FIND_ZERO: + if (!zero) + { + speed_control_set_speed (&aux->cs->speed, 0); + control_state_finished (&aux->cs->state); + aux->pos = 0; + aux->traj_mode = AUX_TRAJ_DONE; + } + break; + } +} + +/** Start find zero mode. */ +void +aux_traj_find_zero_start (struct aux_t *aux, int16_t speed) +{ + aux->traj_mode = AUX_TRAJ_FIND_ZERO_NOT; + speed_control_set_speed (&aux->cs->speed, speed); + control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, 0); +} + +/** Start find zero reverse mode. */ +void +aux_traj_find_zero_reverse_start (struct aux_t *aux, int16_t speed) +{ + aux->traj_mode = AUX_TRAJ_FIND_ZERO_NOT_REVERSE; + speed_control_set_speed (&aux->cs->speed, speed); + control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, 0); +} + +/** Find limit mode. */ +void +aux_traj_find_limit (struct aux_t *aux) +{ + /* If blocking, limit is found. */ + if (aux->cs->blocking_detection.blocked) + { + control_state_set_mode (&aux->cs->state, CS_MODE_NONE, 0); + control_state_finished (&aux->cs->state); + output_set (aux->cs->output, 0); + aux->pos = 0; + aux->traj_mode = AUX_TRAJ_DONE; + } +} + +/** Start find limit mode. */ +void +aux_traj_find_limit_start (struct aux_t *aux, int16_t speed) +{ + aux->traj_mode = AUX_TRAJ_FIND_LIMIT; + speed_control_set_speed (&aux->cs->speed, speed); + control_state_set_mode (&aux->cs->state, CS_MODE_TRAJ_CONTROL, + CS_MODE_BLOCKING_DETECTION); +} + +/** Update trajectories for one motor. */ +static void +aux_traj_update_single (struct aux_t *aux) +{ + if (aux->cs->state.modes & CS_MODE_TRAJ_CONTROL) + { + switch (aux->traj_mode) + { + case AUX_TRAJ_SPEED: + aux_traj_speed (aux); + break; + case AUX_TRAJ_GOTO: + case AUX_TRAJ_GOTO_UNBLOCK: + aux_traj_goto (aux); + break; + case AUX_TRAJ_FIND_ZERO_NOT: + case AUX_TRAJ_FIND_ZERO_NOT_REVERSE: + case AUX_TRAJ_FIND_ZERO: + aux_traj_find_zero (aux); + break; + case AUX_TRAJ_FIND_LIMIT: + aux_traj_find_limit (aux); + break; + case AUX_TRAJ_DONE: + break; + } + } +} + +/** Update trajectories. */ +void +aux_traj_update (void) +{ + uint8_t i; + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + aux_traj_update_single (&aux[i]); +} + diff --git a/digital/asserv/src/asserv/aux_traj.h b/digital/asserv/src/asserv/aux_traj.h new file mode 100644 index 00000000..343d5dde --- /dev/null +++ b/digital/asserv/src/asserv/aux_traj.h @@ -0,0 +1,103 @@ +#ifndef aux_traj_h +#define aux_traj_h +/* aux_traj.h */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2008 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "cs.h" + +#if AC_ASSERV_AUX_NB + +# define AUX_IF(x...) x +# define AUX_OR_0(x) (x) + +/** Auxiliary motor informations. */ +struct aux_t +{ + /** Associated control system. */ + control_system_single_t *cs; + /** Absolute position. */ + int16_t pos; + /** Trajectory mode. */ + uint8_t traj_mode; + /** Goto position position. */ + uint32_t goto_pos; + /** Wait counter. */ + uint16_t wait; + /** Top zero port input register. */ + volatile uint8_t *zero_pin; + /** Top zero port bit value. */ + uint8_t zero_bv; + /** Handle blocking by aux instead of pos. */ + uint8_t handle_blocking; +}; + +extern struct aux_t aux[AC_ASSERV_AUX_NB]; + +void +aux_init (void); + +void +aux_pos_update (void); + +void +aux_traj_speed_start (struct aux_t *aux); + +void +aux_traj_goto_start (struct aux_t *aux, uint16_t pos); + +void +aux_traj_find_zero_start (struct aux_t *aux, int16_t speed); + +void +aux_traj_find_zero_reverse_start (struct aux_t *aux, int16_t speed); + +void +aux_traj_find_limit_start (struct aux_t *aux, int16_t speed); + +void +aux_traj_update (void); + +#else /* !AC_ASSERV_AUX_NB */ + +# define AUX_IF(x...) +# define AUX_OR_0(x) 0 + +extern inline void +aux_init (void) +{ +} + +extern inline void +aux_pos_update (void) +{ +} + +extern inline void +aux_traj_update (void) +{ +} + +#endif /* !AC_ASSERV_AUX_NB */ + +#endif /* aux_traj_h */ diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index d7ee370f..500a56d1 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -36,7 +36,7 @@ #include "cs.h" #include "postrack.h" #include "traj.h" -#include "aux.h" +#include "aux_traj.h" #include "seq.h" diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c index d5c33eef..f7b28864 100644 --- a/digital/asserv/src/asserv/models.host.c +++ b/digital/asserv/src/asserv/models.host.c @@ -32,7 +32,7 @@ #include "models.host.h" #include "simu.host.h" -#include "aux.h" +#include "aux_traj.h" #include AC_ASSERV_CONTACTS_H diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 3ebde309..f956ffad 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -33,7 +33,7 @@ #include "postrack.h" #include "traj.h" -#include "aux.h" +#include "aux_traj.h" #ifdef HOST # include "simu.host.h" -- cgit v1.2.3