From 714e86c96ff93fb78d4340cb607c12927091417b Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 1 May 2005 15:36:43 +0000 Subject: Ajout de e_sat. Ajout de moyenage de d. Ajout d'un print des paramètres. Mesures des robot. Période d'asservissement 1.1 ms. PWM à 14KHz. --- n/asserv/src/eeprom.c | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) (limited to 'n/asserv/src/eeprom.c') diff --git a/n/asserv/src/eeprom.c b/n/asserv/src/eeprom.c index 3eb0140..4cd3a10 100644 --- a/n/asserv/src/eeprom.c +++ b/n/asserv/src/eeprom.c @@ -23,6 +23,8 @@ * }}} */ #include +#define EEPROM_KEY 0xa7 + /* +AutoDec */ /* -AutoDec */ @@ -32,16 +34,18 @@ eeprom_read_params (void) { uint8_t *p8 = 0; uint16_t *p16; - if (eeprom_read_byte (p8++) != 0xa5) + if (eeprom_read_byte (p8++) != EEPROM_KEY) return; speed_acc_cpt = speed_acc = eeprom_read_byte (p8++); speed_max = eeprom_read_byte (p8++); + speed_ds = eeprom_read_byte (p8++); pwm_dir = eeprom_read_byte (p8++); p16 = (uint16_t *) p8; speed_kp = eeprom_read_word (p16++); speed_ki = eeprom_read_word (p16++); speed_kd = eeprom_read_word (p16++); - speed_int_max = eeprom_read_word (p16++); + speed_e_sat = eeprom_read_word (p16++); + speed_int_sat = eeprom_read_word (p16++); postrack_set_footing (eeprom_read_word (p16++)); } @@ -51,15 +55,17 @@ eeprom_write_params (void) { uint8_t *p8 = 0; uint16_t *p16; - eeprom_write_byte (p8++, 0xa5); + eeprom_write_byte (p8++, EEPROM_KEY); eeprom_write_byte (p8++, speed_acc); eeprom_write_byte (p8++, speed_max); + eeprom_write_byte (p8++, speed_ds); eeprom_write_byte (p8++, pwm_dir); p16 = (uint16_t *) p8; eeprom_write_word (p16++, speed_kp); eeprom_write_word (p16++, speed_ki); eeprom_write_word (p16++, speed_kd); - eeprom_write_word (p16++, speed_int_max); + eeprom_write_word (p16++, speed_e_sat); + eeprom_write_word (p16++, speed_int_sat); eeprom_write_word (p16++, postrack_footing); } -- cgit v1.2.3