From 0cb650f1cf6f446bbb0186300a198b5936f49bb4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 29 Jan 2011 21:59:45 +0100 Subject: provide access to the maximum speed and acceleration from user code and iomap --- AT91SAM7S256/Source/c_output.c | 3 +++ 1 file changed, 3 insertions(+) (limited to 'AT91SAM7S256/Source/c_output.c') diff --git a/AT91SAM7S256/Source/c_output.c b/AT91SAM7S256/Source/c_output.c index a016361..e0645e0 100644 --- a/AT91SAM7S256/Source/c_output.c +++ b/AT91SAM7S256/Source/c_output.c @@ -56,6 +56,8 @@ void cOutputInit(void* pHeader) pOut->RegIParameter = DEFAULT_I_GAIN_FACTOR; pOut->RegDParameter = DEFAULT_D_GAIN_FACTOR; pOut->Options = 0x00; + pOut->MaxSpeed = DEFAULT_MAX_SPEED; + pOut->MaxAcceleration = DEFAULT_MAX_ACCELERATION; } IOMapOutput.RegulationTime = REGULATION_TIME; IOMapOutput.RegulationOptions = 0; @@ -134,6 +136,7 @@ void cOutputCtrl(void) { pOut->Flags &= ~UPDATE_PID_VALUES; dOutputSetPIDParameters(Tmp, pOut->RegPParameter, pOut->RegIParameter, pOut->RegDParameter); + dOutputSetMax(Tmp, pOut->MaxSpeed, pOut->MaxAcceleration); } } } -- cgit v1.2.3