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Diffstat (limited to 'digital/asserv/src/asserv/aux.h')
-rw-r--r--digital/asserv/src/asserv/aux.h15
1 files changed, 13 insertions, 2 deletions
diff --git a/digital/asserv/src/asserv/aux.h b/digital/asserv/src/asserv/aux.h
index b1ba847f..9460e87f 100644
--- a/digital/asserv/src/asserv/aux.h
+++ b/digital/asserv/src/asserv/aux.h
@@ -28,6 +28,10 @@
/** Auxiliary motor informations. */
struct aux_t
{
+ /** Associated state. */
+ struct state_t *state;
+ /** Controlled speed. */
+ struct speed_t *speed;
/** Absolute position. */
int16_t pos;
/** Trajectory mode. */
@@ -36,18 +40,25 @@ struct aux_t
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;
};
extern struct aux_t aux0;
void
+aux_init (void);
+
+void
aux_pos_update (void);
void
-aux_traj_goto_start (uint16_t pos, uint8_t seq);
+aux_traj_goto_start (struct aux_t *aux, uint16_t pos, uint8_t seq);
void
-aux_traj_find_zero_start (uint8_t seq);
+aux_traj_find_zero_start (struct aux_t *aux, uint8_t seq);
void
aux_traj_update (void);