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Diffstat (limited to 'digital/asserv/src/asserv/eeprom.avr.c')
-rw-r--r--digital/asserv/src/asserv/eeprom.avr.c30
1 files changed, 24 insertions, 6 deletions
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);