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Diffstat (limited to 'digital/asserv/src/asserv/twi_proto.c')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c33
1 files changed, 19 insertions, 14 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index 735430a2..6168f245 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -40,6 +40,10 @@
#include "traj.h"
#include "aux.h"
+#ifdef HOST
+# include "simu.host.h"
+#endif
+
struct twi_proto_t
{
u8 seq;
@@ -70,7 +74,7 @@ twi_proto_update (void)
while (twi_sl_poll (buf, sizeof (buf)))
twi_proto_callback (buf, sizeof (buf));
/* Update status. */
- u8 status[14];
+ u8 status[15];
status[0] = 0
| (state_aux[1].blocked << 7)
| (state_aux[1].finished << 6)
@@ -80,19 +84,20 @@ twi_proto_update (void)
| (speed_theta.cur > 0 ? (1 << 2) : 0)
| (state_main.blocked << 1)
| (state_main.finished << 0);
- status[1] = twi_proto.seq;
- status[2] = v32_to_v8 (postrack_x, 3);
- status[3] = v32_to_v8 (postrack_x, 2);
- status[4] = v32_to_v8 (postrack_x, 1);
- status[5] = v32_to_v8 (postrack_y, 3);
- status[6] = v32_to_v8 (postrack_y, 2);
- status[7] = v32_to_v8 (postrack_y, 1);
- status[8] = v32_to_v8 (postrack_a, 2);
- status[9] = v32_to_v8 (postrack_a, 1);
- status[10] = v16_to_v8 (aux[0].pos, 1);
- status[11] = v16_to_v8 (aux[0].pos, 0);
- status[12] = v16_to_v8 (aux[1].pos, 1);
- status[13] = v16_to_v8 (aux[1].pos, 0);
+ status[1] = PINC;
+ status[2] = twi_proto.seq;
+ status[3] = v32_to_v8 (postrack_x, 3);
+ status[4] = v32_to_v8 (postrack_x, 2);
+ status[5] = v32_to_v8 (postrack_x, 1);
+ status[6] = v32_to_v8 (postrack_y, 3);
+ status[7] = v32_to_v8 (postrack_y, 2);
+ status[8] = v32_to_v8 (postrack_y, 1);
+ status[9] = v32_to_v8 (postrack_a, 2);
+ status[10] = v32_to_v8 (postrack_a, 1);
+ status[11] = v16_to_v8 (aux[0].pos, 1);
+ status[12] = v16_to_v8 (aux[0].pos, 0);
+ status[13] = v16_to_v8 (aux[1].pos, 1);
+ status[14] = v16_to_v8 (aux[1].pos, 0);
twi_sl_update (status, sizeof (status));
}