summaryrefslogtreecommitdiffhomepage
path: root/digital
diff options
context:
space:
mode:
Diffstat (limited to 'digital')
-rw-r--r--digital/asserv/src/asserv/main.c5
-rw-r--r--digital/asserv/src/asserv/twi_proto.c4
2 files changed, 6 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 8660854e..2d53e2fa 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -460,7 +460,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
if (!auxp) { proto_send0 ('?'); return; }
if (args[2] == state->sequence)
break;
- aux_traj_find_limit_start (auxp, args[1], args[2]);
+ if (args[0] == 0)
+ aux_traj_find_limit_start (auxp, args[1], args[2]);
+ else
+ aux_traj_find_zero_reverse_start (auxp, args[1], args[2]);
break;
case c ('a', 3):
/* Set all acknoledge.
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index 3602a1b6..1be7dd92 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -223,9 +223,9 @@ twi_proto_callback (u8 *buf, u8 size)
aux_traj_goto_start (&aux[1], v8_to_v16 (buf[2], buf[3]), 0);
break;
case c ('C', 1):
- /* Find the aux0 zero position.
+ /* Find the aux1 zero position.
* - b: speed. */
- aux_traj_find_limit_start (&aux[1], buf[2], 0);
+ aux_traj_find_zero_reverse_start (&aux[1], buf[2], 0);
break;
case c ('p', x):
/* Set parameters. */