From 150a29f14d01af1f26a6d9e7f8d862850f3c3bb7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 2 May 2012 00:06:14 +0200 Subject: digital/ai/src/twi_master: add an easy way to disable a slave --- digital/ai/src/twi_master/mimot.c | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) (limited to 'digital/ai/src/twi_master/mimot.c') diff --git a/digital/ai/src/twi_master/mimot.c b/digital/ai/src/twi_master/mimot.c index 6346f7b9..6663f81f 100644 --- a/digital/ai/src/twi_master/mimot.c +++ b/digital/ai/src/twi_master/mimot.c @@ -118,7 +118,7 @@ mimot_get_motor1_position (void) void mimot_reset (void) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'z'; twi_master_send_buffer (1); } @@ -126,7 +126,7 @@ mimot_reset (void) void mimot_set_motor0_position (uint16_t position) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'p'; buffer[1] = 'Y'; buffer[2] = 0; @@ -138,7 +138,7 @@ mimot_set_motor0_position (uint16_t position) void mimot_set_motor1_position (uint16_t position) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'p'; buffer[1] = 'Y'; buffer[2] = 1; @@ -150,7 +150,7 @@ mimot_set_motor1_position (uint16_t position) void mimot_move_motor0_absolute (uint16_t position, uint16_t speed) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'b'; buffer[1] = v16_to_v8 (position, 1); buffer[2] = v16_to_v8 (position, 0); @@ -162,7 +162,7 @@ mimot_move_motor0_absolute (uint16_t position, uint16_t speed) void mimot_move_motor1_absolute (uint16_t position, uint16_t speed) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'c'; buffer[1] = v16_to_v8 (position, 1); buffer[2] = v16_to_v8 (position, 0); @@ -187,7 +187,7 @@ void mimot_motor0_find_zero (int16_t speed, uint8_t use_switch, uint16_t reset_position) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'B'; buffer[1] = 0; buffer[2] = v16_to_v8 (speed, 1); @@ -202,7 +202,7 @@ void mimot_motor1_find_zero (int16_t speed, uint8_t use_switch, uint16_t reset_position) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'B'; buffer[1] = 1; buffer[2] = v16_to_v8 (speed, 1); @@ -216,7 +216,7 @@ mimot_motor1_find_zero (int16_t speed, uint8_t use_switch, void mimot_motor0_clamp (int16_t speed, int16_t pwm) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'l'; buffer[1] = 0; buffer[2] = v16_to_v8 (speed, 1); @@ -229,7 +229,7 @@ mimot_motor0_clamp (int16_t speed, int16_t pwm) void mimot_motor1_clamp (int16_t speed, int16_t pwm) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'l'; buffer[1] = 1; buffer[2] = v16_to_v8 (speed, 1); @@ -242,7 +242,7 @@ mimot_motor1_clamp (int16_t speed, int16_t pwm) void mimot_motor0_free (void) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'w'; buffer[1] = 0; twi_master_send_buffer (2); @@ -251,7 +251,7 @@ mimot_motor0_free (void) void mimot_motor1_free (void) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'w'; buffer[1] = 1; twi_master_send_buffer (2); @@ -260,7 +260,7 @@ mimot_motor1_free (void) void mimot_motor_output_set (uint8_t motor, int16_t pwm) { - uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'W'; buffer[1] = motor; buffer[2] = v16_to_v8 (pwm, 1); -- cgit v1.2.3