From 21a6726ab5d767aa389a8a6c8f874ccda008e607 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Mar 2009 00:20:17 +0200 Subject: * digital/asserv/src/asserv: - use pointers for aux. --- digital/asserv/src/asserv/aux.h | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) (limited to 'digital/asserv/src/asserv/aux.h') 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); -- cgit v1.2.3