From 1431438a2b0f3fafbafb61a4a15296164dadf5e1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Apr 2009 16:22:53 +0200 Subject: * digital/asserv: - added second auxiliary motor support. --- digital/asserv/src/asserv/eeprom.avr.c | 36 ++++++++++++++++++++++------------ 1 file changed, 24 insertions(+), 12 deletions(-) (limited to 'digital/asserv/src/asserv/eeprom.avr.c') diff --git a/digital/asserv/src/asserv/eeprom.avr.c b/digital/asserv/src/asserv/eeprom.avr.c index 0cb04aae..cbb92b33 100644 --- a/digital/asserv/src/asserv/eeprom.avr.c +++ b/digital/asserv/src/asserv/eeprom.avr.c @@ -73,26 +73,32 @@ eeprom_read_params (void) return; speed_theta.max = eeprom_read_byte (p8++); speed_alpha.max = eeprom_read_byte (p8++); - speed_aux0.max = eeprom_read_byte (p8++); + speed_aux[0].max = eeprom_read_byte (p8++); + speed_aux[1].max = eeprom_read_byte (p8++); speed_theta.slow = eeprom_read_byte (p8++); speed_alpha.slow = eeprom_read_byte (p8++); - speed_aux0.slow = eeprom_read_byte (p8++); + speed_aux[0].slow = eeprom_read_byte (p8++); + speed_aux[1].slow = eeprom_read_byte (p8++); pwm_set_reverse (eeprom_read_byte (p8++)); counter_right_correction = eeprom_read_32 (p8); p8 += 4; p16 = (uint16_t *) p8; postrack_set_footing (eeprom_read_word (p16++)); speed_theta.acc = eeprom_read_word (p16++); speed_alpha.acc = eeprom_read_word (p16++); - speed_aux0.acc = eeprom_read_word (p16++); + speed_aux[0].acc = eeprom_read_word (p16++); + speed_aux[1].acc = eeprom_read_word (p16++); pos_theta.kp = eeprom_read_word (p16++); pos_alpha.kp = eeprom_read_word (p16++); - pos_aux0.kp = eeprom_read_word (p16++); + pos_aux[0].kp = eeprom_read_word (p16++); + pos_aux[1].kp = eeprom_read_word (p16++); pos_theta.ki = eeprom_read_word (p16++); pos_alpha.ki = eeprom_read_word (p16++); - pos_aux0.ki = eeprom_read_word (p16++); + pos_aux[0].ki = eeprom_read_word (p16++); + pos_aux[1].ki = eeprom_read_word (p16++); pos_theta.kd = eeprom_read_word (p16++); pos_alpha.kd = eeprom_read_word (p16++); - pos_aux0.kd = eeprom_read_word (p16++); + pos_aux[0].kd = eeprom_read_word (p16++); + pos_aux[1].kd = 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++); @@ -113,26 +119,32 @@ eeprom_write_params (void) eeprom_write_byte (p8++, EEPROM_KEY); eeprom_write_byte (p8++, speed_theta.max); eeprom_write_byte (p8++, speed_alpha.max); - eeprom_write_byte (p8++, speed_aux0.max); + eeprom_write_byte (p8++, speed_aux[0].max); + eeprom_write_byte (p8++, speed_aux[1].max); eeprom_write_byte (p8++, speed_theta.slow); eeprom_write_byte (p8++, speed_alpha.slow); - eeprom_write_byte (p8++, speed_aux0.slow); + eeprom_write_byte (p8++, speed_aux[0].slow); + eeprom_write_byte (p8++, speed_aux[1].slow); eeprom_write_byte (p8++, pwm_reverse); eeprom_write_32 (p8, counter_right_correction); p8 += 4; p16 = (uint16_t *) p8; eeprom_write_word (p16++, postrack_footing); eeprom_write_word (p16++, speed_theta.acc); eeprom_write_word (p16++, speed_alpha.acc); - eeprom_write_word (p16++, speed_aux0.acc); + eeprom_write_word (p16++, speed_aux[0].acc); + eeprom_write_word (p16++, speed_aux[1].acc); eeprom_write_word (p16++, pos_theta.kp); eeprom_write_word (p16++, pos_alpha.kp); - eeprom_write_word (p16++, pos_aux0.kp); + eeprom_write_word (p16++, pos_aux[0].kp); + eeprom_write_word (p16++, pos_aux[1].kp); eeprom_write_word (p16++, pos_theta.ki); eeprom_write_word (p16++, pos_alpha.ki); - eeprom_write_word (p16++, pos_aux0.ki); + eeprom_write_word (p16++, pos_aux[0].ki); + eeprom_write_word (p16++, pos_aux[1].ki); eeprom_write_word (p16++, pos_theta.kd); eeprom_write_word (p16++, pos_alpha.kd); - eeprom_write_word (p16++, pos_aux0.kd); + eeprom_write_word (p16++, pos_aux[0].kd); + eeprom_write_word (p16++, pos_aux[1].kd); eeprom_write_word (p16++, pos_e_sat); eeprom_write_word (p16++, pos_i_sat); eeprom_write_word (p16++, pos_d_sat); -- cgit v1.2.3