From 8260f152b5266c7ae82598fcbb4ce28ea44f5ed3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 25 Apr 2008 21:27:04 +0200 Subject: * digital/asserv/src/asserv: - added movement direction bits in status. --- digital/asserv/src/asserv/twi_proto.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'digital/asserv/src') diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 76639064..3be0367e 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -71,7 +71,9 @@ twi_proto_update (void) twi_proto_callback (buf, sizeof (buf)); /* Update status. */ u8 status[12]; - status[0] = (state_aux0.blocked << 3) + status[0] = (speed_theta.cons < 0 ? (1 << 5) : 0) + | (speed_theta.cons > 0 ? (1 << 4) : 0) + | (state_aux0.blocked << 3) | (state_aux0.finished << 2) | (state_main.blocked << 1) | (state_main.finished << 0); -- cgit v1.2.3