From 2e745143d2b02249ac268b6372c4f976b4b03ed2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 12 May 2010 16:19:46 +0200 Subject: digital/asserv, digital/io: set zero PWM when elevator down --- digital/asserv/src/asserv/twi_proto.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'digital/asserv') diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 1be7dd92..60b8bdc8 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -227,6 +227,19 @@ twi_proto_callback (u8 *buf, u8 size) * - b: speed. */ aux_traj_find_zero_reverse_start (&aux[1], buf[2], 0); break; + case c ('r', 1): + /* Set aux zero pwm. + * - b: aux index. + */ + if (buf[2] < AC_ASSERV_AUX_NB) + { + pos_reset (&pos_aux[buf[2]]); + state_aux[buf[2]].mode = MODE_PWM; + pwm_set (&pwm_aux[buf[2]], 0); + } + else + buf[0] = 0; + break; case c ('p', x): /* Set parameters. */ if (twi_proto_params (&buf[2], size - 2) != 0) -- cgit v1.2.3