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 +++- digital/io/doc/proto_asserv.txt | 6 ++++++ 2 files changed, 9 insertions(+), 1 deletion(-) (limited to 'digital') 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); diff --git a/digital/io/doc/proto_asserv.txt b/digital/io/doc/proto_asserv.txt index 2fffb618..dd78003c 100644 --- a/digital/io/doc/proto_asserv.txt +++ b/digital/io/doc/proto_asserv.txt @@ -159,6 +159,12 @@ Here is a list of the bits used and their definitions: 3. Arm movement finished with failure: it should not happen, but we are not sure yet (AB). + 4. Movement is going forward: the current linear speed is greater than 0 + (FWD) ; + + 5. Movement is going backward: the current linear speed is smaller than 0 + (BCK) ; + The others bits are unused. -- cgit v1.2.3