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Diffstat (limited to 'n/asserv/src/eeprom.c')
-rw-r--r--n/asserv/src/eeprom.c14
1 files changed, 10 insertions, 4 deletions
diff --git a/n/asserv/src/eeprom.c b/n/asserv/src/eeprom.c
index 3eb0140..4cd3a10 100644
--- a/n/asserv/src/eeprom.c
+++ b/n/asserv/src/eeprom.c
@@ -23,6 +23,8 @@
* }}} */
#include <avr/eeprom.h>
+#define EEPROM_KEY 0xa7
+
/* +AutoDec */
/* -AutoDec */
@@ -32,16 +34,18 @@ eeprom_read_params (void)
{
uint8_t *p8 = 0;
uint16_t *p16;
- if (eeprom_read_byte (p8++) != 0xa5)
+ if (eeprom_read_byte (p8++) != EEPROM_KEY)
return;
speed_acc_cpt = speed_acc = eeprom_read_byte (p8++);
speed_max = eeprom_read_byte (p8++);
+ speed_ds = eeprom_read_byte (p8++);
pwm_dir = eeprom_read_byte (p8++);
p16 = (uint16_t *) p8;
speed_kp = eeprom_read_word (p16++);
speed_ki = eeprom_read_word (p16++);
speed_kd = eeprom_read_word (p16++);
- speed_int_max = eeprom_read_word (p16++);
+ speed_e_sat = eeprom_read_word (p16++);
+ speed_int_sat = eeprom_read_word (p16++);
postrack_set_footing (eeprom_read_word (p16++));
}
@@ -51,15 +55,17 @@ eeprom_write_params (void)
{
uint8_t *p8 = 0;
uint16_t *p16;
- eeprom_write_byte (p8++, 0xa5);
+ eeprom_write_byte (p8++, EEPROM_KEY);
eeprom_write_byte (p8++, speed_acc);
eeprom_write_byte (p8++, speed_max);
+ eeprom_write_byte (p8++, speed_ds);
eeprom_write_byte (p8++, pwm_dir);
p16 = (uint16_t *) p8;
eeprom_write_word (p16++, speed_kp);
eeprom_write_word (p16++, speed_ki);
eeprom_write_word (p16++, speed_kd);
- eeprom_write_word (p16++, speed_int_max);
+ eeprom_write_word (p16++, speed_e_sat);
+ eeprom_write_word (p16++, speed_int_sat);
eeprom_write_word (p16++, postrack_footing);
}