From b01580be0e68f12420dbaf2492d569642394a9a3 Mon Sep 17 00:00:00 2001 From: schodet Date: Sat, 24 Apr 2004 18:19:22 +0000 Subject: Correction du problème du port série. Supression du calcul sur interruption RB. Passage en 115200. --- 2004/n/asserv/src/motor.c | 16 +--------------- 1 file changed, 1 insertion(+), 15 deletions(-) (limited to '2004/n/asserv/src/motor.c') diff --git a/2004/n/asserv/src/motor.c b/2004/n/asserv/src/motor.c index 2f05c3a..242ff74 100644 --- a/2004/n/asserv/src/motor.c +++ b/2004/n/asserv/src/motor.c @@ -221,12 +221,10 @@ motor_compute_left_pid (void) signed long pwm; signed long temp; /* Récupère les compteurs et calcule l'erreur. */ - disable_interrupts (INT_RB); diff = motor_g_cpt_av; motor_g_cpt_av = 0; diff -= motor_g_cpt_ar; motor_g_cpt_ar = 0; - enable_interrupts (INT_RB); motor_g_cpt += diff; e = motor_g_vacc - diff; /* Calcul de l'integrale. */ @@ -262,12 +260,10 @@ motor_compute_right_pid (void) signed long pwm; signed long temp; /* Récupère les compteurs et calcule l'erreur. */ - disable_interrupts (INT_RB); diff = motor_d_cpt_av; motor_d_cpt_av = 0; diff -= motor_d_cpt_ar; motor_d_cpt_ar = 0; - disable_interrupts (INT_RB); motor_d_cpt += diff; e = motor_d_vacc - diff; /* Calcul de l'integrale. */ @@ -357,13 +353,6 @@ motor_update_cpt (void) motor_timer3_old = timer; } -/* Interruptions de changement de sens. */ -#int_RB -RB_isr() -{ - motor_update_cpt (); -} - /* Interruption de PID. */ #int_TIMER2 TIMER2_isr () @@ -379,14 +368,11 @@ motor_main (void) { /* Ne fait le traitement que s'il y a eu une interruption. */ while (!motor_int_recv) - ; + motor_update_cpt (); motor_int_recv = 0; /* Calcul du PID. */ if ((motor_pid_int & 7) == 0) { - disable_interrupts (INT_RB); - motor_update_cpt (); - enable_interrupts (INT_RB); motor_compute_left_pid (); motor_compute_right_pid (); /* Information de PWM. */ -- cgit v1.2.3