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authorschodet2006-04-14 17:28:23 +0000
committerschodet2006-04-14 17:28:23 +0000
commit5f121df3f678f5961b0959b5cc19fd6ec545bf47 (patch)
tree3a154cae608ba9b01cd850e0c24ca7f128ad3554 /n
parentaa023b1a9f1a84323a81c8674d46a1d5a0d39629 (diff)
Adaptation pour gloubi.
Changement du code eeprom pour faire cohabiter l'ancien et le noouveu programme.
Diffstat (limited to 'n')
-rw-r--r--n/asserv/src/asserv/counter.avr.c2
-rw-r--r--n/asserv/src/asserv/eeprom.avr.c9
-rw-r--r--n/asserv/src/asserv/pos.c6
-rw-r--r--n/asserv/src/asserv/pwm.avr.c2
4 files changed, 10 insertions, 9 deletions
diff --git a/n/asserv/src/asserv/counter.avr.c b/n/asserv/src/asserv/counter.avr.c
index 0dd59f4..b0d14ee 100644
--- a/n/asserv/src/asserv/counter.avr.c
+++ b/n/asserv/src/asserv/counter.avr.c
@@ -26,7 +26,7 @@
/** Define to 1 to reverse the left counter. */
#define COUNTER_REVERSE_LEFT 1
/** Define to 1 to reverse the right counter. */
-#define COUNTER_REVERSE_RIGHT 0
+#define COUNTER_REVERSE_RIGHT 1
/** Forward and reverse counter values. */
static uint8_t counter_left_frw, counter_left_rev,
diff --git a/n/asserv/src/asserv/eeprom.avr.c b/n/asserv/src/asserv/eeprom.avr.c
index cefea42..671e0e6 100644
--- a/n/asserv/src/asserv/eeprom.avr.c
+++ b/n/asserv/src/asserv/eeprom.avr.c
@@ -24,7 +24,8 @@
* }}} */
#include <avr/eeprom.h>
-#define EEPROM_KEY 0xa5
+#define EEPROM_KEY 0x42
+#define EEPROM_START 256
/* +AutoDec */
/* -AutoDec */
@@ -33,7 +34,7 @@
static void
eeprom_read_params (void)
{
- uint8_t *p8 = 0;
+ uint8_t *p8 = EEPROM_START;
uint16_t *p16;
if (eeprom_read_byte (p8++) != EEPROM_KEY)
return;
@@ -56,7 +57,7 @@ eeprom_read_params (void)
static void
eeprom_write_params (void)
{
- uint8_t *p8 = 0;
+ uint8_t *p8 = EEPROM_START;
uint16_t *p16;
eeprom_write_byte (p8++, EEPROM_KEY);
eeprom_write_byte (p8++, pwm_dir);
@@ -78,7 +79,7 @@ eeprom_write_params (void)
static void
eeprom_clear_params (void)
{
- uint8_t *p = 0;
+ uint8_t *p = EEPROM_START;
eeprom_write_byte (p, 0xff);
}
diff --git a/n/asserv/src/asserv/pos.c b/n/asserv/src/asserv/pos.c
index d4204c7..1beffc7 100644
--- a/n/asserv/src/asserv/pos.c
+++ b/n/asserv/src/asserv/pos.c
@@ -41,11 +41,11 @@ int32_t pos_e_sat = 1023;
/** Integral saturation. */
int32_t pos_int_sat = 1023;
/** P coefficients. */
-uint16_t pos_theta_kp = 1200, pos_alpha_kp = 1500;
+uint16_t pos_theta_kp, pos_alpha_kp;
/** I coefficients. */
-uint16_t pos_theta_ki = 120, pos_alpha_ki = 150;
+uint16_t pos_theta_ki, pos_alpha_ki;
/** D coefficients. */
-uint16_t pos_theta_kd = 2000, pos_alpha_kd = 2000;
+uint16_t pos_theta_kd, pos_alpha_kd;
/** Current integral values. */
int32_t pos_theta_int, pos_alpha_int;
diff --git a/n/asserv/src/asserv/pwm.avr.c b/n/asserv/src/asserv/pwm.avr.c
index 773cfef..b0db836 100644
--- a/n/asserv/src/asserv/pwm.avr.c
+++ b/n/asserv/src/asserv/pwm.avr.c
@@ -40,7 +40,7 @@
int16_t pwm_left, pwm_right;
/** PWM reverse direction, only set pwm dir bits or you will get weird results
* on port B. */
-uint8_t pwm_dir = _BV (PWM_LEFT_DIR);
+uint8_t pwm_dir = _BV (PWM_LEFT_DIR) | _BV (PWM_RIGHT_DIR);
/* +AutoDec */