From 5f121df3f678f5961b0959b5cc19fd6ec545bf47 Mon Sep 17 00:00:00 2001 From: schodet Date: Fri, 14 Apr 2006 17:28:23 +0000 Subject: Adaptation pour gloubi. Changement du code eeprom pour faire cohabiter l'ancien et le noouveu programme. --- n/asserv/src/asserv/counter.avr.c | 2 +- n/asserv/src/asserv/eeprom.avr.c | 9 +++++---- n/asserv/src/asserv/pos.c | 6 +++--- n/asserv/src/asserv/pwm.avr.c | 2 +- 4 files changed, 10 insertions(+), 9 deletions(-) (limited to 'n/asserv') 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 -#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 */ -- cgit v1.2.3