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authorNicolas Schodet2008-03-05 23:29:59 +0100
committerNicolas Schodet2008-03-05 23:29:59 +0100
commit2697928e9c98c86f862ba86a306f3edc36b385b7 (patch)
tree97374390ec895f3381c32cd2409e88ed76e10149
parent0e6148958aa8e6ebb9c04f32b02d6087c882a009 (diff)
* digital/asserv/src/asserv:
- more new board adaptations.
-rw-r--r--digital/asserv/src/asserv/main.c2
-rw-r--r--digital/asserv/src/asserv/misc.h12
-rw-r--r--digital/asserv/src/asserv/simu.host.c2
-rw-r--r--digital/asserv/src/asserv/simu.host.h2
-rw-r--r--digital/asserv/src/asserv/traj.c6
5 files changed, 12 insertions, 12 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index c9930a33..d92c95e8 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -203,7 +203,7 @@ main_loop (void)
}
if (main_print_pin && !--main_print_pin_cpt)
{
- proto_send2b ('I', PINA, PINF & 0xf);
+ proto_send1b ('I', PINC);
main_print_pin_cpt = main_print_pin;
}
/* Misc. */
diff --git a/digital/asserv/src/asserv/misc.h b/digital/asserv/src/asserv/misc.h
index 41b94c86..9afcfd4e 100644
--- a/digital/asserv/src/asserv/misc.h
+++ b/digital/asserv/src/asserv/misc.h
@@ -26,18 +26,18 @@
* }}} */
#define LED_SETUP do { \
- PORTF &= _BV (1) | _BV (0);
- DDRF &= _BV (1) | _BV (0);
+ PORTF &= _BV (1) | _BV (0); \
+ DDRF &= _BV (1) | _BV (0); \
} while (0)
#define LED1(x) do { \
- if (!(x)) PORTD &= ~_BV (0); \
- else PORTD |= _BV (0); \
+ if (!(x)) PORTF &= ~_BV (0); \
+ else PORTF |= _BV (0); \
} while (0)
#define LED2(x) do { \
- if (!(x)) PORTD &= ~_BV (1); \
- else PORTD |= _BV (1); \
+ if (!(x)) PORTF &= ~_BV (1); \
+ else PORTF |= _BV (1); \
} while (0)
#endif /* misc_h */
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index beefafe2..3e6f0412 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -32,7 +32,7 @@
#include <stdio.h>
/** Simulate some AVR regs. */
-uint8_t DDRD, PORTD, PORTA, PORTC, PINA, PINF;
+uint8_t DDRF, PORTC, PORTD, PORTE, PORTF, PORTG, PINC;
/** Overall counter values. */
uint16_t counter_left, counter_right;
diff --git a/digital/asserv/src/asserv/simu.host.h b/digital/asserv/src/asserv/simu.host.h
index 2e8db9d2..69a120ac 100644
--- a/digital/asserv/src/asserv/simu.host.h
+++ b/digital/asserv/src/asserv/simu.host.h
@@ -24,7 +24,7 @@
* }}} */
/** Simulate some AVR regs. */
-extern uint8_t DDRD, PORTD, PORTA, PORTC, PINA, PINF;
+extern uint8_t DDRF, PORTC, PORTD, PORTE, PORTF, PORTG, PINC;
/** Overall counter values. */
extern uint16_t counter_left, counter_right;
diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c
index b80a7513..926dcc5c 100644
--- a/digital/asserv/src/asserv/traj.c
+++ b/digital/asserv/src/asserv/traj.c
@@ -35,17 +35,17 @@ traj_ftw (void)
int16_t speed;
speed = speed_theta_slow;
speed *= 256;
- if (PINA & _BV (0) && PINA & _BV (7))
+ if (PINC & _BV (0) && PINC & _BV (1))
{
speed_theta_cons = -speed;
speed_alpha_cons = 0;
}
- else if (PINA & _BV (0))
+ else if (PINC & _BV (0))
{
speed_theta_cons = -speed / 2;
speed_alpha_cons = speed / 2;
}
- else if (PINA & _BV (7))
+ else if (PINC & _BV (1))
{
speed_theta_cons = -speed / 2;
speed_alpha_cons = -speed / 2;