summaryrefslogtreecommitdiff
path: root/digital/asserv
diff options
context:
space:
mode:
authorNicolas Schodet2010-05-12 16:19:46 +0200
committerNicolas Schodet2010-05-12 16:19:46 +0200
commit2e745143d2b02249ac268b6372c4f976b4b03ed2 (patch)
treedc96043f547972ef8ddfa4567c672344d0023587 /digital/asserv
parentaa3cac8b66573cd21834d351a02b135f5b66c006 (diff)
digital/asserv, digital/io: set zero PWM when elevator down
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/src/asserv/twi_proto.c13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index 1be7dd92..60b8bdc8 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -227,6 +227,19 @@ twi_proto_callback (u8 *buf, u8 size)
* - b: speed. */
aux_traj_find_zero_reverse_start (&aux[1], buf[2], 0);
break;
+ case c ('r', 1):
+ /* Set aux zero pwm.
+ * - b: aux index.
+ */
+ if (buf[2] < AC_ASSERV_AUX_NB)
+ {
+ pos_reset (&pos_aux[buf[2]]);
+ state_aux[buf[2]].mode = MODE_PWM;
+ pwm_set (&pwm_aux[buf[2]], 0);
+ }
+ else
+ buf[0] = 0;
+ break;
case c ('p', x):
/* Set parameters. */
if (twi_proto_params (&buf[2], size - 2) != 0)