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authorNicolas Schodet2012-04-18 01:58:17 +0200
committerNicolas Schodet2012-05-01 10:10:47 +0200
commit929dab13061cfe82cce6125dfb4adb40c3ef6639 (patch)
tree8b9690d3fa8c3e232b849496fc3b0334c9fbee52 /digital/mimot/src/dirty
parent100806260ca3e15d33c2e5743b42609b3a34b2b6 (diff)
digital/{ai,mimot}: add raw output set
Diffstat (limited to 'digital/mimot/src/dirty')
-rw-r--r--digital/mimot/src/dirty/twi_proto.c12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c
index a61d3d6c..3ac4b8a4 100644
--- a/digital/mimot/src/dirty/twi_proto.c
+++ b/digital/mimot/src/dirty/twi_proto.c
@@ -167,6 +167,18 @@ twi_proto_callback (u8 *buf, u8 size)
else
buf[0] = 0;
break;
+ case c ('W', 3):
+ /* Set motor output.
+ * - b: aux index.
+ * - w: value. */
+ if (buf[2] < AC_ASSERV_AUX_NB)
+ {
+ output_set (&output_aux[buf[2]], v8_to_v16 (buf[3], buf[4]));
+ control_state_set_mode (&cs_aux[buf[2]].state, CS_MODE_NONE, 0);
+ }
+ else
+ buf[0] = 0;
+ break;
case c ('p', x):
/* Set parameters. */
if (twi_proto_params (&buf[2], size - 2) != 0)