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path: root/digital/asserv/src/asserv/eeprom.avr.c
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Diffstat (limited to 'digital/asserv/src/asserv/eeprom.avr.c')
-rw-r--r--digital/asserv/src/asserv/eeprom.avr.c36
1 files changed, 24 insertions, 12 deletions
diff --git a/digital/asserv/src/asserv/eeprom.avr.c b/digital/asserv/src/asserv/eeprom.avr.c
index 0cb04aae..cbb92b33 100644
--- a/digital/asserv/src/asserv/eeprom.avr.c
+++ b/digital/asserv/src/asserv/eeprom.avr.c
@@ -73,26 +73,32 @@ eeprom_read_params (void)
return;
speed_theta.max = eeprom_read_byte (p8++);
speed_alpha.max = eeprom_read_byte (p8++);
- speed_aux0.max = eeprom_read_byte (p8++);
+ speed_aux[0].max = eeprom_read_byte (p8++);
+ speed_aux[1].max = eeprom_read_byte (p8++);
speed_theta.slow = eeprom_read_byte (p8++);
speed_alpha.slow = eeprom_read_byte (p8++);
- speed_aux0.slow = eeprom_read_byte (p8++);
+ speed_aux[0].slow = eeprom_read_byte (p8++);
+ speed_aux[1].slow = eeprom_read_byte (p8++);
pwm_set_reverse (eeprom_read_byte (p8++));
counter_right_correction = eeprom_read_32 (p8); p8 += 4;
p16 = (uint16_t *) p8;
postrack_set_footing (eeprom_read_word (p16++));
speed_theta.acc = eeprom_read_word (p16++);
speed_alpha.acc = eeprom_read_word (p16++);
- speed_aux0.acc = eeprom_read_word (p16++);
+ speed_aux[0].acc = eeprom_read_word (p16++);
+ speed_aux[1].acc = eeprom_read_word (p16++);
pos_theta.kp = eeprom_read_word (p16++);
pos_alpha.kp = eeprom_read_word (p16++);
- pos_aux0.kp = eeprom_read_word (p16++);
+ pos_aux[0].kp = eeprom_read_word (p16++);
+ pos_aux[1].kp = eeprom_read_word (p16++);
pos_theta.ki = eeprom_read_word (p16++);
pos_alpha.ki = eeprom_read_word (p16++);
- pos_aux0.ki = eeprom_read_word (p16++);
+ pos_aux[0].ki = eeprom_read_word (p16++);
+ pos_aux[1].ki = eeprom_read_word (p16++);
pos_theta.kd = eeprom_read_word (p16++);
pos_alpha.kd = eeprom_read_word (p16++);
- pos_aux0.kd = eeprom_read_word (p16++);
+ pos_aux[0].kd = eeprom_read_word (p16++);
+ pos_aux[1].kd = eeprom_read_word (p16++);
pos_e_sat = eeprom_read_word (p16++);
pos_i_sat = eeprom_read_word (p16++);
pos_d_sat = eeprom_read_word (p16++);
@@ -113,26 +119,32 @@ eeprom_write_params (void)
eeprom_write_byte (p8++, EEPROM_KEY);
eeprom_write_byte (p8++, speed_theta.max);
eeprom_write_byte (p8++, speed_alpha.max);
- eeprom_write_byte (p8++, speed_aux0.max);
+ eeprom_write_byte (p8++, speed_aux[0].max);
+ eeprom_write_byte (p8++, speed_aux[1].max);
eeprom_write_byte (p8++, speed_theta.slow);
eeprom_write_byte (p8++, speed_alpha.slow);
- eeprom_write_byte (p8++, speed_aux0.slow);
+ eeprom_write_byte (p8++, speed_aux[0].slow);
+ eeprom_write_byte (p8++, speed_aux[1].slow);
eeprom_write_byte (p8++, pwm_reverse);
eeprom_write_32 (p8, counter_right_correction); p8 += 4;
p16 = (uint16_t *) p8;
eeprom_write_word (p16++, postrack_footing);
eeprom_write_word (p16++, speed_theta.acc);
eeprom_write_word (p16++, speed_alpha.acc);
- eeprom_write_word (p16++, speed_aux0.acc);
+ eeprom_write_word (p16++, speed_aux[0].acc);
+ eeprom_write_word (p16++, speed_aux[1].acc);
eeprom_write_word (p16++, pos_theta.kp);
eeprom_write_word (p16++, pos_alpha.kp);
- eeprom_write_word (p16++, pos_aux0.kp);
+ eeprom_write_word (p16++, pos_aux[0].kp);
+ eeprom_write_word (p16++, pos_aux[1].kp);
eeprom_write_word (p16++, pos_theta.ki);
eeprom_write_word (p16++, pos_alpha.ki);
- eeprom_write_word (p16++, pos_aux0.ki);
+ eeprom_write_word (p16++, pos_aux[0].ki);
+ eeprom_write_word (p16++, pos_aux[1].ki);
eeprom_write_word (p16++, pos_theta.kd);
eeprom_write_word (p16++, pos_alpha.kd);
- eeprom_write_word (p16++, pos_aux0.kd);
+ eeprom_write_word (p16++, pos_aux[0].kd);
+ eeprom_write_word (p16++, pos_aux[1].kd);
eeprom_write_word (p16++, pos_e_sat);
eeprom_write_word (p16++, pos_i_sat);
eeprom_write_word (p16++, pos_d_sat);