From 150a29f14d01af1f26a6d9e7f8d862850f3c3bb7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 2 May 2012 00:06:14 +0200 Subject: digital/ai/src/twi_master: add an easy way to disable a slave --- digital/ai/src/twi_master/asserv.c | 42 +++++++++++++++++++------------------- 1 file changed, 21 insertions(+), 21 deletions(-) (limited to 'digital/ai/src/twi_master/asserv.c') diff --git a/digital/ai/src/twi_master/asserv.c b/digital/ai/src/twi_master/asserv.c index 153997b6..ad36e00b 100644 --- a/digital/ai/src/twi_master/asserv.c +++ b/digital/ai/src/twi_master/asserv.c @@ -233,7 +233,7 @@ asserv_get_last_moving_direction (void) void asserv_reset (void) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'z'; twi_master_send_buffer (1); } @@ -241,7 +241,7 @@ asserv_reset (void) void asserv_free_motor (void) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'w'; twi_master_send_buffer (1); } @@ -249,7 +249,7 @@ asserv_free_motor (void) void asserv_stop_motor (void) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 's'; twi_master_send_buffer (1); } @@ -258,7 +258,7 @@ void asserv_move_linearly (int32_t distance) { distance = fixed_mul_f824 (distance, asserv_scale_inv); - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'l'; buffer[1] = v32_to_v8 (distance, 2); buffer[2] = v32_to_v8 (distance, 1); @@ -269,7 +269,7 @@ asserv_move_linearly (int32_t distance) void asserv_move_angularly (int16_t angle) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'a'; buffer[1] = v16_to_v8 (angle, 1); buffer[2] = v16_to_v8 (angle, 0); @@ -279,7 +279,7 @@ asserv_move_angularly (int16_t angle) void asserv_goto_angle (int16_t angle) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'y'; buffer[1] = v16_to_v8 (angle, 1); buffer[2] = v16_to_v8 (angle, 0); @@ -291,7 +291,7 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward) { x = fixed_mul_f824 (x, asserv_scale_inv); y = fixed_mul_f824 (y, asserv_scale_inv); - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'X'; buffer[1] = v32_to_v8 (x, 2); buffer[2] = v32_to_v8 (x, 1); @@ -308,7 +308,7 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward) void asserv_go_to_the_wall (uint8_t backward) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'f'; buffer[1] = backward; twi_master_send_buffer (2); @@ -322,7 +322,7 @@ asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y, init_x = fixed_mul_f824 (init_x, asserv_scale_inv); if (init_y != (uint32_t) -1) init_y = fixed_mul_f824 (init_y, asserv_scale_inv); - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'G'; buffer[1] = backward; buffer[2] = v32_to_v8 (init_x, 2); @@ -341,7 +341,7 @@ asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y, void asserv_move_motor0_absolute (uint16_t position, uint16_t speed) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'b'; buffer[1] = v16_to_v8 (position, 1); buffer[2] = v16_to_v8 (position, 0); @@ -353,7 +353,7 @@ asserv_move_motor0_absolute (uint16_t position, uint16_t speed) void asserv_move_motor1_absolute (uint16_t position, uint16_t speed) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'c'; buffer[1] = v16_to_v8 (position, 1); buffer[2] = v16_to_v8 (position, 0); @@ -368,7 +368,7 @@ void asserv_set_x_position (int32_t x) { x = fixed_mul_f824 (x, asserv_scale_inv); - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'p'; buffer[1] = 'X'; buffer[2] = v32_to_v8 (x, 2); @@ -381,7 +381,7 @@ void asserv_set_y_position (int32_t y) { y = fixed_mul_f824 (y, asserv_scale_inv); - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'p'; buffer[1] = 'Y'; buffer[2] = v32_to_v8 (y, 2); @@ -393,7 +393,7 @@ asserv_set_y_position (int32_t y) void asserv_set_angle_position (int16_t angle) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'p'; buffer[1] = 'A'; buffer[2] = v32_to_v8 (angle, 1); @@ -405,7 +405,7 @@ void asserv_set_speed (uint16_t linear_high, uint16_t angular_high, uint16_t linear_low, uint16_t angular_low) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'p'; buffer[1] = 's'; buffer[2] = v16_to_v8 (linear_high, 1); @@ -424,7 +424,7 @@ asserv_set_position (int32_t x, int32_t y, int16_t angle) { x = fixed_mul_f824 (x, asserv_scale_inv); y = fixed_mul_f824 (y, asserv_scale_inv); - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'p'; buffer[1] = 'X'; buffer[2] = v32_to_v8 (x, 2); @@ -445,7 +445,7 @@ asserv_goto (uint32_t x, uint32_t y, uint8_t backward) { x = fixed_mul_f824 (x, asserv_scale_inv); y = fixed_mul_f824 (y, asserv_scale_inv); - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'x'; buffer[1] = v32_to_v8 (x, 2); buffer[2] = v32_to_v8 (x, 1); @@ -462,7 +462,7 @@ asserv_goto (uint32_t x, uint32_t y, uint8_t backward) void asserv_motor0_zero_position (int16_t speed) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'B'; buffer[1] = v16_to_v8 (speed, 1); buffer[2] = v16_to_v8 (speed, 0); @@ -472,7 +472,7 @@ asserv_motor0_zero_position (int16_t speed) void asserv_motor1_zero_position (int16_t speed) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'C'; buffer[1] = v16_to_v8 (speed, 1); buffer[2] = v16_to_v8 (speed, 0); @@ -482,7 +482,7 @@ asserv_motor1_zero_position (int16_t speed) void asserv_motor0_free (void) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'r'; buffer[1] = 0; twi_master_send_buffer (2); @@ -491,7 +491,7 @@ asserv_motor0_free (void) void asserv_motor1_free (void) { - uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); + uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_ASSERV); buffer[0] = 'r'; buffer[1] = 1; twi_master_send_buffer (2); 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