From 473d501d1ead422ecc9680cb20e46a04a6356ed8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 14 May 2009 23:22:02 +0200 Subject: * digital/io, digital/asserv: - give asserv input port in TWI status. --- digital/asserv/src/asserv/twi_proto.c | 33 +++++++++++++++++++-------------- 1 file changed, 19 insertions(+), 14 deletions(-) (limited to 'digital/asserv') diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c index 735430a2..6168f245 100644 --- a/digital/asserv/src/asserv/twi_proto.c +++ b/digital/asserv/src/asserv/twi_proto.c @@ -40,6 +40,10 @@ #include "traj.h" #include "aux.h" +#ifdef HOST +# include "simu.host.h" +#endif + struct twi_proto_t { u8 seq; @@ -70,7 +74,7 @@ twi_proto_update (void) while (twi_sl_poll (buf, sizeof (buf))) twi_proto_callback (buf, sizeof (buf)); /* Update status. */ - u8 status[14]; + u8 status[15]; status[0] = 0 | (state_aux[1].blocked << 7) | (state_aux[1].finished << 6) @@ -80,19 +84,20 @@ twi_proto_update (void) | (speed_theta.cur > 0 ? (1 << 2) : 0) | (state_main.blocked << 1) | (state_main.finished << 0); - status[1] = twi_proto.seq; - status[2] = v32_to_v8 (postrack_x, 3); - status[3] = v32_to_v8 (postrack_x, 2); - status[4] = v32_to_v8 (postrack_x, 1); - status[5] = v32_to_v8 (postrack_y, 3); - status[6] = v32_to_v8 (postrack_y, 2); - status[7] = v32_to_v8 (postrack_y, 1); - status[8] = v32_to_v8 (postrack_a, 2); - status[9] = v32_to_v8 (postrack_a, 1); - status[10] = v16_to_v8 (aux[0].pos, 1); - status[11] = v16_to_v8 (aux[0].pos, 0); - status[12] = v16_to_v8 (aux[1].pos, 1); - status[13] = v16_to_v8 (aux[1].pos, 0); + status[1] = PINC; + status[2] = twi_proto.seq; + status[3] = v32_to_v8 (postrack_x, 3); + status[4] = v32_to_v8 (postrack_x, 2); + status[5] = v32_to_v8 (postrack_x, 1); + status[6] = v32_to_v8 (postrack_y, 3); + status[7] = v32_to_v8 (postrack_y, 2); + status[8] = v32_to_v8 (postrack_y, 1); + status[9] = v32_to_v8 (postrack_a, 2); + status[10] = v32_to_v8 (postrack_a, 1); + status[11] = v16_to_v8 (aux[0].pos, 1); + status[12] = v16_to_v8 (aux[0].pos, 0); + status[13] = v16_to_v8 (aux[1].pos, 1); + status[14] = v16_to_v8 (aux[1].pos, 0); twi_sl_update (status, sizeof (status)); } -- cgit v1.2.3