From 4882fbefaeca9cc5292cec9a2f93d34f04e67b5c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 28 May 2011 00:31:13 +0200 Subject: digital/io-hub: add clamp initialisation --- digital/mimot/src/dirty/twi_proto.c | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'digital/mimot/src/dirty/twi_proto.c') diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/twi_proto.c index 3048c594..bda255ef 100644 --- a/digital/mimot/src/dirty/twi_proto.c +++ b/digital/mimot/src/dirty/twi_proto.c @@ -150,6 +150,18 @@ twi_proto_callback (u8 *buf, u8 size) else buf[0] = 0; break; + case c ('w', 1): + /* Free motor. + * - 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) @@ -173,6 +185,15 @@ twi_proto_params (u8 *buf, u8 size) size--; switch (*buf++) { + case 'Y': + /* Set current aux position. + * - b: aux index. + * - w: position. */ + if (buf[0] >= AC_ASSERV_AUX_NB || size < 3) + return 1; + aux[buf[0]].pos = v8_to_v16 (buf[1], buf[2]); + eat = 3; + break; default: return 1; } -- cgit v1.2.3