From 830048da9a94cd9fb91678694dfd07d577e3070c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 5 Mar 2012 23:49:17 +0100 Subject: digital/mimot: convert to new control system --- digital/mimot/src/dirty/twi_proto.c | 32 +++++++++++++------------------- 1 file changed, 13 insertions(+), 19 deletions(-) (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 2f935fda..e5ce353d 100644 --- a/digital/mimot/src/dirty/twi_proto.c +++ b/digital/mimot/src/dirty/twi_proto.c @@ -31,11 +31,6 @@ #include "modules/twi/twi.h" #include "io.h" -#include "state.h" - -#include "pwm.h" -#include "pos.h" -#include "speed.h" #include "aux.h" #ifdef HOST @@ -76,10 +71,10 @@ twi_proto_update (void) u8 status_with_crc[8]; u8 *status = &status_with_crc[1]; status[0] = 0 - | (state_aux[1].blocked << 3) - | (state_aux[1].finished << 2) - | (state_aux[0].blocked << 1) - | (state_aux[0].finished << 0); + | (control_state_is_blocked (&cs_aux[1].state) ? (1 << 3) : 0) + | (control_state_is_finished (&cs_aux[1].state) ? (1 << 2) : 0) + | (control_state_is_blocked (&cs_aux[0].state) ? (1 << 1) : 0) + | (control_state_is_finished (&cs_aux[0].state) ? (1 << 0) : 0); status[1] = PINC; status[2] = twi_proto.seq; status[3] = v16_to_v8 (aux[0].pos, 1); @@ -119,15 +114,15 @@ twi_proto_callback (u8 *buf, u8 size) /* Move the aux0. * - w: new position. * - b: speed. */ - speed_aux[0].max = buf[4]; - aux_traj_goto_start (&aux[0], v8_to_v16 (buf[2], buf[3]), 0); + cs_aux[0].speed.max = buf[4]; + aux_traj_goto_start (&aux[0], v8_to_v16 (buf[2], buf[3])); break; case c ('c', 3): /* Move the aux1. * - w: new position. * - b: speed. */ - speed_aux[1].max = buf[4]; - aux_traj_goto_start (&aux[1], v8_to_v16 (buf[2], buf[3]), 0); + cs_aux[1].speed.max = buf[4]; + aux_traj_goto_start (&aux[1], v8_to_v16 (buf[2], buf[3])); break; case c ('B', 5): /* Find the zero position. @@ -139,10 +134,10 @@ twi_proto_callback (u8 *buf, u8 size) { if (buf[4]) aux_traj_find_zero_start (&aux[buf[2]], buf[3], - v8_to_v16 (buf[5], buf[6]), 0); + v8_to_v16 (buf[5], buf[6])); else aux_traj_find_limit_start (&aux[buf[2]], buf[3], - v8_to_v16 (buf[5], buf[6]), 0); + v8_to_v16 (buf[5], buf[6])); } else buf[0] = 0; @@ -154,7 +149,7 @@ twi_proto_callback (u8 *buf, u8 size) * - w: claming PWM. */ if (buf[2] < AC_ASSERV_AUX_NB) aux_traj_clamp_start (&aux[buf[2]], buf[3], - v8_to_v16 (buf[4], buf[5]), 0); + v8_to_v16 (buf[4], buf[5])); else buf[0] = 0; break; @@ -163,9 +158,8 @@ twi_proto_callback (u8 *buf, u8 size) * - 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); + output_set (&output_aux[buf[2]], 0); + control_state_set_mode (&cs_aux[buf[2]].state, CS_MODE_NONE, 0); } else buf[0] = 0; -- cgit v1.2.3