aboutsummaryrefslogtreecommitdiff
path: root/AT91SAM7S256/Source/c_cmd.c
diff options
context:
space:
mode:
authorJohn Hansen2011-03-13 23:36:50 +0000
committerNicolas Schodet2011-07-04 00:37:04 +0200
commitfc1e658f15bbb8d4497d189e79b43fab4b964839 (patch)
tree829ae4b3ece944522a68919cd2685d49fc06c341 /AT91SAM7S256/Source/c_cmd.c
parentd8a6b2de30e139a676593aac5feb9eb47479dce2 (diff)
Added position regulation mode (Nicolas Schodet)
git-svn-id: https://mindboards.svn.sourceforge.net/svnroot/mindboards/lms_nbcnxc/branches/version_131@37 c9361245-7fe8-9947-84e8-057757c4e366
Diffstat (limited to 'AT91SAM7S256/Source/c_cmd.c')
-rw-r--r--AT91SAM7S256/Source/c_cmd.c8
1 files changed, 8 insertions, 0 deletions
diff --git a/AT91SAM7S256/Source/c_cmd.c b/AT91SAM7S256/Source/c_cmd.c
index 231ebec..7a81c71 100644
--- a/AT91SAM7S256/Source/c_cmd.c
+++ b/AT91SAM7S256/Source/c_cmd.c
@@ -320,6 +320,8 @@ TYPE_CODE IO_TYPES_OUT[IO_OUT_FIELD_COUNT] =
TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT
TC_SLONG, //IO_OUT_ROTATION_COUNT
TC_UBYTE, //IO_OUT_OPTIONS
+ TC_SBYTE, //IO_OUT_MAX_SPEED
+ TC_SBYTE, //IO_OUT_MAX_ACCELERATION
//IO_OUT1
TC_UBYTE, //IO_OUT_FLAGS
@@ -338,6 +340,8 @@ TYPE_CODE IO_TYPES_OUT[IO_OUT_FIELD_COUNT] =
TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT
TC_SLONG, //IO_OUT_ROTATION_COUNT
TC_UBYTE, //IO_OUT_OPTIONS
+ TC_SBYTE, //IO_OUT_MAX_SPEED
+ TC_SBYTE, //IO_OUT_MAX_ACCELERATION
//IO_OUT2
TC_UBYTE, //IO_OUT_FLAGS
@@ -356,6 +360,8 @@ TYPE_CODE IO_TYPES_OUT[IO_OUT_FIELD_COUNT] =
TC_SLONG, //IO_OUT_BLOCK_TACH_COUNT
TC_SLONG, //IO_OUT_ROTATION_COUNT
TC_UBYTE, //IO_OUT_OPTIONS
+ TC_SBYTE, //IO_OUT_MAX_SPEED
+ TC_SBYTE, //IO_OUT_MAX_ACCELERATION
};
@@ -1402,6 +1408,8 @@ void cCmdInit(void* pHeader)
IO_PTRS_OUT[IO_OUT_BLOCK_TACH_COUNT + i * IO_OUT_FPP] = (void*)&(pOut->BlockTachoCount);
IO_PTRS_OUT[IO_OUT_ROTATION_COUNT + i * IO_OUT_FPP] = (void*)&(pOut->RotationCount);
IO_PTRS_OUT[IO_OUT_OPTIONS + i * IO_OUT_FPP] = (void*)&(pOut->Options);
+ IO_PTRS_OUT[IO_OUT_MAX_SPEED + i * IO_OUT_FPP] = (void*)&(pOut->MaxSpeed);
+ IO_PTRS_OUT[IO_OUT_MAX_ACCELERATION + i * IO_OUT_FPP] = (void*)&(pOut->MaxAcceleration);
}
//Initialize IO_PTRS_IN