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Commit e142b2b7 authored by Peter Jansweijer's avatar Peter Jansweijer
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TEMP: some link_sweep debugging and (commented out) test lines

parent 168f5e44
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proto-ext-common/wrh-servo.c
View file @ e142b2b7
......@@ -9,6 +9,7 @@
#include <ppsi/ppsi.h>
// #include "wrs-constants.h"
#include "../proto-standard/common-fun.h"
#include "board.h"
#if CONFIG_ARCH_IS_WRS
#include <libwr/shmem.h>
......@@ -53,6 +54,8 @@ int wrh_servo_init(struct pp_instance *ppi)
pp_servo_init(ppi); // Initialize the standard servo data
pp_printf("lock sweep: %d\n",lock_sweep());
/* shmem lock */
wrs_shm_write(ppsi_head, WRS_SHM_WRITE_BEGIN);
......@@ -274,6 +277,14 @@ static int __wrh_servo_update(struct pp_instance *ppi)
break;
case WRH_SYNC_NSEC:
// if (lock_sweep()) {
// WRH_OPER()->adjust_counters(0, offset_ticks + s->clock_period_ps);
// setState(ppi,WRH_SYNC_NSEC);
// pp_printf("ls: %d %d\n", offset_ticks, s->clock_period_ps);
// } else {
// WRH_OPER()->adjust_counters(0, offset_ticks);
// setState(ppi,WRH_SYNC_PHASE);
// }
WRH_OPER()->adjust_counters(0, offset_ticks);
gs->flags |= PP_SERVO_FLAG_WAIT_HW;
setState(ppi,WRH_SYNC_PHASE);
......
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