eb_lift_11: repair same bugs

[eurobot/public.git] / src / eb_lift_11 / main.c

diff --git a/src/eb_lift_11/main.c b/src/eb_lift_11/main.c
index 277c18d216bd784cc125c16d1a8f652710acb36e..cb6d2235d857a27db5c8f77751bbc5daf3e50949 100644 (file)
--- a/src/eb_lift_11/main.c
+++ b/src/eb_lift_11/main.c
@@ -133,10 +133,10 @@ int irc_read_tick(uint16_t* last_irc){
 //   send_rs_str("\n");
   
   if (temp == IRC_A_MASK){ // nebo zaporny (-1)
-    return (1);
+    return (-1);
   }
   else if (temp == IRC_AB_MASK){
-    return (-1);
+    return (1);
   }
   return 0;
 }
@@ -261,6 +261,7 @@ void CAN_rx(can_msg_t *msg) {
                        deb_led_on(LEDB);
                        req = ((rx_msg.data[0]<<8) | (rx_msg.data[1]));
                        spd = rx_msg.data[2];
+                        fsm_lift.can_req_homing=rx_msg.data[3];
                        // range 0 - A9C5
                        if (req >= LIFT_IRC_VAL_MIN && req <= LIFT_IRC_VAL_MAX) {
                                fsm_lift.flags &= ~CAN_LIFT_OUT_OF_BOUNDS;
@@ -342,22 +343,12 @@ void blink_led()
 //                 up = (up+1)%12;
                
                deb_led_change(LEDG);
-                
-                if ((IO0PIN & (1<<END_SWITCH_UP)) || (IO0PIN & (1<<END_SWITCH_DOWN)))
-                        deb_led_on(LEDR);
-                else
-                        deb_led_off(LEDR);
-                
-           
-//                 send_rs_str("UP\t");
-//             send_rs_int(IO0PIN & (1<<END_SWITCH_UP));
-//             send_rs_str("\n");
-//                 send_rs_str("DOWN\t");
-//             send_rs_int(IO0PIN & (1<<END_SWITCH_DOWN));
-//             send_rs_str("\n");
-                
+                                
                 send_rs_str("ACT_POS\t");
                 send_rs_int(fsm_lift.act_pos);
+                send_rs_str("\t");
+                send_rs_str("CAN_FLAGS\t");
+                send_rs_int(fsm_lift.flags);
                 send_rs_str("\n");
        }
 }
@@ -454,6 +445,7 @@ int main(void)
                start_button();
                color_hadler();
 
+                lift_switches_hadler();
                blink_led();
        }
 }