git.droids-corp.org
/
aversive.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
optim cobboard
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
i2c_protocol.c
diff --git
a/projects/microb2010/mainboard/i2c_protocol.c
b/projects/microb2010/mainboard/i2c_protocol.c
index
6ce17cf
..
9908f1a
100644
(file)
--- a/
projects/microb2010/mainboard/i2c_protocol.c
+++ b/
projects/microb2010/mainboard/i2c_protocol.c
@@
-284,6
+284,7
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
}
case I2C_ANS_BALLBOARD_STATUS: {
}
case I2C_ANS_BALLBOARD_STATUS: {
+ uint8_t tmp;
struct i2c_ans_ballboard_status * ans =
(struct i2c_ans_ballboard_status *)buf;
struct i2c_ans_ballboard_status * ans =
(struct i2c_ans_ballboard_status *)buf;
@@
-292,6
+293,12
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
ballboard.mode = ans->mode;
ballboard.status = ans->status;
ballboard.ball_count = ans->ball_count;
ballboard.mode = ans->mode;
ballboard.status = ans->status;
ballboard.ball_count = ans->ball_count;
+ tmp = ans->lcob;
+ if (tmp != I2C_COB_NONE)
+ ballboard.lcob = tmp;
+ tmp = ans->rcob;
+ if (tmp != I2C_COB_NONE)
+ ballboard.rcob = tmp;
break;
}
break;
}
@@
-419,7
+426,7
@@
int8_t i2c_cobboard_pack(uint8_t side)
return i2c_cobboard_set_spickle(side, 0);
}
return i2c_cobboard_set_spickle(side, 0);
}
-int8_t i2c_cobboard_harvest(uint8_t side)
+int8_t i2c_cobboard_
auto
harvest(uint8_t side)
{
return i2c_cobboard_set_spickle(side,
I2C_COBBOARD_SPK_DEPLOY |
{
return i2c_cobboard_set_spickle(side,
I2C_COBBOARD_SPK_DEPLOY |