From: zer0 <zer0@carbon.local>
Date: Tue, 4 May 2010 17:17:36 +0000 (+0200)
Subject: wait that ballboard is ready before eject
X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=0a6dcb3bfa4b8b424975f91b8bcd57f0832deb9e;hp=eed7b5a1d09acaf17fd0d9087f8ff953bed76576;ds=sidebyside

wait that ballboard is ready before eject
---

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ced55e3..3ef6675 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -294,7 +294,14 @@ static uint8_t strat_eject(void)
 
 	DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
 	strat_hardstop();
+#ifdef HOST_VERSION
 	time_wait_ms(2000);
+#else
+	WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+			     2000);
+	WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+			     2000);
+#endif
 
 	/* half turn */
 	trajectory_a_rel(&mainboard.traj, COLOR_A(180));