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authorJérémy Dufour2008-04-23 10:22:32 +0200
committerJérémy Dufour2008-04-23 10:22:32 +0200
commit14516e73922ef733cd6987143a1e725ba3d9fdba (patch)
tree58b21e3d7e722b3e5ed8dc16e4a082126f710fbc /digital/io/src
parent7b3882a2319031acc968c00021379d37091e7f62 (diff)
* digital/io/src
- when doing asserv initialization, get the actual sequence number from the asserv board to prevent infinite commands resent (thanks to ni).
Diffstat (limited to 'digital/io/src')
-rw-r--r--digital/io/src/asserv.c6
1 files changed, 4 insertions, 2 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 14a745ca..27a8b76d 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -216,8 +216,10 @@ asserv_init (void)
{
/* Initialize TWI with my (io) address */
twi_init (AC_IO_TWI_ADDRESS);
- /* We are at first command */
- asserv_twi_seq = asserv_status.seq = 0;
+ /* Get first status of the asserv board */
+ asserv_update_status ();
+ /* Reset sequence number */
+ asserv_twi_seq = asserv_status.seq;
/* Scaling factor. */
asserv_set_scale (BOT_SCALE * (1L << 24));
}