From 78055db00a4089116e17c5d2d6b02acc74e42ef7 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 14 Apr 2008 12:01:42 +0200 Subject: * digital/io/src - manage command retransmission (when not acknowledge by the asserv) ; - integrate retransmission and update of the asserv into the main. --- digital/io/src/asserv.c | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'digital/io/src/asserv.c') diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c index 4302ce10..d7d383c4 100644 --- a/digital/io/src/asserv.c +++ b/digital/io/src/asserv.c @@ -138,6 +138,20 @@ asserv_move_arm_absolute (uint16_t position, uint8_t speed); */ static uint16_t asserv_arm_current_position; +/** + * Send a prepared command to the asserv board using TWI module. + * It will reset the counter retransmission value and store the length for + * future retransmission. + * In comparison with \a asserv_twi_send_command this function is internal and + * used by \a asserv_twi_send_command. + * @param length th length of the complete command with parameters. + * @return + * - 0 if no error occurred. + * - 1 if TWI transmission failed. + */ +static inline uint8_t +asserv_twi_send (uint8_t length); + /* Update TWI module until request (send or receive) is finished. */ static inline void asserv_twi_update (void) -- cgit v1.2.3