From 14516e73922ef733cd6987143a1e725ba3d9fdba Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Wed, 23 Apr 2008 10:22:32 +0200 Subject: * digital/io/src - when doing asserv initialization, get the actual sequence number from the asserv board to prevent infinite commands resent (thanks to ni). --- digital/io/src/asserv.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'digital/io/src') 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)); } -- cgit v1.2.3