From f5dc1b604b0fa17f0be6c5368e7841e841ef9cea Mon Sep 17 00:00:00 2001 From: schodet Date: Sat, 13 Dec 2003 23:08:30 +0000 Subject: Correction d'un bug horrible dans serial_unreliable_send. Implémentation du rapport des compteurs. --- 2004/n/asserv/src/serial.c | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) (limited to '2004/n/asserv/src/serial.c') diff --git a/2004/n/asserv/src/serial.c b/2004/n/asserv/src/serial.c index 0c113e7..ef18c02 100644 --- a/2004/n/asserv/src/serial.c +++ b/2004/n/asserv/src/serial.c @@ -196,6 +196,18 @@ serial_send_motor_stat (char side, unsigned int vacc, unsigned long &e, unsigned serial_unreliable_send_char (CRLF); } +/* Envois les compteurs moteurs. */ +void +serial_send_motor_cpt (signed long &g, signed long &d) +{ + serial_unreliable_send_char ('!'); + serial_unreliable_send_char ('c'); + serial_unreliable_send_long (g); + serial_unreliable_send_char (','); + serial_unreliable_send_long (d); + serial_unreliable_send_char (CRLF); +} + /* Envoie un caractère. */ void serial_send_char (char c) @@ -223,7 +235,7 @@ serial_unreliable_send_char (char c) /* Drop si une transmission est en cours. */ if (serial_send_full || serial_unreliable_send_full) return; /* Ajoute le caractère. */ - serial_send_buf[serial_send_buf_n++] = c; + serial_unreliable_send_buf[serial_unreliable_send_buf_n++] = c; /* Si fin de buffer, on envois. */ if (c == EOB) { -- cgit v1.2.3