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authorNicolas Schodet2008-03-10 23:37:46 +0100
committerNicolas Schodet2008-03-10 23:37:46 +0100
commit3206181b0a87f6b09623e634ca1f259509920ff0 (patch)
treed252e81e5085acf34220db33c1d7a5033c4f3564 /digital
parent0de301e178c74df7ad9c41f56daa144fd27467aa (diff)
* digital/asserv/src/asserv:
- added a parameter for acknowledgement speed.
Diffstat (limited to 'digital')
-rw-r--r--digital/asserv/src/asserv/main.c11
1 files changed, 8 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 01b41cdd..4a4d2aee 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -51,7 +51,7 @@
#endif
/** Report command completion. */
-uint8_t main_sequence_ack_cpt = 2;
+uint8_t main_sequence_ack = 4, main_sequence_ack_cpt;
/** Report of counters. */
uint8_t main_stat_counter, main_stat_counter_cpt;
@@ -138,11 +138,12 @@ main_loop (void)
speed_update ();
main_timer[3] = timer_read ();
/* Stats. */
- if (state_main.sequence_ack != state_main.sequence_finish
+ if (main_sequence_ack
+ && state_main.sequence_ack != state_main.sequence_finish
&& !--main_sequence_ack_cpt)
{
proto_send1b ('A', state_main.sequence_finish);
- main_sequence_ack_cpt = 4;
+ main_sequence_ack_cpt = main_sequence_ack;
}
if (main_stat_counter && !--main_stat_counter_cpt)
{
@@ -286,6 +287,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
/* Stats.
* - b: interval between stats. */
+ case c ('A', 1):
+ /* Command completion report. */
+ main_sequence_ack_cpt = main_sequence_ack = args[0];
+ break;
case c ('C', 1):
/* Counter stats. */
main_stat_counter_cpt = main_stat_counter = args[0];