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-rw-r--r--digital/asserv/src/asserv/main.c4
-rw-r--r--digital/asserv/src/asserv/twi_proto.c10
-rw-r--r--digital/asserv/src/asserv/twi_proto.h6
3 files changed, 12 insertions, 8 deletions
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index d92c95e8..cc016a12 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -32,6 +32,8 @@
#include "misc.h"
+#include "twi_proto.h"
+
/** Motor command sequence, do not use values above 127, do not use zero. */
uint8_t main_sequence, main_sequence_ack, main_sequence_finish;
@@ -120,6 +122,7 @@ main (int argc, char **argv)
timer_init ();
counter_init ();
uart0_init ();
+ twi_proto_init ();
postrack_init ();
proto_send0 ('z');
sei ();
@@ -209,6 +212,7 @@ main_loop (void)
/* Misc. */
while (uart0_poll ())
proto_accept (uart0_getc ());
+ twi_proto_update ();
main_timer[4] = timer_read ();
}
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
index a87db2cf..913a1bf1 100644
--- a/digital/asserv/src/asserv/twi_proto.c
+++ b/digital/asserv/src/asserv/twi_proto.c
@@ -35,6 +35,12 @@ struct twi_proto_t
struct twi_proto_t twi_proto;
+static void
+twi_proto_callback (u8 *buf, u8 size);
+
+static u8
+twi_proto_params (u8 *buf, u8 size);
+
/** Initialise. */
void
twi_proto_init (void)
@@ -69,7 +75,7 @@ twi_proto_update (void)
}
/** Handle one command. */
-void
+static void
twi_proto_callback (u8 *buf, u8 size)
{
#define c(cmd, size) (cmd)
@@ -118,7 +124,7 @@ twi_proto_callback (u8 *buf, u8 size)
}
/* Handle a parameter list of change. */
-u8
+static u8
twi_proto_params (u8 *buf, u8 size)
{
u8 eat;
diff --git a/digital/asserv/src/asserv/twi_proto.h b/digital/asserv/src/asserv/twi_proto.h
index d7a43abf..a0746be8 100644
--- a/digital/asserv/src/asserv/twi_proto.h
+++ b/digital/asserv/src/asserv/twi_proto.h
@@ -31,10 +31,4 @@ twi_proto_init (void);
void
twi_proto_update (void);
-void
-twi_proto_callback (u8 *buf, u8 size);
-
-u8
-twi_proto_params (u8 *buf, u8 size);
-
#endif /* twi_proto_h */