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Diffstat (limited to 'digital/io-hub/src/robospierre/main.c')
-rw-r--r--digital/io-hub/src/robospierre/main.c15
1 files changed, 15 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 12a35054..bbc9bdb9 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -37,6 +37,7 @@
#include "twi_master.h"
#include "pwm.h"
+#include "contact.h"
#include "io.h"
@@ -46,6 +47,9 @@ enum team_color_e team_color;
/** Asserv stats counters. */
static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
+/** Contact stats counters. */
+static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+
/** Main initialisation. */
static void
main_init (void)
@@ -62,6 +66,7 @@ main_init (void)
twi_master_init ();
/* IO modules. */
pwm_init ();
+ contact_init ();
/* Initialization done. */
proto_send0 ('z');
}
@@ -94,6 +99,7 @@ main_loop (void)
proto_accept (uart0_getc ());
/* Update IO modules. */
pwm_update ();
+ contact_update ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync ())
main_event_to_fsm ();
@@ -108,6 +114,11 @@ main_loop (void)
/* Reset stats counter */
main_stats_asserv_cpt_ = main_stats_asserv_;
}
+ if (main_stats_contact_ && !--main_stats_contact_cpt_)
+ {
+ proto_send1d ('P', contact_all ());
+ main_stats_contact_cpt_ = main_stats_contact_;
+ }
}
}
@@ -144,6 +155,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Position stats. */
main_stats_asserv_ = main_stats_asserv_cpt_ = args[0];
break;
+ case c ('P', 1):
+ /* Contact stats. */
+ main_stats_contact_ = main_stats_contact_cpt_ = args[0];
+ break;
default:
/* Unknown commands */
proto_send0 ('?');