From 0f105f99e378bb596f2c305f64bdd7cf1bc87446 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 29 Nov 2010 23:07:37 +0100 Subject: digital/io/src: rename twi_master_send function, refs #29 --- digital/io/src/asserv.c | 40 ++++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 20 deletions(-) (limited to 'digital/io/src/asserv.c') diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c index a60ca55b..e9adcbbc 100644 --- a/digital/io/src/asserv.c +++ b/digital/io/src/asserv.c @@ -217,7 +217,7 @@ asserv_reset (void) { uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 'z'; - twi_master_send (1); + twi_master_send_buffer (1); } void @@ -225,7 +225,7 @@ asserv_free_motor (void) { uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 'w'; - twi_master_send (1); + twi_master_send_buffer (1); } void @@ -233,7 +233,7 @@ asserv_stop_motor (void) { uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 's'; - twi_master_send (1); + twi_master_send_buffer (1); } void @@ -245,7 +245,7 @@ asserv_move_linearly (int32_t distance) buffer[1] = v32_to_v8 (distance, 2); buffer[2] = v32_to_v8 (distance, 1); buffer[3] = v32_to_v8 (distance, 0); - twi_master_send (4); + twi_master_send_buffer (4); } void @@ -255,7 +255,7 @@ asserv_move_angularly (int16_t angle) buffer[0] = 'a'; buffer[1] = v16_to_v8 (angle, 1); buffer[2] = v16_to_v8 (angle, 0); - twi_master_send (3); + twi_master_send_buffer (3); } void @@ -265,7 +265,7 @@ asserv_goto_angle (int16_t angle) buffer[0] = 'y'; buffer[1] = v16_to_v8 (angle, 1); buffer[2] = v16_to_v8 (angle, 0); - twi_master_send (3); + twi_master_send_buffer (3); } void @@ -284,7 +284,7 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward) buffer[7] = v16_to_v8 (a, 1); buffer[8] = v16_to_v8 (a, 0); buffer[9] = backward; - twi_master_send (10); + twi_master_send_buffer (10); } void @@ -293,7 +293,7 @@ asserv_go_to_the_wall (uint8_t backward) uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 'f'; buffer[1] = backward; - twi_master_send (2); + twi_master_send_buffer (2); } void @@ -304,7 +304,7 @@ asserv_move_motor0_absolute (uint16_t position, uint8_t speed) buffer[1] = v16_to_v8 (position, 1); buffer[2] = v16_to_v8 (position, 0); buffer[3] = speed; - twi_master_send (4); + twi_master_send_buffer (4); } void @@ -315,7 +315,7 @@ asserv_move_motor1_absolute (uint16_t position, uint8_t speed) buffer[1] = v16_to_v8 (position, 1); buffer[2] = v16_to_v8 (position, 0); buffer[3] = speed; - twi_master_send (4); + twi_master_send_buffer (4); } void @@ -328,7 +328,7 @@ asserv_set_x_position (int32_t x) buffer[2] = v32_to_v8 (x, 2); buffer[3] = v32_to_v8 (x, 1); buffer[4] = v32_to_v8 (x, 0); - twi_master_send (5); + twi_master_send_buffer (5); } void @@ -341,7 +341,7 @@ asserv_set_y_position (int32_t y) buffer[2] = v32_to_v8 (y, 2); buffer[3] = v32_to_v8 (y, 1); buffer[4] = v32_to_v8 (y, 0); - twi_master_send (5); + twi_master_send_buffer (5); } void @@ -352,7 +352,7 @@ asserv_set_angle_position (int16_t angle) buffer[1] = 'A'; buffer[2] = v32_to_v8 (angle, 1); buffer[3] = v32_to_v8 (angle, 0); - twi_master_send (4); + twi_master_send_buffer (4); } void @@ -366,7 +366,7 @@ asserv_set_speed (uint8_t linear_high, uint8_t angular_high, buffer[3] = angular_high; buffer[4] = linear_low; buffer[5] = angular_low; - twi_master_send (6); + twi_master_send_buffer (6); } void @@ -387,7 +387,7 @@ asserv_set_position (int32_t x, int32_t y, int16_t angle) buffer[9] = 'A'; buffer[10] = v32_to_v8 (angle, 1); buffer[11] = v32_to_v8 (angle, 0); - twi_master_send (12); + twi_master_send_buffer (12); } void @@ -404,7 +404,7 @@ asserv_goto (uint32_t x, uint32_t y, uint8_t backward) buffer[5] = v32_to_v8 (y, 1); buffer[6] = v32_to_v8 (y, 0); buffer[7] = backward; - twi_master_send (8); + twi_master_send_buffer (8); } void @@ -420,7 +420,7 @@ asserv_motor0_zero_position (int8_t speed) uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 'B'; buffer[1] = speed; - twi_master_send (2); + twi_master_send_buffer (2); } void @@ -429,7 +429,7 @@ asserv_motor1_zero_position (int8_t speed) uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 'C'; buffer[1] = speed; - twi_master_send (2); + twi_master_send_buffer (2); } void @@ -438,7 +438,7 @@ asserv_motor0_free (void) uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 'r'; buffer[1] = 0; - twi_master_send (2); + twi_master_send_buffer (2); } void @@ -447,6 +447,6 @@ asserv_motor1_free (void) uint8_t *buffer = twi_master_get_buffer (ASSERV_SLAVE); buffer[0] = 'r'; buffer[1] = 1; - twi_master_send (2); + twi_master_send_buffer (2); } -- cgit v1.2.3