From 473d501d1ead422ecc9680cb20e46a04a6356ed8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 14 May 2009 23:22:02 +0200 Subject: * digital/io, digital/asserv: - give asserv input port in TWI status. --- digital/io/src/asserv.c | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) (limited to 'digital/io/src/asserv.c') diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c index 2bb6b515..b35c436c 100644 --- a/digital/io/src/asserv.c +++ b/digital/io/src/asserv.c @@ -91,6 +91,8 @@ typedef struct asserv_struct_s { /** Status flags. */ uint8_t status; + /** Asserv board input port. */ + uint8_t input_port; /** Sequence number. */ uint8_t seq; /** Bot position. */ @@ -242,19 +244,20 @@ asserv_update_status (void) /* Status buffer used to receive data from the asserv */ static uint8_t status_buffer[AC_ASSERV_STATUS_LENGTH]; /* Read data from the asserv card */ - twi_ms_read (AC_ASSERV_TWI_ADDRESS, status_buffer , AC_ASSERV_STATUS_LENGTH); + twi_ms_read (AC_ASSERV_TWI_ADDRESS, status_buffer, AC_ASSERV_STATUS_LENGTH); /* Update until done */ asserv_twi_update (); /* Parse received data and store them */ asserv_status.status = status_buffer[0]; - asserv_status.seq = status_buffer[1]; - asserv_status.position.x = ((int32_t) v8_to_v32 (status_buffer[2], status_buffer[3], - status_buffer[4], 0)) >> 8; - asserv_status.position.y = ((int32_t) v8_to_v32 (status_buffer[5], status_buffer[6], - status_buffer[7], 0)) >> 8; - asserv_status.position.a = v8_to_v16 (status_buffer[8], status_buffer[9]); - asserv_status.arm_position = v8_to_v16 (status_buffer[10], status_buffer[11]); - asserv_status.elevator_position = v8_to_v16 (status_buffer[12], status_buffer[13]); + asserv_status.input_port = status_buffer[1]; + asserv_status.seq = status_buffer[2]; + asserv_status.position.x = ((int32_t) v8_to_v32 (status_buffer[3], status_buffer[4], + status_buffer[5], 0)) >> 8; + asserv_status.position.y = ((int32_t) v8_to_v32 (status_buffer[6], status_buffer[7], + status_buffer[8], 0)) >> 8; + asserv_status.position.a = v8_to_v16 (status_buffer[9], status_buffer[10]); + asserv_status.arm_position = v8_to_v16 (status_buffer[11], status_buffer[12]); + asserv_status.elevator_position = v8_to_v16 (status_buffer[13], status_buffer[14]); } /* Is last command sent to the asserv board is being executed? */ -- cgit v1.2.3