diff options
| author | lonkaars <loek@pipeframe.xyz> | 2022-06-26 17:40:36 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-06-26 17:40:36 +0200 |
| commit | 2a0270f3ba6eb993fb39ed3564f626d724156654 (patch) | |
| tree | d8d310eb35768f84d25453eae4b8cd4721bd8ddf /robot/sercomm.c | |
| parent | 55fe6aaeee49894dc07516f0c4e21f692b2950fe (diff) | |
implement battery measurement and target area switching
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index a04d35f..0f251d2 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -154,13 +154,14 @@ void w2_cmd_info_rx(w2_s_bin *data) { W2_CREATE_MSG_BIN(w2_s_cmd_info_tx, res_msg, res_bin); res_msg->opcode = W2_CMD_INFO | W2_CMDDIR_TX; strncpy((char *)res_msg->build_str, W2_BUILD_STR, sizeof(res_msg->build_str)); - res_msg->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_qs / 1e3; - res_msg->io_ms = (uint8_t)g_w2_hypervisor_ema_io_qs / 1e3; - res_msg->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_qs / 1e3; - res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_qs / 1e3; - res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_qs / 1e6)); - res_msg->mode = g_w2_mode_history[g_w2_mode_history_index]; - res_msg->battery_mv = w2_bin_hton16(read_battery_millivolts()); + res_msg->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_qs / 1e3; + res_msg->io_ms = (uint8_t)g_w2_hypervisor_ema_io_qs / 1e3; + res_msg->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_qs / 1e3; + res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_qs / 1e3; + res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_qs / 1e6)); + res_msg->mode = g_w2_mode_history[g_w2_mode_history_index]; + res_msg->battery_mv = w2_bin_hton16(g_w2_io_battery_mv); + res_msg->battery_percent = g_w2_io_battery_percentage; w2_sercomm_append_msg(res_bin); free(res_bin); |