diff options
| -rw-r--r-- | robot/errcatch.c | 4 | ||||
| -rw-r--r-- | robot/hypervisor.c | 6 | ||||
| -rw-r--r-- | robot/io.c | 2 | ||||
| -rw-r--r-- | robot/modes.c | 3 |
4 files changed, 7 insertions, 8 deletions
diff --git a/robot/errcatch.c b/robot/errcatch.c index fc6a1e8..6a3452c 100644 --- a/robot/errcatch.c +++ b/robot/errcatch.c @@ -1,5 +1,5 @@ -#include <string.h> #include <stdio.h> +#include <string.h> #include "../shared/errcatch.h" #include "modes.h" @@ -44,6 +44,8 @@ void w2_errcatch_handle_error(w2_s_error *error) { break; case W2_E_WARN_MODE_HISTORY_BUFFER_IOB: break; + case W2_E_WARN_PING_TIMEOUT: + break; default: { g_w2_error_uncaught = true; #ifdef W2_SIM diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 580ff55..471b2ac 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -14,7 +14,7 @@ unsigned long g_w2_hypervisor_ema_io_qs = 0; unsigned long g_w2_hypervisor_ema_mode_qs = 0; uint64_t g_w2_hypervisor_timers[W2_HYPERVISOR_TIMER_COUNT] = {0}; -uint64_t g_w2_hypervisor_qs_timer_offset = 0; +uint64_t g_w2_hypervisor_qs_timer_offset = 0; unsigned int g_w2_ping_ms = 0; uint8_t g_w2_ping_id = 0; @@ -66,9 +66,7 @@ uint64_t w2_get_qs() { return ticks_to_microseconds(get_ticks()) - g_w2_hypervisor_qs_timer_offset; } -uint64_t w2_get_ms() { - return w2_get_qs() / 1e3; -} +uint64_t w2_get_ms() { return w2_get_qs() / 1e3; } void w2_time_reset() { g_w2_hypervisor_qs_timer_offset = ticks_to_microseconds(get_ticks()); } @@ -7,8 +7,6 @@ bool g_w2_io_object_detected = false; -#include <stdio.h> - void w2_io_object_detection() { unsigned int front_distance = analog_read(W2_SIDE_SENSOR_PIN); diff --git a/robot/modes.c b/robot/modes.c index d706c2f..ea65e2d 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -30,7 +30,8 @@ void w2_modes_init() { void w2_modes_main() { (*g_w2_modes[g_w2_mode_history[g_w2_mode_history_index]])(); } void w2_modes_switch(w2_e_mode new_mode, bool replace) { - int16_t next_history_index = g_w2_mode_history_index + (new_mode == W2_M_PREV ? -1 : 1) * !replace; + int16_t next_history_index = + g_w2_mode_history_index + (new_mode == W2_M_PREV ? -1 : 1) * !replace; if (next_history_index == -1 || next_history_index == W2_MODE_HISTORY_BUFFER_SIZE - 1) { next_history_index = W2_RANGE(0, next_history_index, W2_MODE_HISTORY_BUFFER_SIZE); w2_errcatch_throw(W2_E_WARN_MODE_HISTORY_BUFFER_IOB); |