diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 20 |
1 files changed, 9 insertions, 11 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index f14832a..c50dd15 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -34,14 +34,15 @@ void w2_sercomm_main() { // check time-out if (!g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_TIMEOUT) { g_w2_ping_timeout = true; - g_w2_connected = false; + g_w2_connected = false; w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT); } // send ping every W2_TIMER_PING ms - if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_ping_timeout) { - g_w2_ping_timeout = false; + if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || + g_w2_ping_timeout) { + g_w2_ping_timeout = false; g_w2_ping_received = false; - g_w2_ping_id = (uint8_t) rand(); + g_w2_ping_id = (uint8_t)rand(); W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, msg, bin); msg->opcode = W2_CMD_PING | W2_CMDDIR_TX; @@ -87,17 +88,14 @@ void w2_sercomm_append_msg(w2_s_bin *data) { #include <stdlib.h> #include <string.h> - void w2_cmd_ping_tx(w2_s_bin *data) { - g_w2_ping_ms = w2_hypervisor_time_end(W2_TIMER_PING); + g_w2_ping_ms = w2_hypervisor_time_end(W2_TIMER_PING); g_w2_ping_received = true; - g_w2_ping_timeout = false; - g_w2_connected = true; + g_w2_ping_timeout = false; + g_w2_connected = true; } -void w2_cmd_ping_rx(w2_s_bin *data) { - w2_sercomm_append_msg(data); -} +void w2_cmd_ping_rx(w2_s_bin *data) { w2_sercomm_append_msg(data); } void w2_cmd_mode_rx(w2_s_bin *data) { W2_CAST_BIN(w2_s_cmd_mode_rx, data, req); |