diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/hypervisor.c | 2 | ||||
| -rw-r--r-- | robot/main.c | 1 | ||||
| -rw-r--r-- | robot/mode_dirc.c | 3 | ||||
| -rw-r--r-- | robot/modes.c | 10 | ||||
| -rw-r--r-- | robot/sercomm.c | 5 | ||||
| -rw-r--r-- | robot/sim.c | 2 | ||||
| -rw-r--r-- | robot/sim.h | 2 |
7 files changed, 13 insertions, 12 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c index 4f994a8..478d3a5 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -27,7 +27,7 @@ void w2_hypervisor_main() { unsigned long sercomm_time = get_ms(); w2_errcatch_main(); unsigned long errcatch_time = get_ms() - sercomm_time; - w2_io_main(); + // w2_io_main(); unsigned long io_time = get_ms() - errcatch_time; w2_modes_main(); unsigned long mode_time = get_ms() - io_time; diff --git a/robot/main.c b/robot/main.c index b0302bd..2f15e97 100644 --- a/robot/main.c +++ b/robot/main.c @@ -5,7 +5,6 @@ #include "sim.h" #endif -#include <unistd.h> int main() { #ifdef W2_SIM w2_sim_setup(); diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c index 9ed9fef..5988816 100644 --- a/robot/mode_dirc.c +++ b/robot/mode_dirc.c @@ -1,10 +1,13 @@ #include "mode_dirc.h" #include "io.h" +#include "orangutan_shim.h" + int16_t g_w2_mode_dirc_motor_l = 0; int16_t g_w2_mode_dirc_motor_r = 0; void w2_mode_dirc() { + set_motors(g_w2_mode_dirc_motor_l, g_w2_mode_dirc_motor_r); g_w2_io.motor_left.speed = g_w2_mode_dirc_motor_l; g_w2_io.motor_right.speed = g_w2_mode_dirc_motor_r; } diff --git a/robot/modes.c b/robot/modes.c index f73a809..7decf47 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -46,13 +46,11 @@ void w2_modes_switch(w2_e_mode new_mode, bool replace) { } // forward mode change to sercomm - size_t msg_size = sizeof(w2_s_cmd_mode_tx); - w2_s_cmd_mode_tx *msg = malloc(msg_size); - msg->opcode = W2_CMD_MODE | W2_CMDDIR_TX; - msg->mode = (uint8_t)new_mode; - w2_s_bin *msg_bin = w2_bin_s_alloc(msg_size, (uint8_t *)msg); + W2_CREATE_MSG_BIN(w2_s_cmd_mode_tx, msg, msg_bin); + msg->opcode = W2_CMD_MODE | W2_CMDDIR_TX; + msg->mode = new_mode; + w2_sercomm_append_msg(msg_bin); - free(msg); free(msg_bin); } diff --git a/robot/sercomm.c b/robot/sercomm.c index deef39f..519568d 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -37,10 +37,11 @@ void w2_sercomm_main() { #ifdef W2_SIM w2_sim_print_serial(data); #endif - serial_send("\xff", 1); + serial_send_blocking("\xff", 1); for (uint8_t i = 0; i < data->bytes; i++) { uint8_t byte = data->data[i]; - byte == 0xff ? serial_send("\xff\xff", 2) : serial_send((char *)&byte, 1); + byte == 0xff ? serial_send_blocking("\xff\xff", 2) + : serial_send_blocking((char *)&byte, 1); } g_w2_sercomm_offset = (g_w2_sercomm_offset + 1) % W2_SERCOMM_BUFFER_SIZE; } diff --git a/robot/sim.c b/robot/sim.c index 5956fbb..9cce12f 100644 --- a/robot/sim.c +++ b/robot/sim.c @@ -74,7 +74,7 @@ void serial_set_baud_rate(unsigned int rate) { simprintfunc("serial_set_baud_rate", "%u", rate); } -void serial_send(char* message, unsigned int length) { +void serial_send_blocking(char* message, unsigned int length) { for (unsigned int byte = 0; byte < length; byte++) putc(message[byte] & 0xff, stdout); fflush(stdout); diff --git a/robot/sim.h b/robot/sim.h index 9e250da..9d73585 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -71,7 +71,7 @@ void green_led(unsigned char on); // NOLINT void clear(); // NOLINT void play(const char *melody); // NOLINT void serial_set_baud_rate(unsigned int rate); // NOLINT -void serial_send(char *message, unsigned int length); // NOLINT +void serial_send_blocking(char *message, unsigned int length); // NOLINT void serial_receive_ring(char *buffer, unsigned char size); // NOLINT unsigned char serial_get_received_bytes(); // NOLINT void set_motors(int left, int right); // NOLINT |