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[Krobot-commits] [SCM] krobot branch, master, updated. 8cc04bff36432dd8189d7c78585e8dd3bfead7aa
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From: Jérémie D. <Ba...@us...> - 2010-03-07 21:00:24
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- Log -----------------------------------------------------------------
commit 8cc04bff36432dd8189d7c78585e8dd3bfead7aa
Author: Jérémie Dimino <je...@di...>
Date: Sun Mar 7 21:59:41 2010 +0100
add a command to reset an AX12
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 55dfb13..64a5ed8 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -312,6 +312,9 @@ let () =
register ~path:["ax12"] "action" (f1 (int ~default:254 "id"))
(fun logger krobot id ->
Krobot_unsafe.AX12.action krobot id);
+ register ~path:["ax12"] "reset" (f1 (int ~default:254 "id"))
+ (fun logger krobot id ->
+ Krobot_unsafe.AX12.reset krobot id);
(* +---------------------------------------------------------------+
| Grip |
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index fa7faca..04a05cb 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/PC_Mainboard/interface/interface.ml b/PC_Mainboard/interface/interface.ml
index 91f115d..a730840 100644
--- a/PC_Mainboard/interface/interface.ml
+++ b/PC_Mainboard/interface/interface.ml
@@ -365,6 +365,12 @@ let interfaces = [
~args:[Cst(uint8, PcInterface.ax12_action);
Arg("id", uint8)]
();
+ request
+ ~name:"reset"
+ ~code:PcInterface.cmd_ax12
+ ~args:[Cst(uint8, PcInterface.ax12_reset);
+ Arg("id", uint8)]
+ ();
]);
Module("logic-sensors", [
diff --git a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
index fa7faca..04a05cb 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index fa7faca..04a05cb 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index fa7faca..04a05cb 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index fa7faca..04a05cb 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index fa7faca..04a05cb 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/USB_Module/Proximity_Sensor/Firmware/PcInterface.h b/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
index fa7faca..04a05cb 100644
--- a/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
+++ b/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/USB_Module/Robot_Interface/Firmware/PcInterface.h b/USB_Module/Robot_Interface/Firmware/PcInterface.h
index fa7faca..04a05cb 100644
--- a/USB_Module/Robot_Interface/Firmware/PcInterface.h
+++ b/USB_Module/Robot_Interface/Firmware/PcInterface.h
@@ -131,7 +131,8 @@ typedef struct _UP {
#define AX12_GET_LOAD 0x07
#define AX12_GET_STATS 0x08
#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
+#define AX12_RESET 0x11
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
diff --git a/USB_Module/Robot_Interface/Firmware/main.c b/USB_Module/Robot_Interface/Firmware/main.c
index a994ee1..b81a33b 100644
--- a/USB_Module/Robot_Interface/Firmware/main.c
+++ b/USB_Module/Robot_Interface/Firmware/main.c
@@ -981,6 +981,9 @@ void ProcessIO(void) {
actionAX12(ReceivedDataBuffer.DATA[1]);
break;
+ case AX12_RESET:
+ resetAX12(ReceivedDataBuffer.DATA[1])
+
default:
ToSendDataBuffer.ERR = ERR_UNKNOWN_CMD;
}
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