| 128,7 → 128,7 |
|---|
| {-324000, 324000, 1200, 1600}, |
| {-324000, 324000, 1200, 1600}}}; |
| |
| #define SERVO_TIMEOUT 1000000 |
| #define SERVO_TIMEOUT 100000 |
| |
| #define RXTX_BUFF_MAX 100 |
| volatile static BYTE RXTX_buff[4][RXTX_BUFF_MAX]; |
| 803,17 → 803,23 |
|---|
| |
| } |
| |
| /* 0100:0aaa */ |
| int servo_get_analog(int port, int adport) |
| /* 0100:baaa */ |
| int servo_get_analog(int port, int adport, int nbit) |
| { |
| unsigned char b[1],r[2]; |
| int res, RX, t; |
| int res, RX, t, nb; |
| int servo_port = (unsigned)(port); |
| |
| if (adport > 7) return -1; |
| nb = (nbit==8) ? 0 : 1; |
| |
| b[0] = 0x40 | (adport & 0x07); |
| RX = servo_send_msg(servo_port, b, 1, r, 2); |
| if (nb) { |
| RX = servo_send_msg(servo_port, b, 1, r, 2); |
| } else { |
| b[0] |= 0x08; |
| RX = servo_send_msg(servo_port, b, 1, r, 1); |
| } |
| |
| if (RX != -1) { |
| |
| 821,8 → 827,12 |
|---|
| |
| if (t == 0) { |
| |
| res = (int)r[0] << 8; |
| res |= r[1]; |
| if (nb) { |
| res = (int)r[0] << 8; |
| res |= r[1]; |
| } else { |
| res = r[0]; |
| } |
| |
| return res; |
| |