WebSVN - shark - Path Comparison - /shark/trunk Rev 731 and /shark/trunk Rev 732

Ignore whitespace Rev 731 → Rev 732

 /shark/trunk/ports/servo/servo.c
 ,22 → 377,30
   b[0] = 0x85;
   RX = servo_send_msg(servo_port, b, 1, r, 2);
-  servo_wait(servo_port, RX);
+  if (RX != -1) {
+    servo_wait(servo_port, RX);
+    if (servo_skip[port] == 0) {
-  res_w = r[0]; /* bit W */
-  res_b = r[1]; /* byte SPBRG */
+      res_w = r[0]; /* bit W */
+      res_b = r[1]; /* byte SPBRG */
-  if (res_w != -1 && res_b != -1) {
-    if (res_w)
-      res = SERVO_CLOCK / ( 16 * (res_b + 1) );
-    else
-      res = SERVO_CLOCK / ( 64 * (res_b + 1) );
-  } else {
-    return -1;
-  }
+      if (res_w != -1 && res_b != -1) {
+        if (res_w)
+          res = SERVO_CLOCK / ( 16 * (res_b + 1) );
+        else
+          res = SERVO_CLOCK / ( 64 * (res_b + 1) );
+      } else {
+        return -1;
+      }
-  return res;
+      return res;
+    } else return -1;
+  } else return -1;
 }
 /* 1000.0100 */
 ,12 → 440,20
   b[0] = 0x89;
   RX = servo_send_msg(servo_port, b, 1, r, 1);
-  servo_wait(servo_port, RX);
+  if (RX != -1) {
+    servo_wait(servo_port, RX);
+    if (servo_skip[port] == 0) {
-  res = r[0];
+      res = r[0];
-  return (((unsigned char)(res))*TICK_LEN_PERIOD/1000*8);
+      return (((unsigned char)(res))*TICK_LEN_PERIOD/1000*8);
+    } else return -1;
+  } else return -1;
 }
 /* 1000.1000 */
 ,12 → 479,20
   b[0] = 0x8C;
   RX = servo_send_msg(servo_port, b, 1, r, 1);
-  servo_wait(servo_port, RX);
+  if (RX != -1) {
+    servo_wait(servo_port, RX);
+    if (servo_skip[port] == 0) {
-  res = r[0];
+       res = r[0];
-  return res;
+       return res;
+    } else return -1;
+  } else return -1;
 }
 /* 1000.111s */
 ,13 → 593,21
   b[0] = 0x80;
   b[1] = 0x40 | (0x01 & bank);
   RX = servo_send_msg(servo_port, b, 2, r, 1);
-  servo_wait(servo_port, RX);
-  res = r[0];
+  if (RX != -1) {
+    servo_wait(servo_port, RX);
+    if (servo_skip[port] == 0) {
-  return res;
+      res = r[0];
+      return res;
+    } else return -1;
+  } else return -1;
 }
 /* 1000.0000:1000.0000 */
 ,12 → 732,20
   b[0] = 0x40 | (adport & 0x07);
   RX = servo_send_msg(servo_port, b, 1, r, 2);
-  servo_wait(servo_port, RX);
+  if (RX != -1) {
-  res = r[0] << 8;
-  res |= r[1];
+    servo_wait(servo_port, RX);
-  return res;
+    if (servo_skip[port] == 0) {
+      res = (int)r[0] << 8;
+      res |= r[1];
+      return res;
+    } else return -1;
+  } else return -1;
 }

 /shark/trunk/drivers/serial/scomirq.c
 ,11 → 193,7
 {
     if (SCom_TX_data[port].ptr < SCom_TX_data[port].len)
         com_write(port, THR, SCom_TX_data[port].buf[SCom_TX_data[port].ptr++]);
-    else
-    {
-        while((com_read(port,LSR) & bit6) == 0); /* Wait until last byte sent */
-        SCom_Access.confirm(port, COM_OK);
-    }
+    else SCom_Access.confirm(port, COM_OK);
 }
 void RBRF_handler (unsigned port) /* Receive Data Register Full */

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Ignore whitespace Rev 731 → Rev 732