Some small fixes after testing with beaglebone hardware.

controller/vesp/block_vesp_sensor_co.c

@@ -137,14 +137,19 @@ static int param_set_toff(struct controller_block *block, char *param,
 	double t_off = va_arg(val, double);
 	uint16_t ms = t_off * 1000;
 	
-	vesp_command_write_eeprom(block->private->bus,
+	if (vesp_command_write_eeprom(block->private->bus,
 	    block->private->address, VESP_SENSOR_CO_EEPROM_T_OFF_L,
-	    ms & 0xff);
-	vesp_command_write_eeprom(block->private->bus,
+	    ms & 0xff))
+		goto err;
+	if (vesp_command_write_eeprom(block->private->bus,
 	    block->private->address, VESP_SENSOR_CO_EEPROM_T_OFF_H,
-	    (ms >> 8) & 0xff);
+	    (ms >> 8) & 0xff))
+		goto err;
 	
 	return 0;
+err:
+	log_send(LOG_T_ERROR, "%s: Failed to set t_off", block->name);
+	return -1;
 }
 
 static struct controller_block_outterm_list outterms[] = {

controller/vesp/block_vesp_tty.c

@@ -79,8 +79,7 @@ static int vesp_tty_fd_recv(struct controller_block *vesp)
 //		log_send(LOG_T_DEBUG, "received %zd bytes", ret);
 		vesp_input_process(priv->bus, rx_buffer, ret);
 	} else {
-		if (ret == 0 ||
-		    (ret < 0 && errno != EAGAIN && errno != EWOULDBLOCK)) {
+		if (ret < 0 && errno != EAGAIN && errno != EWOULDBLOCK) {
 			log_send(LOG_T_ERROR, 
 			    "%s: Error reading from device(%zd): %s",
 			    vesp->name, ret, strerror(errno));

controller/vesp/vesp.c

@@ -195,7 +195,7 @@ int vesp_input_process_pkt(struct controller_bus *bus, void *pkt, size_t size)
 		struct controller_bus_client_private *cpriv = bus->input_client[i].private;
 		
 		if (cpriv->address == address && cpriv->command == response) {
-			if (payload_size <= cpriv->size) {
+			if (cpriv->data && payload_size <= cpriv->size) {
 				memcpy(cpriv->data, pkt + 2, payload_size);
 				return 0;
 			}
@@ -206,10 +206,11 @@ int vesp_input_process_pkt(struct controller_bus *bus, void *pkt, size_t size)
 	if (priv->response_waiting && response == VESP_RESP_ACK) {
 		size_t copysize = priv->response_size;
 		if (payload_size < copysize)
-			copysize = size;
+			copysize = payload_size;
 		priv->response_size = payload_size;
-		if (copysize)
+		if (copysize) {
 			memcpy(priv->response_buffer, pkt8 + 2, copysize);
+		}
 		__sync_synchronize();
 		priv->response_waiting = false;
 	}
@@ -347,7 +348,6 @@ ssize_t vesp_command_real(struct controller_bus *bus,
 	__sync_synchronize();
 	priv->response_waiting = true;
 	
-	//TODO: sample-synchronize this function
 	if (vesp_output_frame(bus, tx_buffer, arg_size + 2))
 		goto err;
 
@@ -371,6 +371,7 @@ ssize_t vesp_command_real(struct controller_bus *bus,
 			timeout.tv_sec--;
 		} else
 			timeout.tv_nsec = t_timeout.tv_nsec - t_now.tv_nsec;
+//		log_send(LOG_T_DEBUG, "%s: attempt with timeout of %d %d", bus->name, (int)timeout.tv_sec, (int)timeout.tv_nsec); 
 		if (priv->recv(bus, &timeout)) {
 			log_send(LOG_T_ERROR, 
 			    "%s: Error while trying to get response",
@@ -417,17 +418,20 @@ ssize_t vesp_command(struct controller_bus *bus,
     void *res, size_t res_size)
 {
 	struct command_data data;
+	int retries = 3;
 	
-	data.bus = bus;
-	data.address = address;
-	data.command = command;
-	data.arg = arg;
-	data.arg_size = arg_size;
-	data.res = res;
-	data.res_size = res_size;
-	
-	controller_sample_task(vesp_command_sync, &data);
+	do {
+		data.bus = bus;
+		data.address = address;
+		data.command = command;
+		data.arg = arg;
+		data.arg_size = arg_size;
+		data.res = res;
+		data.res_size = res_size;
 	
+		controller_sample_task(vesp_command_sync, &data);
+	} while (data.ret < 0 && retries--);
+
 	return data.ret;
 }
 
@@ -483,7 +487,7 @@ int vesp_command_write_eeprom(struct controller_bus *bus,
 	command[1] = value;
 	
 	ret = vesp_command(bus, address, VESP_CMD_WRITE_EEPROM, command, 2, NULL, 0);
-	if (ret < 1) {
+	if (ret < 0) {
 		log_send(LOG_T_ERROR,
 		    "%s: Could not write eeprom byte 0x%02x with 0x%02x @ device 0x%02x: %zd",
 		    bus->name, offset, value, address, ret);

controller/vesp/vesp_tty.ctrl

@@ -4,7 +4,7 @@ trigger {
 }
 
 blocks (1.0, 0.0) {
-	{ "vesp_tty", "vesp", "/dev/ttyUSB0", 9600 }
+	{ "vesp_tty", "vesp", "/dev/ttyO1", 9600 }
 	{ "vesp_sensor_co", "co_sensor", "vesp", 42 }
 
 #	{ "test_output_bool",   "operational"   }
@@ -21,7 +21,7 @@ params {
 #	{ "operational", "value", 4, (int) { true, true, true, true } }
 
 	{ "co_sensor", "enable",  true }
-	{ "co_sensor", "raw",     true }
+	{ "co_sensor", "raw",     false }
 	{ "co_sensor", "preheat", false }
 	{ "co_sensor", "t_off",   0.1 }