commit a4f9ef24c8bf32f22bed592179eb1ded6a932a9c
author Brian Silverman <brians> Sat Mar 30 14:31:16 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:13 2013 -0700
tree fda07d59c0f74a08ac3d355a5c4078bf6449729c
parent e58ef63f298d2a22f9eaed8cd6292ce26f0ccf28

finished getting all of the usb stuff working nicely(ish)

frc971/input/gyro_board_data.h

diff --git a/frc971/input/gyro_board_data.h b/frc971/input/gyro_board_data.h
index 0a8272a..a1b8712 100644
--- a/frc971/input/gyro_board_data.h
+++ b/frc971/input/gyro_board_data.h
@@ -46,6 +46,8 @@
   };
 
   void NetworkToHost() {
+    // Apparently it sends the information out in little endian.
+#if 0
     using ::aos::ntoh;
 
     gyro_angle = ntoh(gyro_angle);
@@ -64,6 +66,7 @@
     capture_shooter_angle_rise = ntoh(capture_shooter_angle_rise);
 
     digitals = ntoh(digitals);
+#endif
   }
 } __attribute__((__packed__));
 

frc971/input/gyro_board_reader.cc

diff --git a/frc971/input/gyro_board_reader.cc b/frc971/input/gyro_board_reader.cc
index dab6130..4628c78 100644
--- a/frc971/input/gyro_board_reader.cc
+++ b/frc971/input/gyro_board_reader.cc
@@ -105,9 +105,9 @@
         LOG(FATAL, "libusb gave error %d\n", r);
       }
 
-      if (read_bytes != sizeof(data)) {
-        LOG(ERROR, "read %d bytes instead of %zu\n",
-            read_bytes, sizeof(data));
+      if (read_bytes < static_cast<ssize_t>(sizeof(*real_data))) {
+        LOG(ERROR, "read %d bytes instead of at least %zd\n",
+            read_bytes, sizeof(*real_data));
         continue;
       }