From: Erik Andresen Date: Sun, 11 Oct 2015 09:22:59 +0000 (+0200) Subject: nano: provide wrf read only values X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=3c4bb7f988be07a6dd592c80541e73135536a96c;p=ros_wild_thumper.git nano: provide wrf read only values --- diff --git a/avr/nano/main.c b/avr/nano/main.c index 0ca6e83..51cd145 100644 --- a/avr/nano/main.c +++ b/avr/nano/main.c @@ -18,6 +18,10 @@ * 0x06 Distance forward LSB * 0x07 Distance backward MSB * 0x08 Distance backward LSB + * 0x15 Distance forward MSB (read only) + * 0x16 Distance forward LSB (read only) + * 0x17 Distance backward MSB (read only) + * 0x18 Distance backward LSB (read only) * 0x09 Voltage MSB * 0x0A Voltage LSB * @@ -106,6 +110,24 @@ ISR(TWI_vect) TWDR = tmp16; TWI_ACK; break; + case 0x15: // Distance forward MSB + tmp16 = dist_forward; + TWDR = tmp16>>8; + TWI_ACK; + break; + case 0x16: // Distance forward LSB + TWDR = tmp16; + TWI_ACK; + break; + case 0x17: // Distance backward MSB + tmp16 = dist_backward; + TWDR = tmp16>>8; + TWI_ACK; + break; + case 0x18: // Distance backward LSB + TWDR = tmp16; + TWI_ACK; + break; case 0x09: // Voltage MSB tmp16 = voltage; TWDR = tmp16>>8; diff --git a/avr/nano/main.hex b/avr/nano/main.hex index 55fb64b..eb18ba2 100644 --- a/avr/nano/main.hex +++ b/avr/nano/main.hex @@ -1,287 +1,289 @@ -:100000000C944A000C9431010C947C010C94670010 -:100010000C9467000C9467000C9467000C946700C4 -:100020000C9467000C9467000C9467000C946700B4 -:100030000C9467000C9467000C9467000C946700A4 -:100040000C9467000C9467000C94C7010C94670033 -:100050000C9467000C9467000C9467000C94670084 -:100060000C9469000C946700B800D700BD00D7005D -:10007000C800D700CD00D700D200D700454647655D -:10008000666700202B2D2E30313233343536373829 -:100090003968000011241FBECFEFD8E0DEBFCDBF0E -:1000A00011E0A0E0B1E0E8ECF1E102C005900D92B2 -:1000B000A031B107D9F721E0A0E1B1E001C01D9264 -:1000C000A939B207E1F70E94D0020C94E2080C941F -:1000D00000001F920F920FB60F9211248F939F93DF 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