X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=83022cb6785bc39f87aefd9525d8bbdf37b7ba30;hp=f8a5c34b95fbb81eebca2a3e7ea923610e661c19;hb=d17dc52e3dd21694f930138e56e2fd3be1f1dc1f;hpb=0e76f007287d725d81fe45a06001341e93581004

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index f8a5c34..83022cb 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -545,19 +545,19 @@ ISR(TWI_vect)
 					TWI_ACK;
 					break;
 				case 0x48: // Position angle MSB
-					TWDR = pos_y.i>>24;
+					TWDR = angle.i>>24;
 					TWI_ACK;
 					break;
 				case 0x49: // Position angle
-					TWDR = pos_y.i>>16;
+					TWDR = angle.i>>16;
 					TWI_ACK;
 					break;
 				case 0x4A: // Position angle
-					TWDR = pos_y.i>>8;
+					TWDR = angle.i>>8;
 					TWI_ACK;
 					break;
 				case 0x4B: // Position angle LSB
-					TWDR = pos_y.i;
+					TWDR = angle.i;
 					TWI_ACK;
 					break;
 				case 0xA0: // Reset reason
@@ -895,6 +895,9 @@ int main(void) {
 	DDRB = (1 << 3);
 	DDRC = (1 << 7) | (1 << 6) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
 	DDRD = (1 << 7) | (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2);
+	// Pullup TLEs EF
+	PORTB = (1 << 0) | (1 << 1) | (1 << 2);
+	PORTD = (1 << 6);
 
 	bootloader = 0x00;
 	setup_uart(9600);