X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=f7c9f0ae73822057176994f8082b4660970988bc;hp=b0d9cbfe00aba102cc72ce4f82173b5eefa30eac;hb=e46de78ee34c663f5ac1ceb0656acd0cf9370288;hpb=cf3341a02d703c3e8cbc4f3baffa45184316bc02

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index b0d9cbf..f7c9f0a 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -8,6 +8,7 @@
 #include <util/twi.h>
 #include <avr/eeprom.h>
 #include <avr/wdt.h>
+#include <avr/pgmspace.h>
 #include "uart.h"
 
 /*
@@ -184,7 +185,8 @@ static volatile uint8_t count_test=0;
 static volatile uint8_t front_handicap=0;
 static volatile uint8_t aft_handicap=0;
 static volatile uint8_t error_state=0;
-static volatile uint8_t last_man_update_count=I2C_TIMEOUT_DISABLE;
+static volatile uint8_t last_man_update_count=0;
+static volatile uint8_t last_i2c_status = 0;
 
 ISR(TWI_vect)
 {
@@ -193,6 +195,7 @@ ISR(TWI_vect)
 	static ufloat_t tmp_speed;
 	static ufloat_t tmp_angle;
 
+	last_i2c_status = TW_STATUS;
 	switch(TW_STATUS)
 	{
 		case TW_SR_SLA_ACK: // start write
@@ -625,6 +628,8 @@ ISR(TWI_vect)
 		case TW_SR_STOP:
 			TWI_ACK;
 			break;
+		case TW_NO_INFO:
+			break;
 		default:
 			TWI_RESET;
 	}
@@ -1083,7 +1088,7 @@ int main(void) {
 	TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
 	OCR0 = 0;
 
-	printf("\r\nStart\r\n");
+	printf_P(PSTR("\r\nStart\r\n"));
 
 	set_sleep_mode(SLEEP_MODE_IDLE);
 	// Enable Timer 1 Overflow Interrupt
@@ -1149,11 +1154,14 @@ int main(void) {
 			count_test++;
 			if (last_man_update_count != I2C_TIMEOUT_DISABLE) last_man_update_count++;
 
-			if (last_man_update_count > 100) {
+			if (last_man_update_count >= 100) {
 				// ~1s without a new i2c command
 				cmd_vel.speed = 0;
 				cmd_vel.angle = 0;
 				cmd_vel.bUpdate = 1;
+				if (last_man_update_count == 100) {
+					printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
+				}
 				last_man_update_count = I2C_TIMEOUT_DISABLE;
 			}
 		}