X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fnano%2Fmain.c;fp=avr%2Fnano%2Fmain.c;h=07e1871420dcbc433671656420ac30f6182d8189;hp=935ce4994d4ae418a1333a13aa44045210e1518b;hb=8bf6f432e200f4d3fa494081837915b15015ab65;hpb=9ab6ffef86cc96f0bdd52c811fcc1a6635ab56f5

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 935ce49..07e1871 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -28,6 +28,7 @@
  * 0x0C Distance forward2 LSB
  * 0x0D Current MSB
  * 0x0E Current LSB
+ * 0x0F Manipulator 12V
  *
  * 0x15 Distance forward1 MSB (read only)
  * 0x16 Distance forward1 LSB (read only)
@@ -52,10 +53,10 @@
  * A7 ADC7
  * D0 PD0/RX
  * D1 PD1/TX
- * D2 PD2/IND0
- * D3 PD3/IND1
- * D4 PD4/T0
- * D5 PD5/T1
+ * D2 PD2/IND0 dist_fwd1
+ * D3 PD3/IND1 dist_bwd
+ * D4 PD4/T0 dist_fwd2
+ * D5 PD5/T1 Manipulator 12V
  * D6 PD6/AIN0
  * D7 PD7/AIN1
  * D8 PB0/ICP
@@ -101,12 +102,17 @@ ISR(TWI_vect)
 					ireg = TWDR;
 
 					if (ireg == 0x05) start_dist_fwd1=1;
-					if (ireg == 0x07) start_dist_bwd=1;
-					if (ireg == 0x0b) start_dist_fwd2=1;
+					else if (ireg == 0x07) start_dist_bwd=1;
+					else if (ireg == 0x0b) start_dist_fwd2=1;
 
 					ireg--; // because we do ireg++ below
 					TWI_ACK;
 					break;
+				case 0x0f: // Manipulator 12V
+					if (TWDR) PORTD |= (1 << 5);
+					else PORTD &= ~(1 << 5);
+					TWI_ACK;
+					break;
 				case 0xff: // bootloader
 					bootloader = TWDR;
 				default:
@@ -346,6 +352,9 @@ int main(void) {
 	setup_uart(9600);
 	uart_setup_stdout();
 
+	DDRD = (1 << 5);
+	PORTD = 0x0;
+
 	// I2C
 	TWAR = 0x52;
 	TWI_ACK;