X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fnano%2Fmain.c;h=51cd1450d68e1fab6cc981bb5cb8a9bcd8dbe790;hp=5418055daaf734023e65215f000ce8156d064300;hb=3c4bb7f988be07a6dd592c80541e73135536a96c;hpb=b039f1fc2f0d99f315139b441b49cc5386da1459

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 5418055..51cd145 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -18,6 +18,12 @@
  * 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
  *
  * 0xff Bootloader
  */
@@ -35,6 +41,7 @@ static volatile uint16_t dist_forward=0;
 static volatile uint16_t dist_backward=0;
 static volatile uint8_t start_dist_fwd=0;
 static volatile uint8_t start_dist_bwd=0;
+static volatile uint16_t voltage=0;
 
 ISR(TWI_vect)
 {
@@ -103,6 +110,33 @@ 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;
+					TWI_ACK;
+					break;
+				case 0x0A: // Voltage LSB
+					TWDR = tmp16;
+					TWI_ACK;
+					break;
 				default:
 					TWDR = 0;
 					TWI_NAK;
@@ -123,7 +157,7 @@ uint16_t ReadChannel(uint8_t mux) {
 	// setzen auf 8 (1) und ADC aktivieren (1)
 
 	ADMUX = mux;                      // Kanal waehlen
-	ADMUX |= (1<<REFS1) | (1<<REFS0); // interne Referenzspannung nutzen 
+	ADMUX |= (1<<REFS0);
 
 	/* nach Aktivieren des ADC wird ein "Dummy-Readout" empfohlen, man liest
 	   also einen Wert und verwirft diesen, um den ADC "warmlaufen zu lassen" */
@@ -159,6 +193,11 @@ static unsigned short get_distance(uint8_t i) {
 }
 
 
+static unsigned short get_voltage(void) {
+	return ReadChannel(2)*1.46;
+}
+
+
 ISR(INT0_vect) {
 	static uint16_t t_start=0;
 	uint16_t t_now = TCNT1;
@@ -221,6 +260,9 @@ int main(void) {
 			case 0x03: // ir right
 				dist_right = get_distance(1);
 				break;
+			case 0x09: // voltage
+				voltage = get_voltage();
+				break;
 			case 0xff: // Magic reg that starts the bootloader
 				if (bootloader == 0xa5) {
 					cli();