X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fnano%2Fmain.c;h=76ce35a409dd469e05e7be67f4463803b2919251;hp=5418055daaf734023e65215f000ce8156d064300;hb=003b8804848207a2403a7e879fc86f34eb631152;hpb=a4e84ce5a9d3245334956b761e319f9f52ee162f

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 5418055..76ce35a 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -18,6 +18,8 @@
  * 0x06 Distance forward LSB
  * 0x07 Distance backward MSB
  * 0x08 Distance backward LSB
+ * 0x09 Voltage MSB
+ * 0x0A Voltage LSB
  *
  * 0xff Bootloader
  */
@@ -35,6 +37,7 @@ 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 +106,15 @@ ISR(TWI_vect)
 					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;
@@ -159,6 +171,11 @@ 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 +238,9 @@ 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();