]> defiant.homedns.org Git - ros_wild_thumper.git/commitdiff
avr: remove test variable, fix tle error status
authorErik Andresen <erik@vontaene.de>
Tue, 26 May 2015 17:21:55 +0000 (19:21 +0200)
committerErik Andresen <erik@vontaene.de>
Tue, 26 May 2015 17:21:55 +0000 (19:21 +0200)
avr/motor_ctrl/fuses.txt
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex

index 87a8a0429231c5b217621058a879ddeb3870e615..7671ff3d43641614e2d7d97d703c1cf382f02ea4 100644 (file)
@@ -2,4 +2,4 @@ http://palmavr.sourceforge.net/cgi-bin/fc.cgi
 
 avrdude -p atmega32 -P usb -c avrisp2 -U lfuse:r:-:i -U hfuse:r:-:i
 
-avrdude -p atmega32 -P usb -c avrisp2 -U lfuse:w:0x23:m -U hfuse:w:0xc9:m
+avrdude -p atmega32 -P usb -c avrisp2 -U lfuse:w:0x3f:m -U hfuse:w:0xc9:m
index 824bee578c50771c2fa9ad8c68f6073e58583d2d..72c0659ce3490b03e64d4a9fddfd1bccf67655a7 100644 (file)
@@ -120,7 +120,6 @@ static volatile struct {
        uint8_t bUpdate;
 } cmd_vel = {0, 0, 0};
 
-static volatile uint8_t test=0;
 static volatile uint8_t ireg=0;
 static volatile uint8_t bootloader=0;
 static volatile int16_t motor1=0; // -255..+255
@@ -546,8 +545,7 @@ ISR(TWI_vect)
                                        TWI_ACK;
                                        break;
                                case 0x94: // TLE Error status
-                                       //TWDR = (PIND & 0x40)>>2 | (PINB & 0x07);
-                                       TWDR=test;
+                                       TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
                                        TWI_ACK;
                                        break;
                                default:
@@ -935,7 +933,6 @@ int main(void) {
                        update_pos();
                        update_pid();
                        update_motor();
-                       test++;
                }
 
                sleep_mode();
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