From: Erik Andresen Date: Tue, 26 May 2015 17:21:55 +0000 (+0200) Subject: avr: remove test variable, fix tle error status X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=e309767de0ab9e3a33658fe0ea050fc6e5421ef0 avr: remove test variable, fix tle error status --- diff --git a/avr/motor_ctrl/fuses.txt b/avr/motor_ctrl/fuses.txt index 87a8a04..7671ff3 100644 --- a/avr/motor_ctrl/fuses.txt +++ b/avr/motor_ctrl/fuses.txt @@ -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 diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 824bee5..72c0659 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -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(); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 0f89656..cfc59c5 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,601 +1,602 @@ :100000000C94D8000C94F5000C94F5000C94F500B9 :100010000C94F5000C94F5000C94F5000C94F5008C -:100020000C94F5000C940B040C94F5000C94F50062 -:100030000C94F5000C94EA040C94F5000C94F50073 +:100020000C94F5000C9417040C94F5000C94F50056 +:100030000C94F5000C94F6040C94F5000C94F50067 :100040000C94F5000C94F5000C94F5000C94F7005A -:100050000C94F500CC02EC03CF02EC03D202EC03CB 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