Revision f1582e6c
| ID | f1582e6c37af0cf0b3864a5d99b024f795e783f1 |
Fixed AVR hanging when sonar not connected
| scout_avr/src/range.cpp | ||
|---|---|---|
| 2 | 2 |
{
|
| 3 | 3 |
#include <avr/io.h> |
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#include <avr/interrupt.h> |
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#include <util/delay.h> |
|
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} |
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#include "range.h" |
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|
| ... | ... | |
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struct range_t {
|
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unsigned int start; // timer value on rising edge |
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unsigned int value; // last measured range |
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char started; |
|
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char done; |
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} volatile range[2]; |
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|
| ... | ... | |
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if (int_high) |
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{
|
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range[which].start = time; |
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range[which].started = 1; |
|
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} |
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else |
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{
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PORT_SONAR_TX &= ~ _BV(P_SONAR_TX); |
|
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// if timer overflowed since start, this arithmetic should still work out |
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range[which].value = time - range[which].start; |
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range[which].done = 1; |
| ... | ... | |
| 81 | 83 |
for (i = 0; i < 2; i++) |
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{
|
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range[i].value = RANGE_ERR; |
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range[i].started = 0; |
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range[i].done = 0; |
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} |
| 86 | 89 |
|
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// TODO ensure that one interrupt won't be delayed because of the other |
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PORT_SONAR_TX |= _BV(P_SONAR_TX); |
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_delay_ms(1); |
|
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PORT_SONAR_TX &= ~ _BV(P_SONAR_TX); |
|
| 89 | 94 |
|
| 90 | 95 |
for (i = 0; i < 2; i++) |
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{
|
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while (!range[i].done) {}
|
|
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values[i] = range[i].value; |
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if (range[i].started) {
|
|
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while (!range[i].done) {}
|
|
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values[i] = range[i].value; |
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} |
|
| 94 | 101 |
} |
| 95 | 102 |
} |
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