Revision 86
Updated wireless library, fixing bug and now works for a firefly if FIREFLY is defined.
| xbee.c | ||
|---|---|---|
| 92 | 92 |
* Interrupt for the robot. Adds bytes received from the xbee |
| 93 | 93 |
* to the queue. |
| 94 | 94 |
**/ |
| 95 |
#ifndef FIREFLY |
|
| 95 | 96 |
ISR(USART1_RX_vect) |
| 96 | 97 |
{
|
| 97 | 98 |
char c = UDR1; |
| 98 | 99 |
queue_add(xbee_queue, (void*)(int)c); |
| 99 | 100 |
} |
| 101 |
#else |
|
| 102 |
SIGNAL(SIG_USART0_RECV) |
|
| 103 |
{
|
|
| 104 |
char c = UDR0; |
|
| 105 |
queue_add(xbee_queue, (void*)(int)c); |
|
| 106 |
} |
|
| 107 |
#endif |
|
| 100 | 108 |
|
| 101 | 109 |
#else |
| 102 | 110 |
|
| ... | ... | |
| 129 | 137 |
#ifdef ROBOT |
| 130 | 138 |
|
| 131 | 139 |
//enable the receiving interrupt |
| 140 |
#ifdef FIREFLY |
|
| 141 |
UCSR0B |= _BV(RXCIE) | _BV(RXEN); |
|
| 142 |
#else |
|
| 132 | 143 |
UCSR1B |= _BV(RXCIE); |
| 144 |
#endif |
|
| 133 | 145 |
sei(); |
| 134 | 146 |
#else |
| 135 | 147 |
xbee_stream = open("/dev/ttyUSB0", O_RDWR);
|
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