Revision 812788aa
Moved some sensors to different timers
Most notably, change the ROS millisecond counter to share the BOM 38 kHz
timer instead of having its own. The range sensor and BOM rx will now
share timer 5, but they both have to be fixed for the higher F_CPU.
scout_avr/src/range.cpp | ||
---|---|---|
33 | 33 |
static void on_edge(int which) |
34 | 34 |
{ |
35 | 35 |
unsigned char int_high; |
36 |
// TODO centralize timer 1
|
|
36 |
// TODO centralize timer 5
|
|
37 | 37 |
// TODO ensure this is in microseconds even for 16MHz |
38 |
unsigned int time = TCNT1;
|
|
38 |
unsigned int time = TCNT5;
|
|
39 | 39 |
|
40 | 40 |
if (which) |
41 | 41 |
{ |
... | ... | |
76 | 76 |
|
77 | 77 |
// CS1 = 2, 1/8 prescaler |
78 | 78 |
// if this is changed, remember to change recv_edge in bom.cpp! |
79 |
TCCR1B = _BV(CS11);
|
|
79 |
TCCR5B = _BV(CS51);
|
|
80 | 80 |
|
81 | 81 |
range[0].value = RANGE_ERR; |
82 | 82 |
range[1].value = RANGE_ERR; |
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