Revision 812788aa
| ID | 812788aa5bc592cf417de345fdd8a74933d7a0c8 |
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/main.cpp | ||
|---|---|---|
| 5 | 5 |
|
| 6 | 6 |
ros::Publisher *ptest_out; |
| 7 | 7 |
|
| 8 |
void debug(const char *str) {
|
|
| 8 |
void debug(const char *str) |
|
| 9 |
{
|
|
| 9 | 10 |
} |
| 10 | 11 |
|
| 11 | 12 |
void callback(const std_msgs::Int16& msg) |
| ... | ... | |
| 49 | 50 |
|
| 50 | 51 |
Atmega128rfa1 avr; |
| 51 | 52 |
|
| 52 |
void debug(const char *str) {
|
|
| 53 |
void debug(const char *str) |
|
| 54 |
{
|
|
| 53 | 55 |
avr.puts(str); |
| 54 | 56 |
} |
| 55 | 57 |
|
| ... | ... | |
| 68 | 70 |
now = avr.time(); |
| 69 | 71 |
if (now > next) {
|
| 70 | 72 |
next = now + 100; |
| 73 |
ultoa(now, buf, 10); |
|
| 74 |
avr.puts(buf); |
|
| 75 |
avr.puts("\r\n");
|
|
| 71 | 76 |
id++; |
| 72 | 77 |
if (id == 0x40) {
|
| 73 | 78 |
id = 0; |
| ... | ... | |
| 79 | 84 |
avr.puts(", ");
|
| 80 | 85 |
utoa(range_get(1), buf, 10); |
| 81 | 86 |
avr.puts(buf);*/ |
| 82 |
for (i = 0; i < 4; i++) {
|
|
| 87 |
/*for (i = 0; i < 4; i++) {
|
|
| 83 | 88 |
bom_send(i); |
| 84 | 89 |
int msg = bom_get(i); |
| 85 | 90 |
if (msg != BOM_NO_DATA) {
|
| ... | ... | |
| 94 | 99 |
avr.puts(buf); |
| 95 | 100 |
avr.puts(")\r\n");
|
| 96 | 101 |
} |
| 97 |
} |
|
| 102 |
}*/
|
|
| 98 | 103 |
} |
| 99 | 104 |
} |
| 100 | 105 |
return 0; |
Also available in: Unified diff