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[slipway.git] / src / edu / berkeley / obits / device / atmel / AvrDrone.c

diff --git a/src/edu/berkeley/obits/device/atmel/AvrDrone.c b/src/edu/berkeley/obits/device/atmel/AvrDrone.c
index d46dd49..b50dd07 100644 (file)
--- a/src/edu/berkeley/obits/device/atmel/AvrDrone.c
+++ b/src/edu/berkeley/obits/device/atmel/AvrDrone.c
@@ -82,26 +82,34 @@ inline char recv() {
 }\r
 \r
 ISR(SIG_UART1_DATA) {\r
-  //if (write_empty()) return;\r
+\r
+  if (write_empty()) {\r
+    UCSR1B &= ~(1 << UDRIE1);\r
+    return;\r
+  }\r
+  /*\r
   portd(1, 0);\r
   _delay_ms(10);\r
   portd(1, 1);\r
   _delay_ms(10);\r
-  UCSR1B &= ~(1 << UDRIE1);\r
+  */\r
+  char ret = write_buf[write_buf_head];\r
+  write_buf_head = inc(write_buf_head);\r
+  UDR1 = (int)ret;\r
+\r
   sei();\r
 }\r
 \r
 void send(char c) {\r
 \r
+  while (write_full());\r
+\r
   write_buf[write_buf_tail] = c;\r
   write_buf_tail = inc(write_buf_tail);\r
 \r
   UCSR1B |= (1 << UDRIE1);\r
 \r
-  while(!(UCSR1A & (1 << UDRE1)));           /* Wait for data Regiester to be empty */\r
-  char ret = write_buf[write_buf_head];\r
-  write_buf_head = inc(write_buf_head);\r
-  UDR1 = (int)ret;\r
+  //while(!(UCSR1A & (1 << UDRE1)));           /* Wait for data Regiester to be empty */\r
 }\r
 \r
 \r
@@ -145,10 +153,12 @@ void doreset() {
 }\r
 \r
 #define TIMERVAL 100\r
+static volatile int sending = 0;\r
 ISR(SIG_OVERFLOW0) { \r
   PORTD = ~FISUA;\r
   TCNT0 = TIMERVAL;           // load the nearest-to-one-second value  into the timer0\r
-  TIMSK |= (1<<TOIE0);        //enable the compare match1 interrupt and the timer/counter0 overflow interrupt\r
+  TIMSK |= (1<<TOIE0);        // enable the compare match1 interrupt and the timer/counter0 overflow interrupt\r
+  if (sending) UDR1 = FISUA;\r
   sei();\r
 } \r
 void init_timer()  { \r
@@ -211,6 +221,12 @@ int main() {
       case 3:\r
         init_timer();\r
         break;\r
+      case 4:\r
+        sending = 1;\r
+        break;\r
+      case 5:\r
+        sending = 0;\r
+        break;\r
       default: die();\r
     }\r
   }\r