check

diff --git a/src/edu/berkeley/obits/device/atmel/AvrDrone.c b/src/edu/berkeley/obits/device/atmel/AvrDrone.c
index f72cd28..d46dd49 100644 (file)
--- a/src/edu/berkeley/obits/device/atmel/AvrDrone.c
+++ b/src/edu/berkeley/obits/device/atmel/AvrDrone.c
@@ -62,7 +62,7 @@ inline int read_nearlyFull() {
   if (read_buf_tail < read_buf_head) return (read_buf_head-read_buf_tail) < (BUFSIZE/2);\r
   return (read_buf_tail-read_buf_head) > (BUFSIZE/2);\r
 }\r
-/*\r
+\r
 inline int write_full() { return inc(write_buf_tail)==write_buf_head; }\r
 inline int write_empty() { return write_buf_head==write_buf_tail; }\r
 inline int write_nearlyFull() {\r
@@ -70,7 +70,7 @@ inline int write_nearlyFull() {
   if (write_buf_tail < write_buf_head) return (write_buf_head-write_buf_tail) < (BUFSIZE/2);\r
   return (write_buf_tail-write_buf_head) > (BUFSIZE/2);\r
 }\r
-*/\r
+\r
 inline char recv() {\r
   int q;\r
   char ret;\r
@@ -81,15 +81,26 @@ inline char recv() {
   return ret;\r
 }\r
 \r
+ISR(SIG_UART1_DATA) {\r
+  //if (write_empty()) return;\r
+  portd(1, 0);\r
+  _delay_ms(10);\r
+  portd(1, 1);\r
+  _delay_ms(10);\r
+  UCSR1B &= ~(1 << UDRIE1);\r
+  sei();\r
+}\r
+\r
 void send(char c) {\r
 \r
   write_buf[write_buf_tail] = c;\r
   write_buf_tail = inc(write_buf_tail);\r
 \r
-  char ret = write_buf[write_buf_head];\r
-  write_buf_head = inc(write_buf_head);\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
 }\r
 \r