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authorschodet2004-04-18 16:48:11 +0000
committerschodet2004-04-18 16:48:11 +0000
commited961665ec4856083d979f22dad7287c49a48944 (patch)
tree173422fca7a6b0b94bb5042eb2ad3b760c67729e /2004/n/asserv/src/main.c
parent998849bbda87a0c255d6e689c41491332cae722a (diff)
Changement de l'acceleration.
Changement du système de stat. Retardement des int_enable.
Diffstat (limited to '2004/n/asserv/src/main.c')
-rw-r--r--2004/n/asserv/src/main.c10
1 files changed, 9 insertions, 1 deletions
diff --git a/2004/n/asserv/src/main.c b/2004/n/asserv/src/main.c
index d8f0622..6a6ddaa 100644
--- a/2004/n/asserv/src/main.c
+++ b/2004/n/asserv/src/main.c
@@ -55,7 +55,7 @@ A1-5 B2-7 C4-5 D2-6 E0-2
/* Configuration générale. */
#fuses H4,WDT,WDT128,PUT,NOBROWNOUT,NOLVP
#use delay(clock=40000000)
-#use rs232(baud=9600,xmit=PIN_C6,parity=N,rcv=PIN_C7,bits=8)
+#use rs232(baud=115200,xmit=PIN_C6,parity=N,rcv=PIN_C7,bits=8)
#priority RB,RDA,TBE,TIMER2
#include "motor.c"
@@ -90,6 +90,12 @@ main_init (void)
setup_ccp2 (CCP_PWM);
set_pwm1_duty (0);
set_pwm2_duty (0);
+}
+
+/* Initialise les interruptions. */
+void
+irq_init (void)
+{
/* Configuration des interruptions activées. */
enable_interrupts (INT_TIMER2);
enable_interrupts (INT_RDA);
@@ -105,5 +111,7 @@ main (void)
main_init ();
motor_init ();
serial_init ();
+ irq_init ();
+ serial_send_rezet ();
motor_main ();
}