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Diffstat (limited to '2004/n/asserv/src/main.c')
-rw-r--r--2004/n/asserv/src/main.c22
1 files changed, 21 insertions, 1 deletions
diff --git a/2004/n/asserv/src/main.c b/2004/n/asserv/src/main.c
index 2a1f54e..d3c90f4 100644
--- a/2004/n/asserv/src/main.c
+++ b/2004/n/asserv/src/main.c
@@ -76,7 +76,7 @@ Libre: a b c d e
#fuses H4,WDT,WDT128,PUT,NOBROWNOUT,NOLVP
#use delay(clock=40000000)
#use rs232(baud=115200,xmit=PIN_C6,parity=N,rcv=PIN_C7,bits=8)
-#priority RDA,TBE,TIMER2
+#priority EXT,RDA,TBE,TIMER2
#include "motor.c"
#include "serial.c"
@@ -121,6 +121,7 @@ irq_init (void)
enable_interrupts (INT_RDA);
disable_interrupts (INT_TBE);
enable_interrupts (GLOBAL);
+ enable_interrupts (INT_EXT);
}
void
@@ -134,3 +135,22 @@ main (void)
serial_send_rezet ();
motor_main ();
}
+
+#int_EXT
+debug_isr ()
+{
+ int tosl, tosh, tosu;
+#asm
+ movf 0xffd,w
+ movwf tosl
+ movf 0xffe,w
+ movwf tosh
+ movf 0xfff,w
+ movf tosu
+#endasm
+ putc ('!');
+ putc (tosl);
+ putc (tosh);
+ putc (tosu);
+ putc (CRLF);
+}