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[AVR] use a watchdog to keep this thing from freezing

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This commit is contained in:
Stepan Usatiuk
2020-03-19 14:26:47 +03:00
parent b6349c2623
commit 60fba110ff
1 changed files with 4 additions and 1 deletions
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5
Firmware/MotorControl/src/main.cpp
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@@ -1,6 +1,7 @@
#include <Arduino.h> #include <Arduino.h>
#include <Servo.h> #include <Servo.h>
#include <Wire.h> #include <Wire.h>
#include <avr/wdt.h>
#include <util/atomic.h> #include <util/atomic.h>
#include "Config.h" #include "Config.h"
#include "Globals.h" #include "Globals.h"
@@ -72,6 +73,8 @@ void requestEvent() {
sts.toBytes(txBuffer); sts.toBytes(txBuffer);
Wire.write(txBuffer, i2cStsBytes); Wire.write(txBuffer, i2cStsBytes);
wdt_reset();
} }
void execCommand(Command cmd) { void execCommand(Command cmd) {
@@ -126,7 +129,7 @@ void setup() {
OCR2A = 250; OCR2A = 250;
TCCR2A |= (1 << WGM20) | (1 << CS22); TCCR2A |= (1 << WGM20) | (1 << CS22);
TIMSK2 |= (1 << OCIE2A); TIMSK2 |= (1 << OCIE2A);
} wdt_enable(WDTO_8S);}
volatile unsigned int tick = 0; volatile unsigned int tick = 0;
volatile bool armed = false; volatile bool armed = false;