From e7eeeb0d4e825a175c67cd1c0256c91362517ebb Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Wed, 18 Apr 2007 23:00:05 +0000
Subject: Entfernungssensoren in Ordnung gebracht, Hindernisumfahrung
 implementiert.

---
 hardware.cpp | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

(limited to 'hardware.cpp')

diff --git a/hardware.cpp b/hardware.cpp
index 51ae18e..e652dda 100644
--- a/hardware.cpp
+++ b/hardware.cpp
@@ -4,6 +4,7 @@
 #include "i2c.h"
 
 #include <avr/io.h>
+#include <avr/interrupt.h>
 
 
 void initHardware() {
@@ -19,18 +20,15 @@ void initHardware() {
   DDRD = 0xFF;
   PORTD = 0x00;
   
-  TCCR0 = 0x62;
-  OCR0 = 0;
-  
-  TCCR1A = 0xA1;
-  OCR1A = 0;
-  
+  TCCR0 = 0x62;
+  TCCR1A = 0xA1;
   TCCR1B = 0x82;
-  OCR1B = 0;
-  
   TCCR2 = 0x18;
-  OCR2 = 0;
+  
+  TIMSK = 0x01;
   
   initADC();
   initI2C();
+  
+  sei();
 }
-- 
cgit v1.2.3