void bluefruit_keyboard_print_report(report_keyboard_t *report)
{
if (!debug_keyboard) return;
dprintf("keys: "); for (int i = 0; i < KEYBOARD_REPORT_KEYS; i++) { debug_hex8(report->keys[i]); dprintf(" "); }
dprintf(" mods: "); debug_hex8(report->mods);
dprintf(" reserved: "); debug_hex8(report->reserved);
dprintf("\n");
}
static void bluefruit_serial_send(uint8_t data)
{
#ifdef BLUEFRUIT_TRACE_SERIAL
dprintf(" ");
debug_hex8(data);
dprintf(" ");
#endif
serial_send(data);
}
int main (void) {
debug_init();
config_read();
motor_init();
lightsensor_init();
find_start_position();
debug_fstr("done");
lcd_setcursor(2,2);
debug_fstr("durr ");
debug_hex8(conf_address);
/* now listen on the bus and wait for data */
si2cs_init();
sei();
/* we're done with setup. activate watchdog */
wdt_enable(WDTO_4S);
while (1) {
/* moving to a new position */
motor_current_active();
uint16_t steps_since_start = 0;
while (current_pos != target_pos) {
/* do one step */
motor_step();
/* update current position.
* overflow of the current position is handled by the
* light sensor interrupt
*/
current_pos++;
/* acceleration */
if (steps_since_start > 20 && steps_until_done > 20) {
_delay_ms(3);
} else if (steps_since_start > 10 && steps_until_done > 10) {
_delay_ms(6);
} else if (steps_since_start > 5 && steps_until_done > 5) {
_delay_ms(9);
} else {
_delay_ms(10);
}
steps_since_start++;
steps_until_done--;
wdt_reset();
}
/* holding the current position */
motor_current_idle();
while (current_pos == target_pos) {
_delay_ms(20);
wdt_reset();
}
}
}
