pwm: Respect PB0/1’s value set by gyro

2 files changed, 9 insertions, 1 deletions

diff --git a/main.c b/main.c
index a69a045..51255bf 100644
--- a/main.c
+++ b/main.c
@@ -36,6 +36,7 @@ int main () {
 	uartInit ();
 	gyroInit ();
 	accelInit ();
+	/* pwm must be last, see pwm.c */
 	pwmInit ();
 	set_sleep_mode (SLEEP_MODE_IDLE);
 
diff --git a/pwm.c b/pwm.c
index 944720e..49045b4 100644
--- a/pwm.c
+++ b/pwm.c
@@ -59,7 +59,14 @@ void pwmInit () {
 	DDRB |= (1 << PB6) | (1 << PB7);
 	/* set led3,led4,led5,led6 to output */
 	DDRD |= (1 << PD2) | (1 << PD3) | (1 << PD4) | (1 << PD5);
-	memset (pwmvalue, 0, sizeof (pwmvalue));
+
+	/* gyro uses pb1, get its setup; this function must be called after gyro setup */
+	const uint8_t pbdef = PORTB;
+	const uint8_t pddef = PORTD;
+	for (uint8_t i = 0; i < PWM_MAX_BRIGHTNESS; i++) {
+		pwmvalue[i][0] = pbdef;
+		pwmvalue[i][1] = pddef;
+	}
 }
 
 void pwmStart () {