rattling and beeping when detecting sound

firmware/lib/bughal.c

@@ -128,7 +128,11 @@ void init_motor(void)
 }
 
 void set_motor(int val){
-	PORTB = ~(val);
+	if (val==MOTOR_ON) {
+  	  PORTB |= 0x02; 
+ 	} else {
+	  PORTB &= ~(0x02);
+	}
 	return;
 }
 

firmware/lib/bughal.h

@@ -11,8 +11,8 @@ enum {  BUZZR_OUT,  //initialize buzzer for OUTPUT mode (emmiting soundwaves)
 
 #define LED_L (1 << PORTC0)
 #define LED_R (1 << PORTC2)
-#define MOTOR_ON (0<<PORTB1)
-#define MOTOR_OFF (1<<PORTB1)
+#define MOTOR_ON 1
+#define MOTOR_OFF 0
 
 #define BTN_RIGHT		1
 #define BTN_LEFT		0

firmware/main.c

@@ -46,32 +46,50 @@ void do_mode0(void){
   static uint16_t maxval;
   static uint16_t lastmaxval;
   uint16_t curval;
-
+  static uint16_t soundon;
   if (ModeChanged){
      timer_set(&mytimer, 10);
      maxval=0;
      ModeChanged = false;
+     soundon = false;
      init_mic();
      maxval=0;
    };
+
+  // single measurement
+  curval =ADCW;                   // read result
+  maxval = (curval>maxval) ? curval : maxval;
+
   if(timer_expired(&mytimer)){
+     if (soundon) {
+	//turn off sound
+        music_setNote(NOTE_PAUSE,0); //mute
+        set_motor(MOTOR_OFF);
+        //re-init mic
+        init_mic();
+	led_off(LED_R|LED_L);
+	timer_set(&mytimer, 1);
+        soundon = false;
+	lastmaxval= 10000;
+     } else { //sound was off wer're in measuring mode
        if(maxval>lastmaxval){
          USART0_put_uint16(maxval);
          USART0_crlf();
-     };
+	 led_on(LED_R|LED_L);
+	 init_buzzr(); //buzzr to output
+ 	 music_setNote(NOTE_C,5);
+         set_motor(MOTOR_ON);
+         soundon = true;
+         timer_set(&mytimer, 5); //sound duration
+       } else {
          timer_set(&mytimer, 1);
-     if (maxval>lastmaxval) {led_on(LED_R|LED_L);} else {led_off(LED_R|LED_L);};
-
+       };
        lastmaxval=maxval;
        maxval=0;
-
+     }; //end if soundon
      
    }; //end if timer_expired  
 
-  // single measurement
-
-  curval =ADCW;                   // read result
-  maxval = (curval>maxval) ? curval : maxval;
 
 
 }; //end do_mode0