X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=5849b8bfe4b73f5a952d35c22bb69a6f9d8535c3;hb=7113aed0018e08706cf5fbfeb58a96ba87a84ef4;hp=657e54d35fe67c4279924b24e83a2f8564d61f3e;hpb=face7352ff4e497c17590266455bda126f35d842;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index 657e54d..5849b8b 100644
--- a/main.c
+++ b/main.c
@@ -1,4 +1,5 @@
 #include <aversive.h>
+#include <aversive/wait.h>
 
 struct servo {
 	uint8_t bit;
@@ -7,24 +8,42 @@ struct servo {
 
 static struct servo servo_table[] = {
 	{
-		.bit = 0,
-		.command = 0,
+		.bit = 2,
+		.command = 300,
+	},
+	{
+		.bit = 3,
+		.command = 700,
 	},
 	{
-		.bit = 1,
+		.bit = 4,
 		.command = 512,
 	},
 	{
-		.bit = 2,
-		.command = 1023,
+		.bit = 5,
+		.command = 512,
+	},
+	{
+		.bit = 6,
+		.command = 512,
+	},
+	{
+		.bit = 7,
+		.command = 512,
 	},
 };
 #define NB_SERVO (sizeof(servo_table)/sizeof(*servo_table))
 
-register uint8_t bypass asm("r2");
-register uint8_t done asm("r3");
-register uint8_t portval asm("r4");
-register uint8_t rxidx asm("r5");
+static uint8_t bypass;
+static volatile uint8_t done;
+static uint8_t portval;
+static uint8_t rxidx;
+
+#define BYPASS_ENABLE 14
+#define BYPASS_DISABLE 15
+
+#define LED_ON() do { PORTB |= 0x02; } while(0)
+#define LED_OFF() do { PORTB &= ~0x02; } while(0)
 
 /*
  * SPI protocol:
@@ -37,26 +56,28 @@ register uint8_t rxidx asm("r5");
  * Command 14 is to enable bypass mode.
  * Command 15 is to disable bypass mode.
  */
-register union {
+static union {
 	uint8_t u8;
 	struct {
-		uint16_t zero:1;
-		uint16_t cmd_num:4;
-		uint16_t val_msb:3;
+		/* inverted: little endian */
+		uint8_t val_msb:3;
+		uint8_t cmd_num:4;
+		uint8_t zero:1;
 	};
-} byte0 asm("r6");
+} byte0;
 
-register union {
+static union {
 	uint8_t u8;
 	struct {
-		uint8_t one:1;
+		/* inverted: little endian */
 		uint8_t val_lsb:7;
+		uint8_t one:1;
 	};
-} byte1 asm("r7");
+} byte1;
 
 SIGNAL(TIMER1_COMPA_vect)
 {
-	PORTC = portval;
+	PORTD = portval;
 	TIMSK1 &= ~_BV(OCIE1A);
 	done = 1;
 }
@@ -94,10 +115,10 @@ static void poll_spi(void)
 			val += byte1.val_lsb;
 			servo_table[byte0.cmd_num].command = val;
 		}
-		else if (byte0.cmd_num == 14) {
+		else if (byte0.cmd_num == BYPASS_ENABLE) {
 			bypass = 1;
 		}
-		else if (byte0.cmd_num == 15) {
+		else if (byte0.cmd_num == BYPASS_DISABLE) {
 			bypass = 0;
 		}
 	}
@@ -120,7 +141,7 @@ static void do_one_servo(struct servo *s)
 	//portval = PORTC | (1 << s->bit);
 	portval = (1 << s->bit);
 	t = TCNT1;
-	load_timer_at(t + 150);
+	load_timer_at(t + 20);
 	while (done == 0)
 		poll_spi();
 
@@ -128,7 +149,7 @@ static void do_one_servo(struct servo *s)
 	done = 0;
 	portval = 0;
 	//portval = PORTC & (~(1 << s->bit));
-	load_timer_at(t + 150 + 8000 + s->command * 8);
+	load_timer_at(t + 20 + 1000 + s->command);
 	while (done == 0)
 		poll_spi();
 }
@@ -137,16 +158,26 @@ int main(void)
 {
 	uint8_t i;
 	uint8_t t, diff;
+	uint8_t tmp;
 
 	/* LED */
-	DDRB = 0x20;
+	DDRB = 0x02;
+
+#if 0 /* LED debug */
+	while (1) {
+		LED_ON();
+		wait_ms(100);
+		LED_OFF();
+		wait_ms(100);
+	}
+#endif
 
-	/* servo outputs */
-	DDRC = 0x7;
+	/* servo outputs PD2-PD7 */
+	DDRD = 0xfc;
 
-	/* start timer1 at clk/1 (8Mhz) */
+	/* start timer1 at clk/8 (1Mhz) */
 	TCNT1 = 0;
-	TCCR1B = _BV(CS10);
+	TCCR1B = _BV(CS11);
 
 	/* start timer0 at clk/1024 (~8Khz) */
 	TCNT0 = 0;
@@ -157,6 +188,7 @@ int main(void)
 
 	sei();
 
+	bypass = 0;
 	while (1) {
 		t = TCNT0;
 		for (i = 0; i < NB_SERVO; i++) {
@@ -170,8 +202,17 @@ int main(void)
 			poll_spi();
 		}
 		/* bypass mode */
-		while (bypass == 1) {
-			PORTC = PORTB;
+		if (bypass == 1) {
+			LED_ON();
+
+			while (bypass == 1) {
+				tmp = PINC;
+				tmp &= 0x3f;
+				tmp <<= 2;
+				PORTD = tmp;
+				poll_spi();
+			}
+			LED_OFF();
 		}
 	}