X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=5d449de1b11efa5669f804e0c648bfff391b194c;hb=7550fa78c8354d1551266bb15e280d4dd6cefb50;hp=ad0af0546c064a85832edb87ff925aa29c354c36;hpb=f9f1d9f0311d8c84e8f2accac4ba5ea5f5481d6a;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index ad0af05..5d449de 100644
--- a/main.c
+++ b/main.c
@@ -34,10 +34,10 @@ static struct servo servo_table[] = {
 };
 #define NB_SERVO (sizeof(servo_table)/sizeof(*servo_table))
 
-static volatile uint8_t bypass;
+static uint8_t bypass;
 static volatile uint8_t done;
-static volatile uint8_t portval;
-static volatile uint8_t rxidx;
+static uint8_t portval;
+static uint8_t rxidx;
 
 #define BYPASS_ENABLE 14
 #define BYPASS_DISABLE 15
@@ -56,7 +56,7 @@ static volatile uint8_t rxidx;
  * Command 14 is to enable bypass mode.
  * Command 15 is to disable bypass mode.
  */
-static volatile union {
+static union {
 	uint8_t u8;
 	struct {
 		/* inverted: little endian */
@@ -66,7 +66,7 @@ static volatile union {
 	};
 } byte0;
 
-static volatile union {
+static union {
 	uint8_t u8;
 	struct {
 		/* inverted: little endian */
@@ -158,6 +158,7 @@ int main(void)
 {
 	uint8_t i;
 	uint8_t t, diff;
+	uint8_t tmp;
 
 	/* LED */
 	DDRB = 0x02;
@@ -201,12 +202,18 @@ int main(void)
 			poll_spi();
 		}
 		/* bypass mode */
-		while (bypass == 1) {
+		if (bypass == 1) {
 			LED_ON();
-			PORTD = (PINC & 0x3f) << 2;
-			poll_spi();
+
+			while (bypass == 1) {
+				tmp = PINC;
+				tmp &= 0x3f;
+				tmp <<= 2;
+				PORTD = tmp;
+				poll_spi();
+			}
+			LED_OFF();
 		}
-		LED_OFF();
 	}
 
 	return 0;