X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=c729bbf0fcf159532211b394baaca5ae1b06db87;hb=809de0a09e20d0eee4188fa2db36fdc9be990526;hp=d3905545135790ea965c69045cadfe423202ec96;hpb=90919fb720235d8f3551cbc31b81e70078498f20;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index d390554..c729bbf 100644
--- a/main.c
+++ b/main.c
@@ -43,17 +43,19 @@ static volatile uint8_t rxidx;
 static volatile union {
 	uint8_t u8;
 	struct {
-		uint8_t zero:1;
-		uint8_t cmd_num:4;
+		/* inverted: little endian */
 		uint8_t val_msb:3;
+		uint8_t cmd_num:4;
+		uint8_t zero:1;
 	};
 } byte0;
 
 static volatile union {
 	uint8_t u8;
 	struct {
-		uint8_t one:1;
+		/* inverted: little endian */
 		uint8_t val_lsb:7;
+		uint8_t one:1;
 	};
 } byte1;
 
@@ -160,7 +162,7 @@ int main(void)
 
 	sei();
 
-	bypass = 0;
+	bypass = 1;
 	while (1) {
 		t = TCNT0;
 		for (i = 0; i < NB_SERVO; i++) {
@@ -176,6 +178,7 @@ int main(void)
 		/* bypass mode */
 		while (bypass == 1) {
 			PORTC = PORTB;
+			poll_spi();
 		}
 	}