X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=d3905545135790ea965c69045cadfe423202ec96;hb=90919fb720235d8f3551cbc31b81e70078498f20;hp=e733e81587186f979731ddab067dd862ba746d3d;hpb=98801c6e5d8a04f06c7e3f3d9de73919b593e4eb;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index e733e81..d390554 100644
--- a/main.c
+++ b/main.c
@@ -19,10 +19,43 @@ static struct servo servo_table[] = {
 		.command = 1023,
 	},
 };
-static volatile uint8_t rxbuf[16];
-static volatile uint8_t rxlen;
-static volatile uint8_t portval;
+#define NB_SERVO (sizeof(servo_table)/sizeof(*servo_table))
+
+static volatile uint8_t bypass;
 static volatile uint8_t done;
+static volatile uint8_t portval;
+static volatile uint8_t rxidx;
+
+#define BYPASS_ENABLE 14
+#define BYPASS_DISABLE 15
+
+/*
+ * SPI protocol:
+ *
+ * A command is stored on 2 bytes. The first one has its msb to 0, and the
+ * second one to 1. The first received byte contains the command number, and the
+ * msb of the servo value. The second byte contains the lsb of the servo value.
+ *
+ * Commands 0 to NB_SERVO are to set the value of servo.
+ * Command 14 is to enable bypass mode.
+ * Command 15 is to disable bypass mode.
+ */
+static volatile union {
+	uint8_t u8;
+	struct {
+		uint8_t zero:1;
+		uint8_t cmd_num:4;
+		uint8_t val_msb:3;
+	};
+} byte0;
+
+static volatile union {
+	uint8_t u8;
+	struct {
+		uint8_t one:1;
+		uint8_t val_lsb:7;
+	};
+} byte1;
 
 SIGNAL(TIMER1_COMPA_vect)
 {
@@ -33,6 +66,46 @@ SIGNAL(TIMER1_COMPA_vect)
 
 static void poll_spi(void)
 {
+	uint8_t c;
+
+	/* reception complete ? */
+	if (!(SPSR & (1<<SPIF)))
+		return;
+
+	c = SPDR;
+	if ((rxidx == 0) && (c & 0x80)) {
+		rxidx = 0;
+		return; /* drop */
+	}
+	if ((rxidx == 1) && ((c & 0x80) == 0)) {
+		rxidx = 0;
+		return; /* drop */
+	}
+
+	if (rxidx == 0) {
+		byte0.u8 = c;
+	}
+	else {
+		uint16_t val;
+
+		byte1.u8 = c;
+
+		/* process command */
+
+		if (byte0.cmd_num < NB_SERVO) {
+			val = (uint16_t)byte0.val_msb << 7;
+			val += byte1.val_lsb;
+			servo_table[byte0.cmd_num].command = val;
+		}
+		else if (byte0.cmd_num == BYPASS_ENABLE) {
+			bypass = 1;
+		}
+		else if (byte0.cmd_num == BYPASS_DISABLE) {
+			bypass = 0;
+		}
+	}
+
+	rxidx ^= 1;
 }
 
 static void load_timer_at(uint16_t t)
@@ -68,7 +141,10 @@ int main(void)
 	uint8_t i;
 	uint8_t t, diff;
 
+	/* LED */
 	DDRB = 0x20;
+
+	/* servo outputs */
 	DDRC = 0x7;
 
 	/* start timer1 at clk/1 (8Mhz) */
@@ -79,11 +155,15 @@ int main(void)
 	TCNT0 = 0;
 	TCCR0B = _BV(CS02) | _BV(CS00);
 
+	/* enable spi (don't set unused MISO as output) */
+	SPCR = _BV(SPE);
+
 	sei();
 
+	bypass = 0;
 	while (1) {
 		t = TCNT0;
-		for (i = 0; i < sizeof(servo_table)/sizeof(*servo_table); i++) {
+		for (i = 0; i < NB_SERVO; i++) {
 			do_one_servo(&servo_table[i]);
 		}
 		/* wait 20 ms */
@@ -93,6 +173,10 @@ int main(void)
 				break;
 			poll_spi();
 		}
+		/* bypass mode */
+		while (bypass == 1) {
+			PORTC = PORTB;
+		}
 	}
 
 	return 0;