#include <aversive.h>
+#include <aversive/wait.h>
struct servo {
uint8_t bit;
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:
* Command 14 is to enable bypass mode.
* Command 15 is to disable bypass mode.
*/
-register union {
+static 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 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;
}
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;
}
}
//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();
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();
}
{
uint8_t i;
uint8_t t, diff;
+ uint8_t tmp;
+
+ /* use pull-up for inputs */
+ PORTC |= 0x3f;
/* 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;
sei();
+ bypass = 0;
while (1) {
t = TCNT0;
for (i = 0; i < NB_SERVO; i++) {
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();
}
}