change prescaler of timer1 from 1 to 8

[protos/rc_servos.git] / main.c

diff --git a/main.c b/main.c
index 4ff369d..5849b8b 100644 (file)
--- a/main.c
+++ b/main.c
@@ -141,7 +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();
 
@@ -149,7 +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();
 }
@@ -158,6 +158,7 @@ int main(void)
 {
        uint8_t i;
        uint8_t t, diff;
+       uint8_t tmp;
 
        /* LED */
        DDRB = 0x02;
@@ -174,9 +175,9 @@ int main(void)
        /* 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;
@@ -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;