};
#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
* 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 */
};
} byte0;
-static volatile union {
+static union {
uint8_t u8;
struct {
/* inverted: little endian */
//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;
/* LED */
DDRB = 0x02;
/* 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;
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;