support new board (fpv motherboard v1)

[protos/rc_servos.git] / main.c

diff --git a/main.c b/main.c
index b1083ea..ad0af05 100644 (file)
--- a/main.c
+++ b/main.c
@@ -1,4 +1,5 @@
 #include <aversive.h>
+#include <aversive/wait.h>
 
 struct servo {
        uint8_t bit;
@@ -7,24 +8,42 @@ struct servo {
 
 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 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
+
+#define LED_ON() do { PORTB |= 0x02; } while(0)
+#define LED_OFF() do { PORTB &= ~0x02; } while(0)
 
 /*
  * SPI protocol:
@@ -37,26 +56,28 @@ register uint8_t rxidx asm("r5");
  * Command 14 is to enable bypass mode.
  * Command 15 is to disable bypass mode.
  */
-register union {
+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 asm("r6");
+} byte0;
 
-register union {
+static volatile 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;
 }
@@ -94,10 +115,10 @@ static void poll_spi(void)
                        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;
                }
        }
@@ -139,10 +160,19 @@ int main(void)
        uint8_t t, diff;
 
        /* LED */
-       DDRB = 0x20;
+       DDRB = 0x02;
 
-       /* servo outputs */
-       DDRC = 0x7;
+#if 0 /* LED debug */
+       while (1) {
+               LED_ON();
+               wait_ms(100);
+               LED_OFF();
+               wait_ms(100);
+       }
+#endif
+
+       /* servo outputs PD2-PD7 */
+       DDRD = 0xfc;
 
        /* start timer1 at clk/1 (8Mhz) */
        TCNT1 = 0;
@@ -157,6 +187,7 @@ int main(void)
 
        sei();
 
+       bypass = 0;
        while (1) {
                t = TCNT0;
                for (i = 0; i < NB_SERVO; i++) {
@@ -171,8 +202,11 @@ int main(void)
                }
                /* bypass mode */
                while (bypass == 1) {
-                       PORTC = PORTB;
+                       LED_ON();
+                       PORTD = (PINC & 0x3f) << 2;
+                       poll_spi();
                }
+               LED_OFF();
        }
 
        return 0;