rc_servos: don't forget to poll SPI in bypass mode

[protos/rc_servos.git] / main.c

diff --git a/main.c b/main.c
index d390554..c729bbf 100644 (file)
--- a/main.c
+++ b/main.c
@@ -43,17 +43,19 @@ static volatile uint8_t rxidx;
 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;
 
 static volatile union {
        uint8_t u8;
        struct {
-               uint8_t one:1;
+               /* inverted: little endian */
                uint8_t val_lsb:7;
+               uint8_t one:1;
        };
 } byte1;
 
@@ -160,7 +162,7 @@ int main(void)
 
        sei();
 
-       bypass = 0;
+       bypass = 1;
        while (1) {
                t = TCNT0;
                for (i = 0; i < NB_SERVO; i++) {
@@ -176,6 +178,7 @@ int main(void)
                /* bypass mode */
                while (bypass == 1) {
                        PORTC = PORTB;
+                       poll_spi();
                }
        }