rc_servos: fix servo description to match board topology

[protos/rc_servos.git] / main.c

diff --git a/main.c b/main.c
index df8fb93..dd98345 100644 (file)
--- a/main.c
+++ b/main.c
@@ -7,24 +7,33 @@ struct servo {
 
 static struct servo servo_table[] = {
        {
-               .bit = 0,
+               .bit = 3,
                .command = 0,
        },
        {
-               .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
 
@@ -39,26 +48,28 @@ 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;
 }
@@ -144,7 +155,8 @@ int main(void)
        DDRB = 0x20;
 
        /* servo outputs */
-       DDRC = 0x7;
+       DDRD = 0xf8;
+       DDRB |= 0x01;
 
        /* start timer1 at clk/1 (8Mhz) */
        TCNT1 = 0;
@@ -159,7 +171,7 @@ int main(void)
 
        sei();
 
-       bypass = 0;
+       bypass = 1;
        while (1) {
                t = TCNT0;
                for (i = 0; i < NB_SERVO; i++) {
@@ -174,7 +186,8 @@ int main(void)
                }
                /* bypass mode */
                while (bypass == 1) {
-                       PORTC = PORTB;
+                       PORTD = ((PINC & 0x0f) << 3) | ((PINB & 0x01) << 7);
+                       poll_spi();
                }
        }