+ spi_servo_bypass(0);
+
+ /* stress test: send many commands, no wait between each servo
+ * of a series, and a variable delay between series */
+ printf_P(PSTR("stress test\r\n"));
+ while (!cmdline_keypressed()) {
+
+ wait_time++;
+ if (wait_time > 20)
+ wait_time = 0;
+
+ IRQ_LOCK(flags);
+ val = global_ms;
+ IRQ_UNLOCK(flags);
+ val >>= 3;
+ val &= 1023;
+
+ for (i = 0; i < 6; i++)
+ spi_servo_set(i, val);
+
+ wait_ms(wait_time);
+
+ for (i = 0; i < 6; i++)
+ printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
+ printf_P(PSTR("\r\n"));
+ }
+
+ printf_P(PSTR("bypass mode, with spi commands in background\r\n"));
+ spi_servo_bypass(1);
+
+ /* test bypass mode */
+ while (!cmdline_keypressed()) {