add code to load/save configuration in eeprom

[protos/xbee-avr.git] / spi_servo.c

diff --git a/spi_servo.c b/spi_servo.c
index c4fe318..c180bc9 100644 (file)
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -24,8 +24,8 @@
  * callback is unloaded.
  */
 
-/* 1ms */
-#define SPI_EVT_PERIOD (10000UL/SCHEDULER_UNIT)
+/* 1 scheduler unit (682us at 12Mhz) */
+#define SPI_EVT_PERIOD (1)
 
 #define PPM_BIT    0x01
 #define BYPASS_BIT 0x02
@@ -255,3 +255,14 @@ void spi_servo_set_ppm(uint8_t enable)
        spi_servo_tx.cmd_mask |= (1 << N_SERVO);
        IRQ_UNLOCK(flags);
 }
+
+void spi_servo_dump(void)
+{
+       uint8_t i;
+
+       for (i = 0; i < N_SERVO; i++)
+               printf_P(PSTR("%d: rx=%4.4d tx=%4.4d\r\n"), i,
+                        spi_servo_get(i), spi_servo_tx.servo[i]);
+       printf_P(PSTR("bypass=%d ppm=%d\n"),
+                spi_servo_get_bypass(), spi_servo_get_ppm());
+}