X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=4389a6b7fa697187e56415ea51f59550b39d4fa6;hp=dee0693e926c2200a71649ae23a0767c43a8c0a4;hb=2710a676cfb8d84c4e4de9d4e0ba2e8f3b553120;hpb=8fcd09b3ebe4880910ea909e298f2eeb563ac6fe

diff --git a/commands.c b/commands.c
index dee0693..4389a6b 100644
--- a/commands.c
+++ b/commands.c
@@ -1306,23 +1306,75 @@ struct cmd_test_spi_result {
 
 static void cmd_test_spi_parsed(void * parsed_result, void *data)
 {
-	int i;
+	uint8_t i, flags, wait_time = 0;
+	uint16_t val = 0;
 
 	(void)parsed_result;
 	(void)data;
 
-	while (1) {
-		for (i = 0; i < 50; i++) {
-			spi_servo_set(0, 0);
-			wait_ms(100);
-			spi_servo_set(0, 500);
-			wait_ms(100);
-		}
+	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()) {
 
-		spi_servo_bypass(1);
-		wait_ms(10000);
-		spi_servo_bypass(0);
-		wait_ms(1);
+		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"));
+	}
+
+	spi_servo_bypass(0);
+
+	printf_P(PSTR("PPM to servo\r\n"));
+
+	/* test PPM to servo (bypass) mode */
+	while (!cmdline_keypressed()) {
+		for (i = 0; i < 6; i++) {
+			val = spi_servo_get(i);
+			spi_servo_set(i, val);
+		}
 	}
 }