X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=spi_servo.c;h=7a85070a762bdcd84c9667d3597c044aa056f3b6;hp=6e1da056a731aba4ea0024715825263bb9ae4ea6;hb=HEAD;hpb=cc6ac756becd992b51ddc7127846ff0fc3d4c662

diff --git a/spi_servo.c b/spi_servo.c
index 6e1da05..7a85070 100644
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -4,7 +4,7 @@
 #include <aversive.h>
 #include <aversive/wait.h>
 
-#include <scheduler.h>
+#include <callout.h>
 
 #include "spi_servo.h"
 #include "main.h"
@@ -24,11 +24,6 @@
  * callback is unloaded.
  */
 
-/* 1ms */
-#define SPI_EVT_PERIOD (10000UL/SCHEDULER_UNIT)
-
-#define N_SERVO 6
-
 #define PPM_BIT    0x01
 #define BYPASS_BIT 0x02
 
@@ -46,6 +41,8 @@ struct spi_servo_rx {
 };
 static struct spi_servo_rx spi_servo_rx;
 
+static struct callout spi_timer;
+
 /*
  * SPI protocol:
  *
@@ -126,7 +123,7 @@ static void decode_rx_servo(union spi_byte0 byte0, union spi_byte1 byte1)
 }
 
 /* called by the scheduler */
-static void spi_servo_cb(void *arg)
+static void spi_servo_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 {
 	uint8_t idx;
 	union spi_byte0 byte0;
@@ -149,13 +146,13 @@ static void spi_servo_cb(void *arg)
 	if (spi_servo_tx.next_byte != 0) {
 		spi_send_byte(spi_servo_tx.next_byte);
 		spi_servo_tx.next_byte = 0;
-		return;
+		goto reschedule;
 	}
 
 	/* if there is no updated servo, send 0 and return. */
 	if (spi_servo_tx.cmd_mask == 0) {
 		spi_send_byte(0);
-		return;
+		goto reschedule;
 	}
 
 	/* else find it and send it */
@@ -172,6 +169,11 @@ static void spi_servo_cb(void *arg)
 	spi_send_one_servo(idx, spi_servo_tx.servo[idx]);
 	spi_servo_tx.cmd_mask &= (~(1 << idx));
 	spi_servo_tx.cur_idx = idx;
+
+ reschedule:
+	/* don't use callout_reschedule() here, we want to schedule in one tick
+	 * relative to current time: 1 tick is 682us at 12Mhz */
+	callout_schedule(cm, tim, 0);
 }
 
 void spi_servo_init(void)
@@ -182,14 +184,14 @@ void spi_servo_init(void)
 	/* remove power reduction on spi */
 	PRR0 &= ~(1 << PRSPI);
 
-	/* Enable SPI, Master, set clock rate fck/64 */
-	SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1);
+	/* Enable SPI, Master, set clock rate fck/16 */
+	SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
 
 	SS_HIGH();
 
-	scheduler_add_periodical_event_priority(&spi_servo_cb, NULL,
-					    SPI_EVT_PERIOD, SPI_PRIO);
-	spi_servo_bypass(1);
+	callout_init(&spi_timer, spi_servo_cb, NULL, SPI_PRIO);
+	callout_schedule(&xbeeboard.intr_cm, &spi_timer, 0); /* immediate */
+	spi_servo_set_bypass(1);
 }
 
 void spi_servo_set(uint8_t num, uint16_t val)
@@ -220,7 +222,17 @@ uint16_t spi_servo_get(uint8_t num)
 	return val;
 }
 
-void spi_servo_bypass(uint8_t enable)
+uint8_t spi_servo_get_bypass(void)
+{
+	return !!(spi_servo_tx.servo[N_SERVO] & BYPASS_BIT);
+}
+
+uint8_t spi_servo_get_ppm(void)
+{
+	return !!(spi_servo_tx.servo[N_SERVO] & PPM_BIT);
+}
+
+void spi_servo_set_bypass(uint8_t enable)
 {
 	uint8_t flags;
 
@@ -234,7 +246,7 @@ void spi_servo_bypass(uint8_t enable)
 	IRQ_UNLOCK(flags);
 }
 
-void spi_servo_ppm(uint8_t enable)
+void spi_servo_set_ppm(uint8_t enable)
 {
 	uint8_t flags;
 
@@ -247,3 +259,14 @@ void spi_servo_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());
+}