X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=spi_servo.c;h=c180bc907c9933e954df5bcbb0b136c2d6398b12;hp=c4fe3187dcd02e3084e70b4ba50bbdae279c166c;hb=21d10011bc4b009d7a09131b955953fa7aba3815;hpb=87d9d882059ebe9e34adc088e0d6f4bea984bc91

diff --git a/spi_servo.c b/spi_servo.c
index c4fe318..c180bc9 100644
--- 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());
+}