X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=spi_servo.c;h=c4fe3187dcd02e3084e70b4ba50bbdae279c166c;hp=6e1da056a731aba4ea0024715825263bb9ae4ea6;hb=87d9d882059ebe9e34adc088e0d6f4bea984bc91;hpb=cc6ac756becd992b51ddc7127846ff0fc3d4c662

diff --git a/spi_servo.c b/spi_servo.c
index 6e1da05..c4fe318 100644
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -27,8 +27,6 @@
 /* 1ms */
 #define SPI_EVT_PERIOD (10000UL/SCHEDULER_UNIT)
 
-#define N_SERVO 6
-
 #define PPM_BIT    0x01
 #define BYPASS_BIT 0x02
 
@@ -189,7 +187,7 @@ void spi_servo_init(void)
 
 	scheduler_add_periodical_event_priority(&spi_servo_cb, NULL,
 					    SPI_EVT_PERIOD, SPI_PRIO);
-	spi_servo_bypass(1);
+	spi_servo_set_bypass(1);
 }
 
 void spi_servo_set(uint8_t num, uint16_t val)
@@ -220,7 +218,17 @@ 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 +242,7 @@ 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;