use pullup for input to avoid noise

[protos/rc_servos.git] / main.c

diff --git a/main.c b/main.c
index 5d449de..3509874 100644 (file)
--- a/main.c
+++ b/main.c
@@ -141,7 +141,7 @@ static void do_one_servo(struct servo *s)
        //portval = PORTC | (1 << s->bit);
        portval = (1 << s->bit);
        t = TCNT1;
-       load_timer_at(t + 150);
+       load_timer_at(t + 20);
        while (done == 0)
                poll_spi();
 
@@ -149,7 +149,7 @@ static void do_one_servo(struct servo *s)
        done = 0;
        portval = 0;
        //portval = PORTC & (~(1 << s->bit));
-       load_timer_at(t + 150 + 8000 + s->command * 8);
+       load_timer_at(t + 20 + 1000 + s->command);
        while (done == 0)
                poll_spi();
 }
@@ -160,6 +160,9 @@ int main(void)
        uint8_t t, diff;
        uint8_t tmp;
 
+       /* use pull-up for inputs */
+       PORTC |= 0x3f;
+
        /* LED */
        DDRB = 0x02;
 
@@ -175,9 +178,9 @@ int main(void)
        /* servo outputs PD2-PD7 */
        DDRD = 0xfc;
 
-       /* start timer1 at clk/1 (8Mhz) */
+       /* start timer1 at clk/8 (1Mhz) */
        TCNT1 = 0;
-       TCCR1B = _BV(CS10);
+       TCCR1B = _BV(CS11);
 
        /* start timer0 at clk/1024 (~8Khz) */
        TCNT0 = 0;