X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=4ff369da10e373e3226c613615bb7c6b654833bc;hb=fe3e355d9a8cf8278c53cbb1ad4c375f76e4a38d;hp=d3905545135790ea965c69045cadfe423202ec96;hpb=90919fb720235d8f3551cbc31b81e70078498f20;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index d390554..4ff369d 100644
--- a/main.c
+++ b/main.c
@@ -1,4 +1,5 @@
 #include <aversive.h>
+#include <aversive/wait.h>
 
 struct servo {
 	uint8_t bit;
@@ -7,28 +8,43 @@ struct servo {
 
 static struct servo servo_table[] = {
 	{
-		.bit = 0,
-		.command = 0,
+		.bit = 2,
+		.command = 300,
+	},
+	{
+		.bit = 3,
+		.command = 700,
 	},
 	{
-		.bit = 1,
+		.bit = 4,
 		.command = 512,
 	},
 	{
-		.bit = 2,
-		.command = 1023,
+		.bit = 5,
+		.command = 512,
+	},
+	{
+		.bit = 6,
+		.command = 512,
+	},
+	{
+		.bit = 7,
+		.command = 512,
 	},
 };
 #define NB_SERVO (sizeof(servo_table)/sizeof(*servo_table))
 
-static volatile uint8_t bypass;
+static uint8_t bypass;
 static volatile uint8_t done;
-static volatile uint8_t portval;
-static volatile uint8_t rxidx;
+static uint8_t portval;
+static uint8_t rxidx;
 
 #define BYPASS_ENABLE 14
 #define BYPASS_DISABLE 15
 
+#define LED_ON() do { PORTB |= 0x02; } while(0)
+#define LED_OFF() do { PORTB &= ~0x02; } while(0)
+
 /*
  * SPI protocol:
  *
@@ -40,26 +56,28 @@ static volatile uint8_t rxidx;
  * Command 14 is to enable bypass mode.
  * Command 15 is to disable bypass mode.
  */
-static volatile union {
+static union {
 	uint8_t u8;
 	struct {
-		uint8_t zero:1;
-		uint8_t cmd_num:4;
+		/* inverted: little endian */
 		uint8_t val_msb:3;
+		uint8_t cmd_num:4;
+		uint8_t zero:1;
 	};
 } byte0;
 
-static volatile union {
+static union {
 	uint8_t u8;
 	struct {
-		uint8_t one:1;
+		/* inverted: little endian */
 		uint8_t val_lsb:7;
+		uint8_t one:1;
 	};
 } byte1;
 
 SIGNAL(TIMER1_COMPA_vect)
 {
-	PORTC = portval;
+	PORTD = portval;
 	TIMSK1 &= ~_BV(OCIE1A);
 	done = 1;
 }
@@ -142,10 +160,19 @@ int main(void)
 	uint8_t t, diff;
 
 	/* LED */
-	DDRB = 0x20;
+	DDRB = 0x02;
 
-	/* servo outputs */
-	DDRC = 0x7;
+#if 0 /* LED debug */
+	while (1) {
+		LED_ON();
+		wait_ms(100);
+		LED_OFF();
+		wait_ms(100);
+	}
+#endif
+
+	/* servo outputs PD2-PD7 */
+	DDRD = 0xfc;
 
 	/* start timer1 at clk/1 (8Mhz) */
 	TCNT1 = 0;
@@ -175,8 +202,11 @@ int main(void)
 		}
 		/* bypass mode */
 		while (bypass == 1) {
-			PORTC = PORTB;
+			LED_ON();
+			PORTD = (PINC & 0x3f) << 2;
+			poll_spi();
 		}
+		LED_OFF();
 	}
 
 	return 0;