X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=5849b8bfe4b73f5a952d35c22bb69a6f9d8535c3;hb=7113aed0018e08706cf5fbfeb58a96ba87a84ef4;hp=4ff369da10e373e3226c613615bb7c6b654833bc;hpb=fe3e355d9a8cf8278c53cbb1ad4c375f76e4a38d;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index 4ff369d..5849b8b 100644
--- 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();
 }
@@ -158,6 +158,7 @@ int main(void)
 {
 	uint8_t i;
 	uint8_t t, diff;
+	uint8_t tmp;
 
 	/* LED */
 	DDRB = 0x02;
@@ -174,9 +175,9 @@ 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;
@@ -201,12 +202,18 @@ int main(void)
 			poll_spi();
 		}
 		/* bypass mode */
-		while (bypass == 1) {
+		if (bypass == 1) {
 			LED_ON();
-			PORTD = (PINC & 0x3f) << 2;
-			poll_spi();
+
+			while (bypass == 1) {
+				tmp = PINC;
+				tmp &= 0x3f;
+				tmp <<= 2;
+				PORTD = tmp;
+				poll_spi();
+			}
+			LED_OFF();
 		}
-		LED_OFF();
 	}
 
 	return 0;