X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=c729bbf0fcf159532211b394baaca5ae1b06db87;hb=809de0a09e20d0eee4188fa2db36fdc9be990526;hp=df8fb930b6c0e0f33b8e19d6b994a32faecd168d;hpb=25c9fe95c461d42a7c67f06f9267ce62436aaa0e;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index df8fb93..c729bbf 100644
--- a/main.c
+++ b/main.c
@@ -21,10 +21,11 @@ static struct servo servo_table[] = {
 };
 #define NB_SERVO (sizeof(servo_table)/sizeof(*servo_table))
 
-register uint8_t bypass asm("r2");
-register uint8_t done asm("r3");
-register uint8_t portval asm("r4");
-register uint8_t rxidx asm("r5");
+static volatile uint8_t bypass;
+static volatile uint8_t done;
+static volatile uint8_t portval;
+static volatile uint8_t rxidx;
+
 #define BYPASS_ENABLE 14
 #define BYPASS_DISABLE 15
 
@@ -39,22 +40,24 @@ register uint8_t rxidx asm("r5");
  * Command 14 is to enable bypass mode.
  * Command 15 is to disable bypass mode.
  */
-register union {
+static volatile 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 asm("r6");
+} byte0;
 
-register union {
+static volatile union {
 	uint8_t u8;
 	struct {
-		uint8_t one:1;
+		/* inverted: little endian */
 		uint8_t val_lsb:7;
+		uint8_t one:1;
 	};
-} byte1 asm("r7");
+} byte1;
 
 SIGNAL(TIMER1_COMPA_vect)
 {
@@ -159,7 +162,7 @@ int main(void)
 
 	sei();
 
-	bypass = 0;
+	bypass = 1;
 	while (1) {
 		t = TCNT0;
 		for (i = 0; i < NB_SERVO; i++) {
@@ -175,6 +178,7 @@ int main(void)
 		/* bypass mode */
 		while (bypass == 1) {
 			PORTC = PORTB;
+			poll_spi();
 		}
 	}