introoduce spi_servo_dump()

diff --git a/commands.c b/commands.c
index ce85088fcc30b4f1b80cd73e04169f14beb5f181..c9d415f64eb48af03e3cbdc3339d1c155fefc201 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -1313,7 +1313,6 @@ struct cmd_servo_result {
 static void cmd_servo_parsed(void * parsed_result, void *data)
 {
        struct cmd_servo_result *res = parsed_result;
-       uint8_t i;
 
        (void)data;
 
@@ -1335,11 +1334,7 @@ static void cmd_servo_parsed(void * parsed_result, void *data)
                spi_servo_set_ppm(!!res->val);
        }
        else if (!strcmp_P(res->arg1, PSTR("show"))) {
-               for (i = 0; i < 6; i++)
-                       printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
-               printf_P(PSTR("bypass=%d ppm=%d\n"),
-                        spi_servo_get_bypass(), spi_servo_get_ppm());
-               printf_P(PSTR("\r\n"));
+               spi_servo_dump();
        }
 }
 
@@ -1444,10 +1439,9 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
                        spi_servo_set(i, val);
 
                wait_ms(wait_time);
-
-               for (i = 0; i < 6; i++)
-                       printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
-               printf_P(PSTR("\r\n"));
+               printf_P(PSTR("%4.4d %4.4d %4.4d %4.4d %4.4d %4.4d\r\n"),
+                        spi_servo_get(0), spi_servo_get(1), spi_servo_get(2),
+                        spi_servo_get(3), spi_servo_get(4), spi_servo_get(5));
        }
 
        printf_P(PSTR("bypass mode, with spi commands in background\r\n"));
@@ -1470,10 +1464,9 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
                        spi_servo_set(i, val);
 
                wait_ms(wait_time);
-
-               for (i = 0; i < 6; i++)
-                       printf_P(PSTR("%d: %d\r\n"), i, spi_servo_get(i));
-               printf_P(PSTR("\r\n"));
+               printf_P(PSTR("%4.4d %4.4d %4.4d %4.4d %4.4d %4.4d\r\n"),
+                        spi_servo_get(0), spi_servo_get(1), spi_servo_get(2),
+                        spi_servo_get(3), spi_servo_get(4), spi_servo_get(5));
        }
 
        printf_P(PSTR("PPM to servo\r\n"));

diff --git a/spi_servo.c b/spi_servo.c
index c4fe3187dcd02e3084e70b4ba50bbdae279c166c..4b0d24191ef9aefb5f140d2309223b40c9e85a5e 100644 (file)
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -255,3 +255,14 @@ void spi_servo_set_ppm(uint8_t enable)
        spi_servo_tx.cmd_mask |= (1 << N_SERVO);
        IRQ_UNLOCK(flags);
 }
+
+void spi_servo_dump(void)
+{
+       uint8_t i;
+
+       for (i = 0; i < N_SERVO; i++)
+               printf_P(PSTR("%d: rx=%4.4d tx=%4.4d\r\n"), i,
+                        spi_servo_get(i), spi_servo_tx.servo[i]);
+       printf_P(PSTR("bypass=%d ppm=%d\n"),
+                spi_servo_get_bypass(), spi_servo_get_ppm());
+}

diff --git a/spi_servo.h b/spi_servo.h
index 895df3a3374d090c02c24814493d15d439a9e234..95449c5a0c48c1f1d53600bf41c1be31022529c5 100644 (file)
--- a/spi_servo.h
+++ b/spi_servo.h
@@ -7,3 +7,4 @@ void spi_servo_set_bypass(uint8_t enable);
 void spi_servo_set_ppm(uint8_t enable);
 uint8_t spi_servo_get_bypass(void);
 uint8_t spi_servo_get_ppm(void);
+void spi_servo_dump(void);