From: Fabrice Desclaux <serpilliere@droids-corp.org>
Date: Sun, 26 Feb 2012 21:51:46 +0000 (+0100)
Subject: rc_servos: use define for bypass command
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=25c9fe95c461d42a7c67f06f9267ce62436aaa0e;p=protos%2Frc_servos.git

rc_servos: use define for bypass command
---

diff --git a/main.c b/main.c
index b1083ea..df8fb93 100644
--- a/main.c
+++ b/main.c
@@ -25,6 +25,8 @@ register uint8_t bypass asm("r2");
 register uint8_t done asm("r3");
 register uint8_t portval asm("r4");
 register uint8_t rxidx asm("r5");
+#define BYPASS_ENABLE 14
+#define BYPASS_DISABLE 15
 
 /*
  * SPI protocol:
@@ -94,10 +96,10 @@ static void poll_spi(void)
 			val += byte1.val_lsb;
 			servo_table[byte0.cmd_num].command = val;
 		}
-		else if (byte0.cmd_num == 14) {
+		else if (byte0.cmd_num == BYPASS_ENABLE) {
 			bypass = 1;
 		}
-		else if (byte0.cmd_num == 15) {
+		else if (byte0.cmd_num == BYPASS_DISABLE) {
 			bypass = 0;
 		}
 	}
@@ -157,6 +159,7 @@ int main(void)
 
 	sei();
 
+	bypass = 0;
 	while (1) {
 		t = TCNT0;
 		for (i = 0; i < NB_SERVO; i++) {