X-Git-Url: http://git.droids-corp.org/?p=protos%2Frc_servos.git;a=blobdiff_plain;f=main.c;fp=main.c;h=dd983459482f98be839bd593e2908bc3931ba8f1;hp=c729bbf0fcf159532211b394baaca5ae1b06db87;hb=36eab4271a8545846fa02afe14dd036fba72d3e6;hpb=809de0a09e20d0eee4188fa2db36fdc9be990526

diff --git a/main.c b/main.c
index c729bbf..dd98345 100644
--- a/main.c
+++ b/main.c
@@ -7,16 +7,24 @@ struct servo {
 
 static struct servo servo_table[] = {
 	{
-		.bit = 0,
+		.bit = 3,
 		.command = 0,
 	},
 	{
-		.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))
@@ -61,7 +69,7 @@ static volatile union {
 
 SIGNAL(TIMER1_COMPA_vect)
 {
-	PORTC = portval;
+	PORTD = portval;
 	TIMSK1 &= ~_BV(OCIE1A);
 	done = 1;
 }
@@ -147,7 +155,8 @@ int main(void)
 	DDRB = 0x20;
 
 	/* servo outputs */
-	DDRC = 0x7;
+	DDRD = 0xf8;
+	DDRB |= 0x01;
 
 	/* start timer1 at clk/1 (8Mhz) */
 	TCNT1 = 0;
@@ -177,7 +186,7 @@ int main(void)
 		}
 		/* bypass mode */
 		while (bypass == 1) {
-			PORTC = PORTB;
+			PORTD = ((PINC & 0x0f) << 3) | ((PINB & 0x01) << 7);
 			poll_spi();
 		}
 	}