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rc_servos: use define for bypass command
author
Fabrice Desclaux
<serpilliere@droids-corp.org>
Sun, 26 Feb 2012 21:51:46 +0000
(22:51 +0100)
committer
Fabrice Desclaux
<serpilliere@droids-corp.org>
Sun, 26 Feb 2012 21:51:46 +0000
(22:51 +0100)
main.c
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diff --git
a/main.c
b/main.c
index
b1083ea
..
df8fb93
100644
(file)
--- 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");
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:
/*
* SPI protocol:
@@
-94,10
+96,10
@@
static void poll_spi(void)
val += byte1.val_lsb;
servo_table[byte0.cmd_num].command = val;
}
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;
}
bypass = 1;
}
- else if (byte0.cmd_num ==
15
) {
+ else if (byte0.cmd_num ==
BYPASS_DISABLE
) {
bypass = 0;
}
}
bypass = 0;
}
}
@@
-157,6
+159,7
@@
int main(void)
sei();
sei();
+ bypass = 0;
while (1) {
t = TCNT0;
for (i = 0; i < NB_SERVO; i++) {
while (1) {
t = TCNT0;
for (i = 0; i < NB_SERVO; i++) {