new spi protocol that supports PPM generation

[protos/xbee-avr.git] / commands.c

diff --git a/commands.c b/commands.c
index 4389a6b..083f85f 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -1313,6 +1313,7 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
        (void)data;
 
        spi_servo_bypass(0);
+       spi_servo_ppm(0);
 
        /* stress test: send many commands, no wait between each servo
         * of a series, and a variable delay between series */
@@ -1365,9 +1366,21 @@ static void cmd_test_spi_parsed(void * parsed_result, void *data)
                printf_P(PSTR("\r\n"));
        }
 
+       printf_P(PSTR("PPM to servo\r\n"));
        spi_servo_bypass(0);
+       spi_servo_ppm(0);
 
-       printf_P(PSTR("PPM to servo\r\n"));
+       /* test PPM to servo (bypass) mode */
+       while (!cmdline_keypressed()) {
+               for (i = 0; i < 6; i++) {
+                       val = spi_servo_get(i);
+                       spi_servo_set(i, val);
+               }
+       }
+
+       printf_P(PSTR("PPM to (servo + PPM)\r\n"));
+       spi_servo_bypass(0);
+       spi_servo_ppm(1);
 
        /* test PPM to servo (bypass) mode */
        while (!cmdline_keypressed()) {