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This diff has been restricted to the following files: 'main.c'

#
# old_revision [24d5b9f4dff9135787b198fe1127d9c1e3326b9c]
# new_revision [4f22e7ef7d3064e3b51a5b868a4722f3f13c747b]
#
# patch "main.c"
#  from [8284ca89102568b2ae6f26e057ab296621f87e6a]
#    to [dca584ff21fb033c2abff13cfb14db9c8c2c93c2]
#
============================================================
--- main.c	8284ca89102568b2ae6f26e057ab296621f87e6a
+++ main.c	dca584ff21fb033c2abff13cfb14db9c8c2c93c2
@@ -18,15 +18,20 @@
 
 #define SCS (*((volatile unsigned int *) 0xe01fc1a0))
 
+#define BUTTON_PRESSED (!((FP0XVAL) & 0x00010000))
 
 void init_pins(void)
 {
-	PINSEL0 = 0x00a88055; /* P0.0 and P0.1 assigned to UART */
+	PINSEL0 = 0x2a09a255; /* P0.0 and P0.1 assigned to UART */
 			      /* P0.2 and P0.3 assigned to I2C  */
+			      /* P0.4 and P0.6 assigned to CAP0.[12] */
 	                      /* P0.7 and P0.9 assigned to MAT2.[02] */
-	                      /* P0.10 and P0.11 assigned to CAP1.[01] */
-	PINSEL1 = 0x20000828; /* P0.21 and P0.30 assigned to MAT3.[03] */
-	                      /* P0.17 and P0.18 assigned to CAP1.[23] */
+			      /* P0.8 assigned to UART1 */
+			      /* P0.12 and P0.13 assigned to MAT1.[01] */
+			      /* P0.14 assigned to SPI1 */
+
+	PINSEL1 = 0x00000540; /* P0.19 to P0.21 assigned to SPI1 */
+
 	SCS = 1;
 	FP0XDIR = 0x04000000; /* P0.26 is an output */
 	FP0XVAL = 0x0;
@@ -180,6 +185,53 @@ void menu_handler(void);
 
 void menu_handler(void);
 
+void wait_for_button_pressed(bool target)
+{
+	bool pressed;
+
+	led_set(!target);
+
+	/* Very crude debouncing */
+	timer_delay_ms(100);
+
+	target = target ? TRUE:FALSE;
+
+	do {
+		pressed = BUTTON_PRESSED;
+	} while (pressed != target);
+	led_set(pressed);
+}
+
+void calibrate_escs()
+{
+	wait_for_button_pressed(0);
+
+	putstr("Calibration mode\r\n");
+
+	wait_for_button_pressed(1);
+	wait_for_button_pressed(0);
+
+	set_thrust(0, 1.0);
+	set_thrust(1, 1.0);
+	set_thrust(2, 1.0);
+	set_thrust(3, 1.0);
+	putstr("Max throttle set\r\n");
+
+	wait_for_button_pressed(1);
+	wait_for_button_pressed(0);
+
+	set_thrust(0, 0.0);
+	set_thrust(1, 0.0);
+	set_thrust(2, 0.0);
+	set_thrust(3, 0.0);
+	putstr("Zero throttle set\r\n");
+
+	wait_for_button_pressed(1);
+	wait_for_button_pressed(0);
+
+	putstr("Exit calibration mode\r\n");
+}
+
 int main(void) {
 	init_interrupt();
 	init_uart();
@@ -196,6 +248,9 @@ int main(void) {
 
 	putstr("Your entire life has been a mathematical error... a mathematical error I'm about to correct!\r\n");
 
+	if (BUTTON_PRESSED)
+		calibrate_escs();
+
 	putstr("prompt> ");
 
 	timer_delay_ms(1000);