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# # old_revision [64de686d701acb9539dc52fe0bff299405612ab0] # new_revision [24d5b9f4dff9135787b198fe1127d9c1e3326b9c] # # patch "main.c" # from [7098e8a2414c2d385b9a43d19c2e3b2461ae00c0] # to [8284ca89102568b2ae6f26e057ab296621f87e6a] # ============================================================ --- main.c 7098e8a2414c2d385b9a43d19c2e3b2461ae00c0 +++ main.c 8284ca89102568b2ae6f26e057ab296621f87e6a @@ -9,6 +9,7 @@ #include "led.h" #include "status.h" #include "watchdog.h" +#include "thrust.h" #define PINSEL0 (*((volatile unsigned int *) 0xE002C000)) #define PINSEL1 (*((volatile unsigned int *) 0xE002C004)) @@ -219,6 +220,8 @@ int main(void) { return 0; } +static int power = 0; + void menu_handler(void) { int i; @@ -329,35 +332,56 @@ void menu_handler(void) } break; case '0' & 0xdf: - timer_set_pwm_value(0, 0); - timer_set_pwm_value(1, 0); - timer_set_pwm_value(2, 0); - timer_set_pwm_value(3, 0); + set_thrust(0, 0.0); + set_thrust(1, 0.0); + set_thrust(2, 0.0); + set_thrust(3, 0.0); + power = 0; break; #if 0 case '1' & 0xdf: - timer_set_pwm_value(0, PWM_MAX/2); + power--; + if (power < 0) + power = 15; + power = power % 16; + putstr("Power setting: "); + putint(power); + putstr("\r\n"); + set_thrust(0, ((float)power)/16.0); break; case '2' & 0xdf: - timer_set_pwm_value(1, PWM_MAX/2); + power++; + power = power % 16; + putstr("Power setting: "); + putint(power); + putstr("\r\n"); + set_thrust(0, ((float)power)/16.0); break; +#endif +#if 0 + case '1' & 0xdf: + set_thrust(0, 0.5); + break; + case '2' & 0xdf: + set_thrust(1, 0.5); + break; case '3' & 0xdf: - timer_set_pwm_value(2, PWM_MAX/2); + set_thrust(2, 0.5); break; case '4' & 0xdf: - timer_set_pwm_value(3, PWM_MAX/2); + set_thrust(3, 0.5); break; case '5' & 0xdf: - timer_set_pwm_value(0, PWM_MAX); + set_thrust(0, 1.0); break; case '6' & 0xdf: - timer_set_pwm_value(1, PWM_MAX); + set_thrust(1, 1.0); break; case '7' & 0xdf: - timer_set_pwm_value(2, PWM_MAX); + set_thrust(2, 1.0); break; case '8' & 0xdf: - timer_set_pwm_value(3, PWM_MAX); + set_thrust(3, 1.0); break; #endif case '9' & 0xdf: