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

#
# old_revision [81e4dce274e79dd9187ed4bd182e1d6fc0fdfb37]
# new_revision [24d5b9f4dff9135787b198fe1127d9c1e3326b9c]
#
# patch "main.c"
#  from [b366dce1bedfd103e47161ada956b8569816f2f4]
#    to [8284ca89102568b2ae6f26e057ab296621f87e6a]
#
============================================================
--- main.c	b366dce1bedfd103e47161ada956b8569816f2f4
+++ main.c	8284ca89102568b2ae6f26e057ab296621f87e6a
@@ -6,7 +6,10 @@
 #include "uart.h"
 #include "interrupt.h"
 #include "event.h"
-#include "stick.h"
+#include "led.h"
+#include "status.h"
+#include "watchdog.h"
+#include "thrust.h"
 
 #define PINSEL0 (*((volatile unsigned int *) 0xE002C000))
 #define PINSEL1 (*((volatile unsigned int *) 0xE002C004))
@@ -178,13 +181,12 @@ int main(void) {
 void menu_handler(void);
 
 int main(void) {
-	armed = FALSE;
-
 	init_interrupt();
 	init_uart();
 	init_i2c();
 	init_pins();
 	init_timer();
+	init_status();
 
 	event_register(EVENT_UART_INPUT, menu_handler);
 
@@ -196,11 +198,7 @@ int main(void) {
 
 	putstr("prompt> ");
 
-	FP0XVAL &= ~0x04000000;
 	timer_delay_ms(1000);
-	FP0XVAL |= 0x04000000;
-	timer_delay_ms(1000);
-	FP0XVAL &= ~0x04000000;
 	if (!wmp_init())
 		putstr("WMP initialisation failed\r\n");
 
@@ -208,17 +206,22 @@ int main(void) {
 	timer_set_period(5*TIMER_MS);
 	wmp_start_zero();
 
-	FP0XVAL |= 0x04000000;
+	led_init();
 
+	init_watchdog();
+
 	/* Good luck! */
 	while (1) {
-		FP0XVAL ^= 0x04000000;
+		led_update();
 		event_dispatch();
+		watchdog_check();
 	}
 
 	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: