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# # old_revision [81e4dce274e79dd9187ed4bd182e1d6fc0fdfb37] # new_revision [4f22e7ef7d3064e3b51a5b868a4722f3f13c747b] # # patch "main.c" # from [b366dce1bedfd103e47161ada956b8569816f2f4] # to [dca584ff21fb033c2abff13cfb14db9c8c2c93c2] # ============================================================ --- main.c b366dce1bedfd103e47161ada956b8569816f2f4 +++ main.c dca584ff21fb033c2abff13cfb14db9c8c2c93c2 @@ -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)) @@ -15,15 +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; @@ -177,14 +185,60 @@ void menu_handler(void); void menu_handler(void); -int main(void) { - armed = FALSE; +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(); init_i2c(); init_pins(); init_timer(); + init_status(); event_register(EVENT_UART_INPUT, menu_handler); @@ -194,13 +248,12 @@ 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> "); - 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 +261,22 @@ 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 +387,56 @@ 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: