The unified diff between revisions [81e4dce2..] and [5a7404c7..] is displayed below. It can also be downloaded as a raw diff.

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

#
# old_revision [81e4dce274e79dd9187ed4bd182e1d6fc0fdfb37]
# new_revision [5a7404c7ee458d3eab4b0548e4bc6b6a8b26135f]
#
# patch "main.c"
#  from [b366dce1bedfd103e47161ada956b8569816f2f4]
#    to [cffbf353c53aca29609c39daadeb325f98328bd5]
#
============================================================
--- main.c	b366dce1bedfd103e47161ada956b8569816f2f4
+++ main.c	cffbf353c53aca29609c39daadeb325f98328bd5
@@ -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))
@@ -15,6 +18,7 @@
 
 #define SCS (*((volatile unsigned int *) 0xe01fc1a0))
 
+#define BUTTON_PRESSED (!((FP0XVAL) & 0x00010000))
 
 void init_pins(void)
 {
@@ -177,14 +181,60 @@ 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 +244,12 @@ 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 +257,22 @@ 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 +383,56 @@ 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: