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# # old_revision [d0420ebd87c820e33a32b29727989516e15980a8] # new_revision [24d5b9f4dff9135787b198fe1127d9c1e3326b9c] # # patch "main.c" # from [958bdc83e26a4a7dda991daabf259c44079bc7c5] # to [8284ca89102568b2ae6f26e057ab296621f87e6a] # ============================================================ --- main.c 958bdc83e26a4a7dda991daabf259c44079bc7c5 +++ main.c 8284ca89102568b2ae6f26e057ab296621f87e6a @@ -6,8 +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)) @@ -179,13 +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); @@ -197,11 +198,7 @@ int main(void) { putstr("prompt> "); - led_set(FALSE); timer_delay_ms(1000); - led_set(TRUE); - timer_delay_ms(1000); - led_set(FALSE); if (!wmp_init()) putstr("WMP initialisation failed\r\n"); @@ -209,17 +206,22 @@ int main(void) { timer_set_period(5*TIMER_MS); wmp_start_zero(); - led_set_pattern(led_pattern_active); + led_init(); + init_watchdog(); + /* Good luck! */ while (1) { led_update(); event_dispatch(); + watchdog_check(); } return 0; } +static int power = 0; + void menu_handler(void) { int i; @@ -330,35 +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: