Lots of development of new features. Radio input, motor output, PID control

loops, boot-time initialisation, option to run without attached UART.

And.. it flies!

Makefile

@@ -4,14 +4,23 @@ NAME=quad
 
 SSRCS=crt0.s
 CSRCS=main.c i2c.c wmp.c timer.c interrupt.c uart.c event.c matrix.c dcm.c
-CSRCS+=fisqrt.c
+CSRCS+=fisqrt.c stick.c trig.c motor.c
+
+#PROJOPTS=-DUSE_UART -DSEND_DCM
 
 COPTIM?=-O1
-CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra
+CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra $(PROJOPTS)
 
 LDSCRIPT=lpc2103_flash.ld
+
+# To build with the Clang Static Analyzer, use
+#     scan-build --use-cc=arm-elf-gcc make
+# And uncomment the following line:
 CC=arm-elf-gcc
+
 OBJCOPY=arm-elf-objcopy
+LINT=splint
+LINTFLAGS=-booltype bool -nolib +charint
 
 CLEANOBJS=$(OBJS) $(NAME).hex $(NAME).elf $(NAME).bin $(NAME).map .depend
 
@@ -45,4 +54,7 @@ clean:
 depend:
 	$(CC) -MM $(CFLAGS) -nostdlib -nostartfiles $(CSRCS) >.depend
 
+lint:
+	$(LINT) $(LINTFLAGS) $(CSRCS)
+
 .sinclude ".depend"