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Add ESC calibration mode, activated by holding down the button at startup.

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This commit is contained in:
Gavan Fantom
2012-12-10 23:20:14 +00:00
parent 274805c2a0
commit b7e7fea6ba
1 changed files with 51 additions and 0 deletions
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51
main.c
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@@ -18,6 +18,7 @@
#define SCS (*((volatile unsigned int *) 0xe01fc1a0))
#define BUTTON_PRESSED (!((FP0XVAL) & 0x00010000))
void init_pins(void)
{
@@ -180,6 +181,53 @@ void timer_event_handler(void)
void menu_handler(void);
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();
@@ -196,6 +244,9 @@ 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> ");
timer_delay_ms(1000);