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450 lines
8.7 KiB
450 lines
8.7 KiB
/* main.c */ |
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#include "wmp.h" |
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#include "i2c.h" |
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#include "timer.h" |
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#include "uart.h" |
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#include "interrupt.h" |
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#include "event.h" |
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#include "led.h" |
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#include "status.h" |
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#include "watchdog.h" |
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#include "thrust.h" |
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#define PINSEL0 (*((volatile unsigned int *) 0xE002C000)) |
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#define PINSEL1 (*((volatile unsigned int *) 0xE002C004)) |
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#define FP0XDIR (*((volatile unsigned int *) 0x3FFFC000)) |
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#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014)) |
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#define SCS (*((volatile unsigned int *) 0xe01fc1a0)) |
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#define BUTTON_PRESSED (!((FP0XVAL) & 0x00010000)) |
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void init_pins(void) |
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{ |
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PINSEL0 = 0x00a88055; /* P0.0 and P0.1 assigned to UART */ |
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/* P0.2 and P0.3 assigned to I2C */ |
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/* P0.7 and P0.9 assigned to MAT2.[02] */ |
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/* P0.10 and P0.11 assigned to CAP1.[01] */ |
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PINSEL1 = 0x20000828; /* P0.21 and P0.30 assigned to MAT3.[03] */ |
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/* P0.17 and P0.18 assigned to CAP1.[23] */ |
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SCS = 1; |
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FP0XDIR = 0x04000000; /* P0.26 is an output */ |
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FP0XVAL = 0x0; |
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} |
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#ifdef USE_UART |
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void reply(char *str) |
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{ |
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putstr(str); |
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putstr("\r\n"); |
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} |
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#else |
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#define reply(x) ((void)0) |
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#endif |
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unsigned int count = 0; |
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void minmax_sample(void) |
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{ |
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int count; |
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unsigned int fast_roll_min, fast_roll_max; |
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unsigned int fast_pitch_min, fast_pitch_max; |
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unsigned int fast_yaw_min, fast_yaw_max; |
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unsigned int slow_roll_min, slow_roll_max; |
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unsigned int slow_pitch_min, slow_pitch_max; |
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unsigned int slow_yaw_min, slow_yaw_max; |
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putstr("Sampling min/max values\r\n"); |
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if (!wmp_sample()) { |
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putstr("\r\nRead error\r\n"); |
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return; |
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} |
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fast_roll_min = fast_roll_max = wmp_roll; |
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fast_pitch_min = fast_pitch_max = wmp_pitch; |
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fast_yaw_min = fast_yaw_max = wmp_yaw; |
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slow_roll_min = slow_roll_max = wmp_roll; |
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slow_pitch_min = slow_pitch_max = wmp_pitch; |
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slow_yaw_min = slow_yaw_max = wmp_yaw; |
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count = 0; |
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while (1) { |
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if (!wmp_sample()) { |
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putstr("\r\nRead error\r\n"); |
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return; |
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} |
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if (wmp_roll_fast) { |
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if (wmp_roll < fast_roll_min) |
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fast_roll_min = wmp_roll; |
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if (wmp_roll > fast_roll_max) |
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fast_roll_max = wmp_roll; |
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} else { |
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if (wmp_roll < slow_roll_min) |
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slow_roll_min = wmp_roll; |
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if (wmp_roll > slow_roll_max) |
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slow_roll_max = wmp_roll; |
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} |
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if (wmp_pitch_fast) { |
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if (wmp_pitch < fast_pitch_min) |
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fast_pitch_min = wmp_pitch; |
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if (wmp_pitch > fast_pitch_max) |
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fast_pitch_max = wmp_pitch; |
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} else { |
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if (wmp_pitch < slow_pitch_min) |
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slow_pitch_min = wmp_pitch; |
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if (wmp_pitch > slow_pitch_max) |
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slow_pitch_max = wmp_pitch; |
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} |
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if (wmp_yaw_fast) { |
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if (wmp_yaw < fast_yaw_min) |
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fast_yaw_min = wmp_yaw; |
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if (wmp_yaw > fast_yaw_max) |
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fast_yaw_max = wmp_yaw; |
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} else { |
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if (wmp_yaw < slow_yaw_min) |
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slow_yaw_min = wmp_yaw; |
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if (wmp_yaw > slow_yaw_max) |
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slow_yaw_max = wmp_yaw; |
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} |
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count++; |
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if (count > 1000) { |
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putstr("("); |
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puthex(slow_roll_min); |
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putstr(", "); |
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puthex(slow_pitch_min); |
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putstr(", "); |
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puthex(slow_yaw_min); |
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putstr(") ("); |
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puthex(slow_roll_max); |
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putstr(", "); |
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puthex(slow_pitch_max); |
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putstr(", "); |
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puthex(slow_yaw_max); |
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putstr(") ("); |
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puthex(fast_roll_min); |
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putstr(", "); |
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puthex(fast_pitch_min); |
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putstr(", "); |
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puthex(fast_yaw_min); |
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putstr(") ("); |
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puthex(fast_roll_max); |
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putstr(", "); |
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puthex(fast_pitch_max); |
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putstr(", "); |
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puthex(fast_yaw_max); |
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putstr(") \r"); |
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count = 0; |
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} |
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timer_delay_ms(2); |
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} |
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} |
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void average_sample(void) |
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{ |
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int i; |
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int roll_total; |
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int pitch_total; |
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int yaw_total; |
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putstr("Sampling average values\r\n"); |
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roll_total = 0; |
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pitch_total = 0; |
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yaw_total = 0; |
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for (i = 0; i < 0x1000; i++) { |
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if (!wmp_sample()) { |
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putstr("\r\nRead error\r\n"); |
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return; |
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} |
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roll_total += wmp_roll; |
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pitch_total += wmp_pitch; |
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yaw_total += wmp_yaw; |
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timer_delay_ms(2); |
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} |
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putstr("("); |
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puthex(roll_total); |
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putstr(", "); |
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puthex(pitch_total); |
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putstr(", "); |
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puthex(yaw_total); |
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putstr(")\r\n"); |
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} |
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void timer_event_handler(void) |
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{ |
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wmp_start_sample(); |
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} |
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void menu_handler(void); |
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void wait_for_button_pressed(bool target) |
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{ |
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bool pressed; |
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led_set(!target); |
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/* Very crude debouncing */ |
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timer_delay_ms(100); |
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target = target ? TRUE:FALSE; |
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do { |
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pressed = BUTTON_PRESSED; |
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} while (pressed != target); |
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led_set(pressed); |
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} |
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void calibrate_escs() |
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{ |
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wait_for_button_pressed(0); |
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putstr("Calibration mode\r\n"); |
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wait_for_button_pressed(1); |
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wait_for_button_pressed(0); |
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set_thrust(0, 1.0); |
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set_thrust(1, 1.0); |
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set_thrust(2, 1.0); |
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set_thrust(3, 1.0); |
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putstr("Max throttle set\r\n"); |
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wait_for_button_pressed(1); |
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wait_for_button_pressed(0); |
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set_thrust(0, 0.0); |
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set_thrust(1, 0.0); |
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set_thrust(2, 0.0); |
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set_thrust(3, 0.0); |
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putstr("Zero throttle set\r\n"); |
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wait_for_button_pressed(1); |
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wait_for_button_pressed(0); |
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putstr("Exit calibration mode\r\n"); |
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} |
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int main(void) { |
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init_interrupt(); |
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init_uart(); |
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init_i2c(); |
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init_pins(); |
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init_timer(); |
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init_status(); |
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event_register(EVENT_UART_INPUT, menu_handler); |
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event_register(EVENT_I2C_COMPLETE, wmp_event_handler); |
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event_register(EVENT_TIMER, timer_event_handler); |
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putstr("Your entire life has been a mathematical error... a mathematical error I'm about to correct!\r\n"); |
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if (BUTTON_PRESSED) |
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calibrate_escs(); |
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putstr("prompt> "); |
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timer_delay_ms(1000); |
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if (!wmp_init()) |
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putstr("WMP initialisation failed\r\n"); |
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/* Flight is potentially live after this. */ |
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timer_set_period(5*TIMER_MS); |
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wmp_start_zero(); |
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led_init(); |
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init_watchdog(); |
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/* Good luck! */ |
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while (1) { |
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led_update(); |
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event_dispatch(); |
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watchdog_check(); |
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} |
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return 0; |
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} |
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static int power = 0; |
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void menu_handler(void) |
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{ |
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int i; |
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char c; |
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while (getch(&c)) { |
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#if 1 |
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continue; /* Yes, let's just ignore UART input now. */ |
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#endif |
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if (c == 0x0a) |
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continue; |
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putch(c); |
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putstr("\r\n"); |
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switch (c & 0xdf) { |
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case 0x0a: |
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case 0x0d: |
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break; |
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case 'A': |
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reply("apple"); |
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break; |
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case 'C': |
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count++; |
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putstr("The current count is "); |
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putint(count); |
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reply("."); |
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break; |
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case 'H': |
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case '?': |
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reply("Help is not available. Try a psychiatrist."); |
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break; |
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case 'T': |
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putstr(" I2C status is: "); |
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puthex(i2c_statreg()); |
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reply("."); |
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putstr("I2C register is: "); |
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puthex(i2c_conreg()); |
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reply("."); |
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break; |
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case 'I': |
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putstr("Initialising WMP... "); |
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if (wmp_init()) |
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reply("done"); |
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else |
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reply("FAIL"); |
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break; |
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case 'M': |
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putstr("Reading from WMP... "); |
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if (wmp_sample()) { |
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putstr("("); |
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puthex(wmp_roll); |
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putstr(", "); |
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puthex(wmp_pitch); |
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putstr(", "); |
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puthex(wmp_yaw); |
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reply(")."); |
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} else |
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reply("FAIL"); |
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break; |
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case 'L': |
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minmax_sample(); |
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break; |
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case 'V': |
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average_sample(); |
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break; |
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case 'D': |
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putstr("Reading calibration data... "); |
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if (wmp_read_calibration_data()) { |
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putstr("\r\n"); |
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for (i = 0; i < 0x10 ; i++) { |
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puthex(wmp_calibration_data[i]); |
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putstr(" "); |
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} |
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putstr("\r\n"); |
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for (i = 0x10; i < 0x20 ; i++) { |
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puthex(wmp_calibration_data[i]); |
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putstr(" "); |
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} |
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putstr("\r\n"); |
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} else { |
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reply("FAIL"); |
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} |
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break; |
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case 'N': |
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putstr("The time is "); |
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puthex(timer_read()); |
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reply("."); |
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break; |
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case 'P': |
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putstr("Initialising timer... "); |
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/* We want a 100Hz loop but two samples per iteration. |
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* So, we go for 200Hz. */ |
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timer_set_period(5*TIMER_MS); |
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reply("done"); |
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wmp_start_zero(); |
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break; |
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case 'W': |
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for (i = 0; i < 4; i++) { |
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putstr("Width "); |
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putint(i); |
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putstr(": "); |
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putint(timer_input(i)); |
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if (!timer_valid(i)) |
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putstr(" (invalid)"); |
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putstr("\r\n"); |
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} |
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if (!timer_allvalid()) { |
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putstr("ALL INVALID!\r\n"); |
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} |
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break; |
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case '0' & 0xdf: |
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set_thrust(0, 0.0); |
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set_thrust(1, 0.0); |
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set_thrust(2, 0.0); |
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set_thrust(3, 0.0); |
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power = 0; |
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break; |
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#if 0 |
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case '1' & 0xdf: |
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power--; |
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if (power < 0) |
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power = 15; |
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power = power % 16; |
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putstr("Power setting: "); |
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putint(power); |
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putstr("\r\n"); |
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set_thrust(0, ((float)power)/16.0); |
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break; |
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case '2' & 0xdf: |
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power++; |
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power = power % 16; |
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putstr("Power setting: "); |
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putint(power); |
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putstr("\r\n"); |
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set_thrust(0, ((float)power)/16.0); |
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break; |
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#endif |
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#if 0 |
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case '1' & 0xdf: |
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set_thrust(0, 0.5); |
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break; |
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case '2' & 0xdf: |
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set_thrust(1, 0.5); |
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break; |
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case '3' & 0xdf: |
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set_thrust(2, 0.5); |
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break; |
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case '4' & 0xdf: |
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set_thrust(3, 0.5); |
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break; |
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case '5' & 0xdf: |
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set_thrust(0, 1.0); |
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break; |
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case '6' & 0xdf: |
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set_thrust(1, 1.0); |
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break; |
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case '7' & 0xdf: |
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set_thrust(2, 1.0); |
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break; |
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case '8' & 0xdf: |
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set_thrust(3, 1.0); |
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break; |
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#endif |
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case '9' & 0xdf: |
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timer_set_pwm_invalid(0); |
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timer_set_pwm_invalid(1); |
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timer_set_pwm_invalid(2); |
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timer_set_pwm_invalid(3); |
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break; |
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default: |
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reply("Unrecognised command."); |
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break; |
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} |
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putstr("prompt> "); |
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} |
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}
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