121 lines
3.3 KiB
C
121 lines
3.3 KiB
C
/***************************************************************************
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* Copyright (C) 01/2008 by Olaf Rempel *
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* razzor@kopf-tisch.de *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; version 2 of the License *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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#include "AT91SAM7S256.h"
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#include "at91_sysc.h"
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#include "at91_dbgu.h"
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#include "at91_pitc.h"
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#include "at91_adc.h"
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#include "at91_tests.h"
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#include "at91_udp.h"
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#include "at91_pio.h"
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#include "at91_twi.h"
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#include "at91_tc1.h"
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#include "memalloc.h"
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#include "board.h"
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#include <stdio.h>
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#include <string.h>
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static uint32_t pitc_test(struct pitc_timer *timer)
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{
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static uint32_t i;
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*AT91C_PIOA_SODR = i;
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i = i ^ LED_GREEN;
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*AT91C_PIOA_CODR = i;
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/*
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struct rc_values rc;
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uint32_t count = rcontrol_getvalues(&rc);
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printf("%ld channels: ", count);
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uint32_t j;
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for (j = 0; j < count; j++)
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printf("%+5d ", rc.chan[j]);
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printf("\r");
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static uint32_t cnt;
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if (cnt++ == 300) {
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rcontrol_calibrate(RC_CAL_END);
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printf("\n\r");
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rcontrol_print_cal();
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}
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*/
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adc_trigger();
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return PITC_RESTART_TIMER;
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}
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static struct pitc_timer pitc_test_timer = {
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.interval = 100,
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.func = &pitc_test,
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};
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static void motor_mixer(int16_t pitch, int16_t nick, int16_t roll, int16_t yaw)
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{
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static uint8_t pwm[4];
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pwm[0] = pitch + nick + yaw;
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pwm[1] = pitch - nick + yaw;
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pwm[2] = pitch + roll - yaw;
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pwm[3] = pitch - roll - yaw;
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twi_setpwm(pwm);
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}
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int main(void)
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{
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/* LED outputs */
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*AT91C_PIOA_PER = LED_GREEN | LED_ORANGE;
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*AT91C_PIOA_OER = LED_GREEN | LED_ORANGE;
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/* needed for dbgu */
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at91_sysc_init();
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at91_dbgu_init();
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at91_dbgu_puts("==========================================================\n\rGood morning Dave\n\r");
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/* triggers pinchange-isrs */
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at91_pio_init();
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/* timer */
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at91_pitc_init();
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at91_rttc_test_init();
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at91_tc1_init();
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/* twi */
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at91_twi_init();
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at91_twi_test();
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/* usb */
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at91_udp_init();
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printf("static alloc: %5ld bytes\n\r", static_alloc_used());
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/* adc, need timer */
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at91_adc_init();
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pitc_schedule_timer(&pitc_test_timer);
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// rcontrol_calibrate(RC_CAL_START);
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while (1);
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}
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