[paparazzi-commits] [6075] Update overo_blmc_calibrate, make it actually work

[Allen Ibara]

Revision: 6075
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6075
Author:   aibara
Date:     2010-10-06 04:34:35 +0000 (Wed, 06 Oct 2010)
Log Message:
-----------
Update overo_blmc_calibrate, make it actually work

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c

Modified: paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c     2010-10-06 
04:33:53 UTC (rev 6074)
+++ paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c     2010-10-06 
04:34:35 UTC (rev 6075)
@@ -34,7 +34,6 @@
 
 #include "std.h"
 #include "fms_debug.h"
-#include "fms_periodic.h"
 
 /* stuff for io processor link */
 #include "fms_spi_link.h"
@@ -42,45 +41,17 @@
 
 struct OveroBLMCCalibrate blmc_calibrate;
 
-static void parse_command_line(int argc, char** argv);
 static void main_init(void);
-static void main_periodic(int my_sig_num);
 static void dialog_with_io_proc(void);
 
-
 int main(int argc, char *argv[]) {
 
-  parse_command_line(argc, argv);
-  
   main_init();
-  TRACE(TRACE_DEBUG, "%s", "Entering mainloop\n");
 
-  /* Enter our mainloop */
-  event_dispatch();
-  
-  TRACE(TRACE_DEBUG, "%s", "leaving mainloop... goodbye!\n");
-
   return 0;
 
 }
 
-static void main_periodic(int my_sig_num) {
-
-       static uint32_t counter = 0;
-  dialog_with_io_proc();
-
-       if (counter <= 4096) {
-               counter++;
-       } else if (counter > 4096) { 
-       for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 1000;
-               counter++;
-       } else if (counter > 8192) {
-       for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 1500;
-       }
-}
-
-
-
 static void dialog_with_io_proc() {
 
   struct AutopilotMessageCRCFrame msg_in;
@@ -93,34 +64,25 @@
 
 }
 
-
 static void main_init(void) {
 
-  TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
-
   /* Initalize our SPI link to IO processor */
   if (spi_link_init()) {
     TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
     return;
   }
   
-  /* Initalize the event library */
-  event_init();
-  
-  /* Initalize our \xF4 so accurate periodic timer */
-  if (fms_periodic_init(main_periodic)) {
-    TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
-    return; 
-  }
-  
+       printf("Starting at 2000us\n");
   /* Initialize blaaa */
   for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 2000;
+  dialog_with_io_proc();
+       getchar();
+       printf("At 1000us\n");
+  for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 1000;
+  dialog_with_io_proc();
+       getchar();
+       printf("At 1500us\n");
+  for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 1500;
+  dialog_with_io_proc();
 
-  TRACE(TRACE_DEBUG, "%s", "Initialization completed\n");
 }
-
-
-
-static void parse_command_line(int argc, char** argv) {
-
-}