From d1048322cea7cf755bf81f4cc7cb94d7f354a4a3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergiusz=20Baza=C5=84ski?= <q3k@q3k.org>
Date: Sun, 11 Nov 2012 23:03:15 +0100
Subject: [PATCH] Last version from HackWAW. See ya next year!

---
 test.py     |  4 ++++
 uart_echo.c | 41 ++++++++++++++++++++++++++++++++++-------
 2 files changed, 38 insertions(+), 7 deletions(-)

diff --git a/test.py b/test.py
index 60617db..e3fe591 100644
--- a/test.py
+++ b/test.py
@@ -1,8 +1,12 @@
 import serial
 import sys
+import time
 
 s = serial.Serial("/dev/ttyACM0", 115200, timeout=10)
 
+def fire():
+    s.write("c\xFF")
+fire()
 #s.write("r")
 #print s.read()
 s.write("a" + chr(int(sys.argv[1])))
diff --git a/uart_echo.c b/uart_echo.c
index 4f7d8db..6f12e95 100644
--- a/uart_echo.c
+++ b/uart_echo.c
@@ -97,6 +97,8 @@ typedef unsigned char u8;
 typedef char s8;
 typedef unsigned int u32;
 
+volatile u32 g_FiredTime = 0;
+
 struct {
     struct {
         u32 Servo1 : 1,
@@ -119,7 +121,8 @@ struct {
 void CommitState(void)
 {
     // F4 = fire
-    GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, g_OutputControl.Digital.A ? GPIO_PIN_4 : 0); 
+    //GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, g_OutputControl.Digital.A ? GPIO_PIN_4 : 0); 
+    GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, g_OutputControl.Digital.A ? GPIO_PIN_2 : 0); 
 }
 
 void ClearNext(void)
@@ -131,10 +134,18 @@ void ClearNext(void)
     g_OutputControl.NextReceive.Digital.C = 0;
 }
 
-u32 Timer0Counter = 0;
+volatile u32 Timer0Counter = 0;
+volatile u32 MiliCounter = 0;
+u32 MiliSubCounter = 0;
 void Timer0Handler(void)
 {
     ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
+    MiliSubCounter++;
+    if (MiliSubCounter >= 100)
+    {
+        MiliSubCounter = 0;
+        MiliCounter++;
+    }
     Timer0Counter++;
 
     if (Timer0Counter >= 2000)
@@ -146,11 +157,20 @@ void Timer0Handler(void)
         GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, GPIO_PIN_3);
     }
 
-    if (Timer0Counter == 100 + g_OutputControl.Servo1)
+    if (Timer0Counter == 50 + g_OutputControl.Servo1)
         GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2, 0);
 
-    if (Timer0Counter == 100 + g_OutputControl.Servo2)
+    if (Timer0Counter == 50 + g_OutputControl.Servo2)
         GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, 0);
+
+    if (g_OutputControl.Digital.A)
+    {
+        if (MiliCounter > (g_FiredTime + 200))
+        {
+            g_OutputControl.Digital.A = 0;
+            CommitState();
+        }
+    }
 }
 
 void
@@ -180,17 +200,24 @@ UARTIntHandler(void)
         u8 Sent = 0;
         if (g_OutputControl.NextReceive.Digital.A)
         {
-            g_OutputControl.Digital.A = Data > 0 ? 1 : 0;
+            if (Data > 0)
+            {
+                UARTSend("start ", 6);
+                g_FiredTime = MiliCounter;
+                g_OutputControl.Digital.A = 1;
+            }
             Sent = 1;
         }
         else if (g_OutputControl.NextReceive.Servo1)
         {
-            g_OutputControl.Servo1 = (Data * 100) / 256;
+            UARTSend("s1 ", 3);
+            g_OutputControl.Servo1 = (Data * 200) / 256;
             Sent = 1;
         }
         else if (g_OutputControl.NextReceive.Servo2)
         {
-            g_OutputControl.Servo2 = (Data * 100) / 256;
+            UARTSend("s2, ", 4);
+            g_OutputControl.Servo2 = (Data * 200) / 256;
             //UARTSend("b", 1);
             Sent = 1;
         }