Disabled external gits

cs309-psoc/lab_1_1/sw/nios/application/app.c

@@ -0,0 +1,69 @@
+#include <stdlib.h>
+#include <io.h>
+#include <stdio.h>
+#include <inttypes.h>
+#include <stdbool.h>
+#include <unistd.h>
+
+#include "pantilt/pantilt.h"
+#include "system.h"
+
+#define SLEEP_DURATION_US (25000) //  25  ms
+#define PANTILT_STEP_US   (25)    //  25  us
+
+#define PANTILT_PWM_V_CENTER_DUTY_CYCLE_US ((PANTILT_PWM_V_MIN_DUTY_CYCLE_US + PANTILT_PWM_V_MAX_DUTY_CYCLE_US) / 2)
+#define PANTILT_PWM_H_CENTER_DUTY_CYCLE_US ((PANTILT_PWM_H_MIN_DUTY_CYCLE_US + PANTILT_PWM_H_MAX_DUTY_CYCLE_US) / 2)
+
+int main(void) {
+    // Hardware control structures
+    pantilt_dev pantilt = pantilt_inst((void *) PWM_0_BASE, (void *) PWM_1_BASE);
+
+    // Initialize hardware
+    pantilt_init(&pantilt);
+
+    // Center servos.
+    pantilt_configure_vertical(&pantilt, PANTILT_PWM_V_MIN_DUTY_CYCLE_US);
+    pantilt_configure_horizontal(&pantilt, PANTILT_PWM_H_MIN_DUTY_CYCLE_US);
+    pantilt_start_vertical(&pantilt);
+    pantilt_start_horizontal(&pantilt);
+
+    // Rotate servos in "square" motion
+    while (true) {
+        uint32_t v_duty_us = 0;
+        uint32_t h_duty_us = 0;
+
+        // bottom to top
+        v_duty_us = PANTILT_PWM_V_MIN_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_vertical(&pantilt, v_duty_us);
+            v_duty_us += PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (v_duty_us <= PANTILT_PWM_V_MAX_DUTY_CYCLE_US);
+
+        // left to right
+        h_duty_us = PANTILT_PWM_H_MIN_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_horizontal(&pantilt, h_duty_us);
+            h_duty_us += PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (h_duty_us <= PANTILT_PWM_H_MAX_DUTY_CYCLE_US);
+
+        // top to bottom
+        v_duty_us = PANTILT_PWM_V_MAX_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_vertical(&pantilt, v_duty_us);
+            v_duty_us -= PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (PANTILT_PWM_V_MIN_DUTY_CYCLE_US <= v_duty_us);
+
+        // left to right
+        h_duty_us = PANTILT_PWM_H_MAX_DUTY_CYCLE_US;
+        do {
+            pantilt_configure_horizontal(&pantilt, h_duty_us);
+            h_duty_us -= PANTILT_STEP_US;
+            usleep(SLEEP_DURATION_US);
+        } while (PANTILT_PWM_H_MIN_DUTY_CYCLE_US <= h_duty_us);
+    }
+
+    return EXIT_SUCCESS;
+}