copied over all of the custom pcb stuff and switched connectors + added PWM headers to the power board
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4029 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/gyro_board/src/usb/ParTest.c b/gyro_board/src/usb/ParTest.c
new file mode 100644
index 0000000..67f3a45
--- /dev/null
+++ b/gyro_board/src/usb/ParTest.c
@@ -0,0 +1,119 @@
+/*
+ FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+ ***************************************************************************
+ * *
+ * If you are: *
+ * *
+ * + New to FreeRTOS, *
+ * + Wanting to learn FreeRTOS or multitasking in general quickly *
+ * + Looking for basic training, *
+ * + Wanting to improve your FreeRTOS skills and productivity *
+ * *
+ * then take a look at the FreeRTOS eBook *
+ * *
+ * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ * A pdf reference manual is also available. Both are usually delivered *
+ * to your inbox within 20 minutes to two hours when purchased between 8am *
+ * and 8pm GMT (although please allow up to 24 hours in case of *
+ * exceptional circumstances). Thank you for your support! *
+ * *
+ ***************************************************************************
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ ***NOTE*** The exception to the GPL is included to allow you to distribute
+ a combined work that includes FreeRTOS without being obliged to provide the
+ source code for proprietary components outside of the FreeRTOS kernel.
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details. You should have received a copy of the GNU General Public
+ License and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ http://www.FreeRTOS.org - Documentation, latest information, license and
+ contact details.
+
+ http://www.SafeRTOS.com - A version that is certified for use in safety
+ critical systems.
+
+ http://www.OpenRTOS.com - Commercial support, development, porting,
+ licensing and training services.
+*/
+
+/* FreeRTOS.org includes. */
+#include "FreeRTOS.h"
+
+/* Demo application includes. */
+#include "partest.h"
+
+#define LED_1 ( 1UL << 8UL )
+#define LED_2 ( 1UL << 7UL )
+#define LED_3 ( 1UL << 6UL )
+
+#define partstFIO1_BITS ( LED_2 | LED_3 | LED_1)
+#define partstNUM_LEDS ( 3 )
+
+static unsigned long ulLEDs[] = {LED_1, LED_2, LED_3};
+
+/*-----------------------------------------------------------
+ * Simple parallel port IO routines.
+ *-----------------------------------------------------------*/
+
+void vParTestInitialise(void)
+{
+ /* LEDs on port 2. */
+ GPIO2->FIODIR |= partstFIO1_BITS;
+ //GPIO0->FIODIR = LED_4;
+
+ /* Start will all LEDs off. */
+ GPIO2->FIOCLR = partstFIO1_BITS;
+ //GPIO0->FIOSET = LED_4;
+ //PINCON->PINMODE0 = (PINCON->PINMODE0 & 0xfffffff0) | 0x00000001;
+}
+/*-----------------------------------------------------------*/
+
+void vParTestSetLED(unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue)
+{
+ if (uxLED < partstNUM_LEDS) {
+ if (xValue) {
+ GPIO2->FIOCLR = ulLEDs[uxLED];
+ } else {
+ GPIO2->FIOSET = ulLEDs[uxLED];
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vParTestToggleLED(unsigned portBASE_TYPE uxLED)
+{
+ if (uxLED < partstNUM_LEDS) {
+ if (GPIO2->FIOPIN & ulLEDs[uxLED]) {
+ GPIO2->FIOCLR = ulLEDs[uxLED];
+ } else {
+ GPIO2->FIOSET = ulLEDs[uxLED];
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxParTextGetLED(unsigned portBASE_TYPE uxLED)
+{
+ if (uxLED < partstNUM_LEDS) {
+ return (GPIO2->FIOPIN & ulLEDs[uxLED]);
+ } else {
+ return 0;
+ }
+}
+/*-----------------------------------------------------------*/
+