add sch and src

software/hexapod7697/hexapod7697.ino

@@ -0,0 +1,84 @@
+
+#include "src/setting_mode.h"
+#include "src/normal_mode.h"
+
+#include "src/hexapod/debug.h"
+#include "src/hexapod/hexapod.h"
+
+//
+//  mode
+//    0:  normal mode
+//    1:  setting mode (for servo calibration)
+//
+static int _mode = 0;
+
+static void log_output(const char* log) {
+  Serial.println(log);
+}
+
+//
+// wait for N secs, enter setting mode if pressed USR button
+//
+void boot_wait(int wait_for = 2000) {
+  digitalWrite(LED_BUILTIN, HIGH);
+
+  pinMode(6, INPUT);
+  while (wait_for > 0) {
+    if (HIGH == digitalRead(6)) {
+      _mode = 1;
+      break;
+    }
+    delay(100);
+    wait_for -= 100;
+  }
+
+  digitalWrite(LED_BUILTIN, LOW);
+}
+
+//
+//  Do common setup and mode-specific setup
+//
+void setup() {
+  //Initialize serial and wait for port to open:
+  Serial.begin(115200);
+  Serial.println("Starting...");
+
+  //
+  // Common setup()
+  //
+
+  // Initialize GPIO
+  pinMode(LED_BUILTIN, OUTPUT);
+
+  // Workaround for beta PCB
+  pinMode(2, INPUT);
+  pinMode(3, INPUT);
+
+  boot_wait();
+
+  hexapod::initLogOutput(log_output, millis);
+  hexapod::Hexapod.init(_mode == 1);
+
+  //
+  // Mode-specific setup()
+  //
+
+  if (_mode == 0) {
+    normal_setup();
+  }
+  else if (_mode == 1) {
+    setting_setup();
+  }
+
+  Serial.print("Started, mode=");
+  Serial.println(_mode);
+}
+
+void loop() {
+  if (_mode == 0) {
+    normal_loop();
+  }
+  else if (_mode == 1) {
+    setting_loop();
+  }
+}