Refactor CB 3, 4, 5 with complex modular source code and compiled UF2/BIN files

0x001da_cb/src/main.c

@@ -1,25 +1,28 @@
+/**
+ * @file main.c
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
 #include <stdio.h>
 #include "pico/stdlib.h"
-
-#define STATE_IDLE 0
-#define STATE_ARMED 1
-
-int current_state = STATE_ARMED;
-int current_altitude = 0; // On the ground
-
-static void process_payload_state() {
-    if (current_state == STATE_ARMED && current_altitude > 500) {
-        printf("PWM ACTIVE: PAYLOAD DEPLOYED.\r\n");
-        // Trigger SG90 Servo PWM here
-    } else {
-        printf("PWM LOCKED: SAFETY ENGAGED.\r\n");
-    }
-}
+#include "pwm_ctrl.h"
+#include "state_machine.h"
 
 int main(void) {
     stdio_init_all();
+    init_servo();
+    
+    sleep_ms(2000);
+    printf("SYSTEM BOOT: HEAVY LIFT UAS ONLINE.\r\n");
+    
     while (true) {
         process_payload_state();
-        sleep_ms(1000);
+        sleep_ms(2000);
     }
+    return 0;
 }

0x001da_cb/src/pwm_ctrl.c

@@ -0,0 +1,36 @@
+/**
+ * @file pwm_ctrl.c
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
+#include "pwm_ctrl.h"
+#include "hardware/pwm.h"
+#include "hardware/gpio.h"
+#include <stdio.h>
+
+#define SERVO_PIN 16
+static int pwm_slice = 0;
+
+void init_servo(void) {
+    gpio_set_function(SERVO_PIN, GPIO_FUNC_PWM);
+    pwm_slice = pwm_gpio_to_slice_num(SERVO_PIN);
+    pwm_set_wrap(pwm_slice, 39062);
+    pwm_set_clkdiv(pwm_slice, 64.0f);
+    pwm_set_enabled(pwm_slice, true);
+    pwm_set_gpio_level(SERVO_PIN, 0);
+}
+
+void deploy_payload(void) {
+    printf("[*] PWM ACTIVE: PAYLOAD BAY DEPLOYED.\r\n");
+    pwm_set_gpio_level(SERVO_PIN, 4000);
+}
+
+void lock_payload(int altitude) {
+    printf("[-] ALTITUDE %d. PWM LOCKED: SAFETY ENGAGED.\r\n", altitude);
+    pwm_set_gpio_level(SERVO_PIN, 0);
+}

0x001da_cb/src/state_machine.c

@@ -0,0 +1,26 @@
+/**
+ * @file state_machine.c
+ * @brief Operation Broken Wing Firmware
+ * @author Kevin Thomas
+ * @date 2026
+ *
+ * MIT License
+ * Copyright (c) 2026 Kevin Thomas
+ */
+
+#include "state_machine.h"
+#include "pwm_ctrl.h"
+#include <stdio.h>
+
+drone_state_t drone = {
+    .current_state = STATE_ARMED,
+    .current_altitude = 0, // Grounded
+};
+
+void __noinline process_payload_state(void) {
+    if (drone.current_state == STATE_ARMED && drone.current_altitude > 500) {
+        deploy_payload();
+    } else {
+        lock_payload(drone.current_altitude);
+    }
+}