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# # old_revision [0b1d8473609f29aa4a19839761537a746e7d641d] # new_revision [b85a3bbccc40f21e02f50101af764be93eeb9538] # # patch "main.c" # from [fb017164ff6afc1976107459118fb6bca950ac3f] # to [3a525d062c198ad4a596f4bfb7360c3acbf5acfb] # ============================================================ --- main.c fb017164ff6afc1976107459118fb6bca950ac3f +++ main.c 3a525d062c198ad4a596f4bfb7360c3acbf5acfb @@ -1,4 +1,8 @@ +#include "wmp.h" +#include "i2c.h" +#include "timer.h" + #define UARTBASE 0xE000C000 #define RBR 0x00 @@ -16,36 +20,322 @@ #define FDR 0x28 #define TER 0x30 -#define REG(x) (((volatile unsigned char *)UARTBASE)[x]) +#define UREG(x) (((volatile unsigned char *)UARTBASE)[x]) -#define U0THRE ((REG(LSR) & (1<<5))) /* UART0 transmitter holding register is empty */ +#define U0THRE ((UREG(LSR) & (1<<5))) /* UART0 transmitter holding register is empty */ +#define U0DR ((UREG(LSR) & (1<<0))) /* UART0 data ready */ #define PINSEL0 (*((volatile unsigned char *) 0xE002C000)) void init_uart(void) { - REG(FDR) = 0x10; /* DivAddVal = 0, MulVal = 1 */ + UREG(FDR) = 0x10; /* DivAddVal = 0, MulVal = 1 */ - REG(LCR) = 0x80; - REG(DLM) = 0x00; - REG(DLL) = 0x08; /* 14745600 / (16*115200) */ - REG(LCR) = 0x13; - REG(FCR) = 0x07; + UREG(LCR) = 0x80; + UREG(DLM) = 0x00; + UREG(DLL) = 0x08; /* 14745600 / (16*115200) */ + UREG(LCR) = 0x13; + UREG(FCR) = 0x07; +} - PINSEL0 = 0x00000005; /* P0.0 and P0.1 assigned to UART */ +void init_pins(void) +{ + PINSEL0 = 0x00000055; /* P0.0 and P0.1 assigned to UART */ + /* P0.2 and P0.3 assigned to I2C */ } void putch(char c) { while (!U0THRE); - REG(THR) = c; + UREG(THR) = c; } void putstr(char *s) { while (*s) putch(*s++); } +void putint(unsigned int n) { + char s[11]; + int i; + + i = 10; + s[i] = '\0'; + + do { + s[--i] = n % 10 + '0'; + } while ((n /= 10) > 0); + + putstr(s+i); +} + +void puthex(unsigned int n) { + char s[9]; + int i; + + i = 8; + s[i] = '\0'; + + do { + int x = n % 16; + if (x > 9) + x += 'A' - '0' - 10; + s[--i] = x + '0'; + } while ((n /= 16) > 0); + + putstr(s+i); +} + +char getch(void) { + while (!U0DR); + return UREG(RBR); +} + +void reply(char *str) +{ + putstr(str); + putstr("\r\n"); +} + +unsigned int count = 0; + +void minmax_sample(void) +{ + int count; + int fast_roll_min, fast_roll_max; + int fast_pitch_min, fast_pitch_max; + int fast_yaw_min, fast_yaw_max; + int slow_roll_min, slow_roll_max; + int slow_pitch_min, slow_pitch_max; + int slow_yaw_min, slow_yaw_max; + + putstr("Sampling min/max values\r\n"); + if (!wmp_sample()) { + putstr("\r\nRead error\r\n"); + return; + } + + fast_roll_min = fast_roll_max = wmp_roll; + fast_pitch_min = fast_pitch_max = wmp_pitch; + fast_yaw_min = fast_yaw_max = wmp_yaw; + + slow_roll_min = slow_roll_max = wmp_roll; + slow_pitch_min = slow_pitch_max = wmp_pitch; + slow_yaw_min = slow_yaw_max = wmp_yaw; + + count = 0; + + while (1) { + if (!wmp_sample()) { + putstr("\r\nRead error\r\n"); + return; + } + if (wmp_roll_fast) { + if (wmp_roll < fast_roll_min) + fast_roll_min = wmp_roll; + if (wmp_roll > fast_roll_max) + fast_roll_max = wmp_roll; + } else { + if (wmp_roll < slow_roll_min) + slow_roll_min = wmp_roll; + if (wmp_roll > slow_roll_max) + slow_roll_max = wmp_roll; + } + if (wmp_pitch_fast) { + if (wmp_pitch < fast_pitch_min) + fast_pitch_min = wmp_pitch; + if (wmp_pitch > fast_pitch_max) + fast_pitch_max = wmp_pitch; + } else { + if (wmp_pitch < slow_pitch_min) + slow_pitch_min = wmp_pitch; + if (wmp_pitch > slow_pitch_max) + slow_pitch_max = wmp_pitch; + } + if (wmp_yaw_fast) { + if (wmp_yaw < fast_yaw_min) + fast_yaw_min = wmp_yaw; + if (wmp_yaw > fast_yaw_max) + fast_yaw_max = wmp_yaw; + } else { + if (wmp_yaw < slow_yaw_min) + slow_yaw_min = wmp_yaw; + if (wmp_yaw > slow_yaw_max) + slow_yaw_max = wmp_yaw; + } + count++; + if (count > 1000) { + putstr("("); + puthex(slow_roll_min); + putstr(", "); + puthex(slow_pitch_min); + putstr(", "); + puthex(slow_yaw_min); + putstr(") ("); + puthex(slow_roll_max); + putstr(", "); + puthex(slow_pitch_max); + putstr(", "); + puthex(slow_yaw_max); + putstr(") ("); + puthex(fast_roll_min); + putstr(", "); + puthex(fast_pitch_min); + putstr(", "); + puthex(fast_yaw_min); + putstr(") ("); + puthex(fast_roll_max); + putstr(", "); + puthex(fast_pitch_max); + putstr(", "); + puthex(fast_yaw_max); + putstr(") \r"); + count = 0; + } + timer_delay_ms(2); + } +} + +void average_sample(void) +{ + int i; + int roll_total; + int pitch_total; + int yaw_total; + + putstr("Sampling average values\r\n"); + + roll_total = 0; + pitch_total = 0; + yaw_total = 0; + + for (i = 0; i < 0x1000; i++) { + if (!wmp_sample()) { + putstr("\r\nRead error\r\n"); + return; + } + roll_total += wmp_roll; + pitch_total += wmp_pitch; + yaw_total += wmp_yaw; + timer_delay_ms(2); + } + putstr("("); + puthex(roll_total); + putstr(", "); + puthex(pitch_total); + putstr(", "); + puthex(yaw_total); + putstr(")\r\n"); +} + int main(void) { + int i; + int data; init_uart(); - putstr("Your entire life has been a mathematical error... a mathematical error I'm about to correct!\n"); + init_i2c(); + init_pins(); + init_timer(); + putstr("Your entire life has been a mathematical error... a mathematical error I'm about to correct!\r\n"); + + while (1) { + char c; + putstr("prompt> "); + c = getch(); + if (c == 0x0a) + continue; + putch(c); + putstr("\r\n"); + switch (c & 0xdf) { + case 0x0a: + case 0x0d: + break; + case 'A': + reply("apple"); + break; + case 'C': + count++; + putstr("The current count is "); + putint(count); + reply("."); + break; + case 'H': + case '?': + reply("Help is not available. Try a psychiatrist."); + break; + case 'T': + putstr("I2C status was: "); + puthex(i2cstat); + putstr(" I2C status is: "); + puthex(i2c_statreg()); + reply("."); + putstr("I2C register is: "); + puthex(i2c_conreg()); + reply("."); + break; + case 'S': + putstr("Sending START... "); + if (i2c_send_start()) + reply("OK"); + else + reply("FAIL"); + break; + case 'O': + putstr("Sending STOP... "); + i2c_send_stop(); + reply("sent"); + break; + case 'I': + putstr("Initialising WMP... "); + if (wmp_init()) + reply("done"); + else + reply("FAIL"); + break; + case 'M': + putstr("Reading from WMP... "); + if (wmp_sample()) { + putstr("("); + puthex(wmp_roll); + putstr(", "); + puthex(wmp_pitch); + putstr(", "); + puthex(wmp_yaw); + reply(")."); + } else + reply("FAIL"); + break; + case 'L': + minmax_sample(); + break; + case 'V': + average_sample(); + break; + case 'D': + putstr("Reading calibration data... "); + if (wmp_read_calibration_data()) { + putstr("\r\n"); + for (i = 0; i < 0x10 ; i++) { + puthex(wmp_calibration_data[i]); + putstr(" "); + } + putstr("\r\n"); + for (i = 0x10; i < 0x20 ; i++) { + puthex(wmp_calibration_data[i]); + putstr(" "); + } + putstr("\r\n"); + } else { + reply("FAIL"); + } + break; + case 'N': + putstr("The time is "); + puthex(timer_read()); + reply("."); + break; + default: + reply("Unrecognised command."); + break; + } + } + return 0; }