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# # old_revision [7ac10cd34167baa43683a09e9e9e6778e691171d] # new_revision [961b04ddb07ba2b5dd6bccfa66a03e442e40d8f0] # # patch "main.c" # from [014a6056e25731519db6fc251ceb035b3bcd1c2a] # to [f3f04a92cb8f9ba8fdecd0b2fd95773011c1e076] # ============================================================ --- main.c 014a6056e25731519db6fc251ceb035b3bcd1c2a +++ main.c f3f04a92cb8f9ba8fdecd0b2fd95773011c1e076 @@ -1,79 +1,162 @@ -#define UARTBASE 0xE000C000 +#include "wmp.h" +#include "i2c.h" +#include "timer.h" +#include "uart.h" +#include "interrupt.h" -#define RBR 0x00 -#define THR 0x00 -#define DLL 0x00 -#define DLM 0x04 -#define IER 0x04 -#define IIR 0x08 -#define FCR 0x08 +#define PINSEL0 (*((volatile unsigned char *) 0xE002C000)) -#define LCR 0x0c -#define LSR 0x14 -#define SCR 0x1c -#define ACR 0x20 -#define FDR 0x28 -#define TER 0x30 +void init_pins(void) +{ + PINSEL0 = 0x00000055; /* P0.0 and P0.1 assigned to UART */ + /* P0.2 and P0.3 assigned to I2C */ +} -#define REG(x) (((volatile unsigned char *)UARTBASE)[x]) +void reply(char *str) +{ + putstr(str); + putstr("\r\n"); +} -#define U0THRE ((REG(LSR) & (1<<5))) /* UART0 transmitter holding register is empty */ -#define U0DR ((REG(LSR) & (1<<0))) /* UART0 data ready */ +unsigned int count = 0; -#define PINSEL0 (*((volatile unsigned char *) 0xE002C000)) +void minmax_sample(void) +{ + int count; + unsigned int fast_roll_min, fast_roll_max; + unsigned int fast_pitch_min, fast_pitch_max; + unsigned int fast_yaw_min, fast_yaw_max; + unsigned int slow_roll_min, slow_roll_max; + unsigned int slow_pitch_min, slow_pitch_max; + unsigned int slow_yaw_min, slow_yaw_max; -void init_uart(void) -{ - REG(FDR) = 0x10; /* DivAddVal = 0, MulVal = 1 */ + putstr("Sampling min/max values\r\n"); + if (!wmp_sample()) { + putstr("\r\nRead error\r\n"); + return; + } - REG(LCR) = 0x80; - REG(DLM) = 0x00; - REG(DLL) = 0x08; /* 14745600 / (16*115200) */ - REG(LCR) = 0x13; - REG(FCR) = 0x07; + fast_roll_min = fast_roll_max = wmp_roll; + fast_pitch_min = fast_pitch_max = wmp_pitch; + fast_yaw_min = fast_yaw_max = wmp_yaw; - PINSEL0 = 0x00000005; /* P0.0 and P0.1 assigned to UART */ -} + slow_roll_min = slow_roll_max = wmp_roll; + slow_pitch_min = slow_pitch_max = wmp_pitch; + slow_yaw_min = slow_yaw_max = wmp_yaw; -void putch(char c) { - while (!U0THRE); - REG(THR) = c; -} + count = 0; -void putstr(char *s) { - while (*s) putch(*s++); + 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 putint(unsigned int n) { - char s[11]; +void average_sample(void) +{ int i; + int roll_total; + int pitch_total; + int yaw_total; - i = 10; - s[i] = '\0'; + putstr("Sampling average values\r\n"); - do { - s[--i] = n % 10 + '0'; - } while ((n /= 10) > 0); + roll_total = 0; + pitch_total = 0; + yaw_total = 0; - putstr(s+i); + 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"); } -char getch(void) { - while (!U0DR); - return REG(RBR); -} - -void reply(char *str) -{ - putstr(str); - putstr("\r\n"); -} - -unsigned int count = 0; - int main(void) { + int i; + init_interrupt(); init_uart(); + 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) { @@ -101,6 +184,82 @@ int main(void) { 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; + case 'P': + putstr("Initialising timer... "); + timer_set_period(10000*TIMER_MS); + reply("done"); + break; default: reply("Unrecognised command."); break;