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# # old_revision [8760ae9232295422550b79f09e55122390704b3c] # new_revision [81e4dce274e79dd9187ed4bd182e1d6fc0fdfb37] # # patch "main.c" # from [ef5435dd23ece2876b0d557328e6c83a7ee04ab6] # to [b366dce1bedfd103e47161ada956b8569816f2f4] # ============================================================ --- main.c ef5435dd23ece2876b0d557328e6c83a7ee04ab6 +++ main.c b366dce1bedfd103e47161ada956b8569816f2f4 @@ -1,99 +1,43 @@ +/* main.c */ #include "wmp.h" #include "i2c.h" #include "timer.h" +#include "uart.h" +#include "interrupt.h" +#include "event.h" +#include "stick.h" -#define UARTBASE 0xE000C000 +#define PINSEL0 (*((volatile unsigned int *) 0xE002C000)) +#define PINSEL1 (*((volatile unsigned int *) 0xE002C004)) +#define FP0XDIR (*((volatile unsigned int *) 0x3FFFC000)) +#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014)) -#define RBR 0x00 -#define THR 0x00 -#define DLL 0x00 -#define DLM 0x04 -#define IER 0x04 -#define IIR 0x08 -#define FCR 0x08 +#define SCS (*((volatile unsigned int *) 0xe01fc1a0)) -#define LCR 0x0c -#define LSR 0x14 -#define SCR 0x1c -#define ACR 0x20 -#define FDR 0x28 -#define TER 0x30 -#define UREG(x) (((volatile unsigned char *)UARTBASE)[x]) - -#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) -{ - UREG(FDR) = 0x10; /* DivAddVal = 0, MulVal = 1 */ - - UREG(LCR) = 0x80; - UREG(DLM) = 0x00; - UREG(DLL) = 0x08; /* 14745600 / (16*115200) */ - UREG(LCR) = 0x13; - UREG(FCR) = 0x07; -} - void init_pins(void) { - PINSEL0 = 0x00000055; /* P0.0 and P0.1 assigned to UART */ + PINSEL0 = 0x00a88055; /* P0.0 and P0.1 assigned to UART */ /* P0.2 and P0.3 assigned to I2C */ + /* P0.7 and P0.9 assigned to MAT2.[02] */ + /* P0.10 and P0.11 assigned to CAP1.[01] */ + PINSEL1 = 0x20000828; /* P0.21 and P0.30 assigned to MAT3.[03] */ + /* P0.17 and P0.18 assigned to CAP1.[23] */ + SCS = 1; + FP0XDIR = 0x04000000; /* P0.26 is an output */ + FP0XVAL = 0x0; } -void putch(char c) { - while (!U0THRE); - 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); -} - +#ifdef USE_UART void reply(char *str) { putstr(str); putstr("\r\n"); } +#else +#define reply(x) ((void)0) +#endif unsigned int count = 0; @@ -226,18 +170,64 @@ void average_sample(void) putstr(")\r\n"); } +void timer_event_handler(void) +{ + wmp_start_sample(); +} + +void menu_handler(void); + int main(void) { - int i; + armed = FALSE; + + init_interrupt(); init_uart(); init_i2c(); init_pins(); init_timer(); + + event_register(EVENT_UART_INPUT, menu_handler); + + event_register(EVENT_I2C_COMPLETE, wmp_event_handler); + + event_register(EVENT_TIMER, timer_event_handler); + putstr("Your entire life has been a mathematical error... a mathematical error I'm about to correct!\r\n"); + putstr("prompt> "); + + FP0XVAL &= ~0x04000000; + timer_delay_ms(1000); + FP0XVAL |= 0x04000000; + timer_delay_ms(1000); + FP0XVAL &= ~0x04000000; + if (!wmp_init()) + putstr("WMP initialisation failed\r\n"); + + /* Flight is potentially live after this. */ + timer_set_period(5*TIMER_MS); + wmp_start_zero(); + + FP0XVAL |= 0x04000000; + + /* Good luck! */ while (1) { - char c; - putstr("prompt> "); - c = getch(); + FP0XVAL ^= 0x04000000; + event_dispatch(); + } + + return 0; +} + +void menu_handler(void) +{ + int i; + char c; + + while (getch(&c)) { +#if 1 + continue; /* Yes, let's just ignore UART input now. */ +#endif if (c == 0x0a) continue; putch(c); @@ -260,8 +250,6 @@ int main(void) { 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("."); @@ -269,18 +257,6 @@ int main(void) { 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()) @@ -330,11 +306,70 @@ int main(void) { puthex(timer_read()); reply("."); break; + case 'P': + putstr("Initialising timer... "); + /* We want a 100Hz loop but two samples per iteration. + * So, we go for 200Hz. */ + timer_set_period(5*TIMER_MS); + reply("done"); + wmp_start_zero(); + break; + case 'W': + for (i = 0; i < 4; i++) { + putstr("Width "); + putint(i); + putstr(": "); + putint(timer_input(i)); + if (!timer_valid(i)) + putstr(" (invalid)"); + putstr("\r\n"); + } + if (!timer_allvalid()) { + putstr("ALL INVALID!\r\n"); + } + break; + case '0' & 0xdf: + timer_set_pwm_value(0, 0); + timer_set_pwm_value(1, 0); + timer_set_pwm_value(2, 0); + timer_set_pwm_value(3, 0); + break; +#if 0 + case '1' & 0xdf: + timer_set_pwm_value(0, PWM_MAX/2); + break; + case '2' & 0xdf: + timer_set_pwm_value(1, PWM_MAX/2); + break; + case '3' & 0xdf: + timer_set_pwm_value(2, PWM_MAX/2); + break; + case '4' & 0xdf: + timer_set_pwm_value(3, PWM_MAX/2); + break; + case '5' & 0xdf: + timer_set_pwm_value(0, PWM_MAX); + break; + case '6' & 0xdf: + timer_set_pwm_value(1, PWM_MAX); + break; + case '7' & 0xdf: + timer_set_pwm_value(2, PWM_MAX); + break; + case '8' & 0xdf: + timer_set_pwm_value(3, PWM_MAX); + break; +#endif + case '9' & 0xdf: + timer_set_pwm_invalid(0); + timer_set_pwm_invalid(1); + timer_set_pwm_invalid(2); + timer_set_pwm_invalid(3); + break; default: reply("Unrecognised command."); break; } + putstr("prompt> "); } - - return 0; }