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# # old_revision [a39fe7980c8f14b70401f4c97f3e10232dce016a] # new_revision [81e4dce274e79dd9187ed4bd182e1d6fc0fdfb37] # # patch "main.c" # from [38594d91649f88377c87a52973d831d9ffeafb70] # to [b366dce1bedfd103e47161ada956b8569816f2f4] # ============================================================ --- main.c 38594d91649f88377c87a52973d831d9ffeafb70 +++ main.c b366dce1bedfd103e47161ada956b8569816f2f4 @@ -1,3 +1,4 @@ +/* main.c */ #include "wmp.h" #include "i2c.h" @@ -5,8 +6,10 @@ #include "uart.h" #include "interrupt.h" #include "event.h" +#include "stick.h" -#define PINSEL0 (*((volatile unsigned char *) 0xE002C000)) +#define PINSEL0 (*((volatile unsigned int *) 0xE002C000)) +#define PINSEL1 (*((volatile unsigned int *) 0xE002C004)) #define FP0XDIR (*((volatile unsigned int *) 0x3FFFC000)) #define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014)) @@ -15,18 +18,26 @@ void init_pins(void) 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; } +#ifdef USE_UART void reply(char *str) { putstr(str); putstr("\r\n"); } +#else +#define reply(x) ((void)0) +#endif unsigned int count = 0; @@ -159,9 +170,16 @@ void average_sample(void) putstr(")\r\n"); } +void timer_event_handler(void) +{ + wmp_start_sample(); +} + void menu_handler(void); int main(void) { + armed = FALSE; + init_interrupt(); init_uart(); init_i2c(); @@ -170,10 +188,29 @@ int main(void) { 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) { FP0XVAL ^= 0x04000000; event_dispatch(); @@ -188,6 +225,9 @@ void menu_handler(void) char c; while (getch(&c)) { +#if 1 + continue; /* Yes, let's just ignore UART input now. */ +#endif if (c == 0x0a) continue; putch(c); @@ -268,13 +308,64 @@ void menu_handler(void) break; case 'P': putstr("Initialising timer... "); - timer_set_period(10000*TIMER_MS); + /* 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 'E': - event_dispatch(); - reply("done"); + 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;