The unified diff between revisions [b85a3bbc..] and [65df00aa..] is displayed below. It can also be downloaded as a raw diff.
This diff has been restricted to the following files: 'wmp.c'
# # old_revision [b85a3bbccc40f21e02f50101af764be93eeb9538] # new_revision [65df00aa2705ce33fd74f4dd706d2879fe99b2b0] # # patch "wmp.c" # from [8d25d8c39e514fb55119ecd0aa362a137e760a46] # to [9acbe9ae30b2b7c95b8a700f4f7bb97c38097e21] # ============================================================ --- wmp.c 8d25d8c39e514fb55119ecd0aa362a137e760a46 +++ wmp.c 9acbe9ae30b2b7c95b8a700f4f7bb97c38097e21 @@ -1,46 +1,80 @@ #include "wmp.h" #include "i2c.h" +#include "uart.h" +unsigned char wmp_init_command[2] = {0xfe, 0x04}; + +i2c_result wmp_result; +unsigned int wmp_generation; + +struct i2c_transaction wmp_init_transaction = { + (0x53 << 1) + 0, /* write */ + 2, + wmp_init_command, + &wmp_result, + NULL +}; + +unsigned char wmp_read_cal_command[1] = {0x20}; + +struct i2c_transaction wmp_read_cal_transaction2; + +struct i2c_transaction wmp_read_cal_transaction = { + (0x53 << 1) + 0, /* write */ + 1, + wmp_read_cal_command, + &wmp_result, + &wmp_read_cal_transaction2 +}; + +struct i2c_transaction wmp_read_cal_transaction2 = { + (0x53 << 1) + 1, /* read */ + 0x20, + wmp_calibration_data, + &wmp_result, + NULL +}; + +unsigned char wmp_sample_command[1] = {0x00}; + +unsigned char wmp_sample_data[6]; + +struct i2c_transaction wmp_sample_transaction2; + +struct i2c_transaction wmp_sample_transaction = { + (0x52 << 1) + 0, /* write */ + 1, + wmp_sample_command, + &wmp_result, + &wmp_sample_transaction2 +}; + +struct i2c_transaction wmp_sample_transaction2 = { + (0x52 << 1) + 1, /* read */ + 6, + wmp_sample_data, + &wmp_result, + NULL +}; + + bool wmp_init(void) { - if (!i2c_send_start()) + if (!i2c_start_transaction(&wmp_init_transaction)) return FALSE; - if (!i2c_send_address(0x53, TRUE)) - return FALSE; - if (!i2c_send_data(0xfe)) - return FALSE; - if (!i2c_send_data(0x04)) - return FALSE; - i2c_send_stop(); + while (i2c_busy()) ; + return (wmp_result == I2C_SUCCESS); } unsigned char wmp_calibration_data[0x20]; bool wmp_read_calibration_data(void) { - int i; - - if (!i2c_send_start()) + if (!i2c_start_transaction(&wmp_read_cal_transaction)) return FALSE; - if (!i2c_send_address(0x53, TRUE)) - return FALSE; - if (!i2c_send_data(0x20)) - return FALSE; - i2c_send_stop(); - - if (!i2c_send_start()) - return FALSE; - if (!i2c_send_address(0x53, FALSE)) - return FALSE; - for (i = 0; i < 0x20; i++) { - unsigned int data; - if (!i2c_receive_data(&data, (i == 0x1f))) - return FALSE; - wmp_calibration_data[i] = data; - } - i2c_send_stop(); - return TRUE; + while (i2c_busy()); + return (wmp_result == I2C_SUCCESS); } unsigned int wmp_yaw; @@ -65,36 +99,58 @@ bool wmp_sample(void) bool wmp_sample(void) { - int i; - unsigned int b[6]; - - if (!i2c_send_start()) + if (!i2c_start_transaction(&wmp_sample_transaction)) return FALSE; - if (!i2c_send_address(0x52, TRUE)) - return FALSE; - if (!i2c_send_data(0x00)) - return FALSE; - i2c_send_stop(); - if (!i2c_send_start()) + while (i2c_busy()); + + if (wmp_result != I2C_SUCCESS) return FALSE; - if (!i2c_send_address(0x52, FALSE)) - return FALSE; - for (i = 0; i < 6; i++) { - if (!i2c_receive_data(&(b[i]), (i == 5))) - return FALSE; - } - i2c_send_stop(); - wmp_yaw = ((b[3]>>2)<<8) + b[0]; - wmp_pitch = ((b[4]>>2)<<8) + b[1]; - wmp_roll = ((b[5]>>2)<<8) + b[2]; + wmp_result = I2C_IN_PROGRESS; + wmp_yaw = ((wmp_sample_data[3]>>2)<<8) + wmp_sample_data[0]; + wmp_pitch = ((wmp_sample_data[4]>>2)<<8) + wmp_sample_data[1]; + wmp_roll = ((wmp_sample_data[5]>>2)<<8) + wmp_sample_data[2]; + /* XXX We don't take into account the fast/slow mode flag here */ - wmp_yaw_fast = !(b[3] & 0x2); - wmp_pitch_fast = !(b[3] & 0x1); - wmp_roll_fast = !(b[4] & 0x2); + wmp_yaw_fast = !(wmp_sample_data[3] & 0x2); + wmp_pitch_fast = !(wmp_sample_data[3] & 0x1); + wmp_roll_fast = !(wmp_sample_data[4] & 0x2); return TRUE; } +bool wmp_start_sample(void) +{ + return i2c_start_transaction(&wmp_sample_transaction); +} + +void wmp_event_handler(void) +{ + if (wmp_result != I2C_SUCCESS) + return; + + wmp_result = I2C_IN_PROGRESS; + + wmp_yaw = ((wmp_sample_data[3]>>2)<<8) + wmp_sample_data[0]; + wmp_pitch = ((wmp_sample_data[4]>>2)<<8) + wmp_sample_data[1]; + wmp_roll = ((wmp_sample_data[5]>>2)<<8) + wmp_sample_data[2]; + + /* XXX We don't take into account the fast/slow mode flag here */ + wmp_yaw_fast = !(wmp_sample_data[3] & 0x2); + wmp_pitch_fast = !(wmp_sample_data[3] & 0x1); + wmp_roll_fast = !(wmp_sample_data[4] & 0x2); + + wmp_generation++; + if ((wmp_generation % 100) == 0) { + putstr("("); + puthex(wmp_roll); + putstr(", "); + puthex(wmp_pitch); + putstr(", "); + puthex(wmp_yaw); + putstr(")\r\n"); + + } +}