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This diff has been restricted to the following files: 'main.c'

#
# old_revision [d8ed90db2d4284a290224447c40a0d9cef3fbc31]
# new_revision [5ddceb38e22c73a2d7c630837716676d5ff14a38]
#
# patch "main.c"
#  from [421eab98b5915314487b8122f529bb9742fc9041]
#    to [90a64947477382812d4151d8680e54c2b4d67170]
#
============================================================
--- main.c	421eab98b5915314487b8122f529bb9742fc9041
+++ main.c	90a64947477382812d4151d8680e54c2b4d67170
@@ -1,5 +1,7 @@
 
+#include "wmp.h"
 #include "i2c.h"
+#include "timer.h"
 
 #define UARTBASE 0xE000C000
 
@@ -23,20 +25,6 @@
 #define U0THRE ((UREG(LSR) & (1<<5))) /* UART0 transmitter holding register is empty */
 #define U0DR ((UREG(LSR) & (1<<0))) /* UART0 data ready */
 
-
-#define I2CBASE  0xE001C000
-
-#define I2CONSET 0x00
-#define I2STAT   0x04
-#define I2DAT    0x08
-#define I2ADR    0x0c
-#define I2SCLH   0x10
-#define I2SCLL   0x14
-#define I2CONCLR 0x18
-
-#define IREG(x) (((volatile unsigned char *)I2CBASE)[x])
-
-
 #define PINSEL0 (*((volatile unsigned char *) 0xE002C000))
 
 void init_uart(void)
@@ -109,10 +97,141 @@ unsigned int count = 0;
 
 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;
 	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) {
@@ -140,17 +259,15 @@ int main(void) {
 		case '?':
 			reply("Help is not available. Try a psychiatrist.");
 			break;
-		case 'R':
-			putstr("I2C register is: ");
-			puthex(i2c_conreg());
-			reply(".");
-			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... ");
@@ -159,29 +276,59 @@ int main(void) {
 			else
 				reply("FAIL");
 			break;
-		case 'D':
-			putstr("Sending address... ");
-			if (i2c_send_address(0x53, TRUE))
-				reply("OK");
+		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 'B':
-			putstr("Sending bytes... ");
-			if (i2c_send_data(0xfe))
-				reply("OK");
-			else
+		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");
-
-			if (i2c_send_data(0x04))
-				reply("OK");
-			else
+			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 'O':
-			putstr("Sending STOP... ");
-			i2c_send_stop();
-			reply("sent");
+		case 'N':
+			putstr("The time is ");
+			puthex(timer_read());
+			reply(".");
 			break;
 		default:
 			reply("Unrecognised command.");