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# # old_revision [d8ed90db2d4284a290224447c40a0d9cef3fbc31] # new_revision [a2621a92a8c03a907239e78df69f38370d023a70] # # patch "main.c" # from [421eab98b5915314487b8122f529bb9742fc9041] # to [9bd0eaef2d3775dda620602212855b3826601db4] # ============================================================ --- main.c 421eab98b5915314487b8122f529bb9742fc9041 +++ main.c 9bd0eaef2d3775dda620602212855b3826601db4 @@ -1,118 +1,170 @@ +#include "wmp.h" #include "i2c.h" +#include "timer.h" +#include "uart.h" +#include "interrupt.h" -#define UARTBASE 0xE000C000 - -#define RBR 0x00 -#define THR 0x00 -#define DLL 0x00 -#define DLM 0x04 -#define IER 0x04 -#define IIR 0x08 -#define FCR 0x08 - -#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 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)) +#define FP0XDIR (*((volatile unsigned int *) 0x3FFFC000)) +#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014)) -void init_uart(void) -{ - UREG(FDR) = 0x10; /* DivAddVal = 0, MulVal = 1 */ +#define SCS (*((volatile unsigned int *) 0xe01fc1a0)) - 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 */ /* P0.2 and P0.3 assigned to I2C */ + SCS = 1; + FP0XDIR = 0x04000000; /* P0.26 is an output */ + FP0XVAL = 0x0; } -void putch(char c) { - while (!U0THRE); - UREG(THR) = c; +void reply(char *str) +{ + putstr(str); + putstr("\r\n"); } -void putstr(char *s) { - while (*s) putch(*s++); -} +unsigned int count = 0; -void putint(unsigned int n) { - char s[11]; - int i; +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; - i = 10; - s[i] = '\0'; + putstr("Sampling min/max values\r\n"); + if (!wmp_sample()) { + putstr("\r\nRead error\r\n"); + return; + } - do { - s[--i] = n % 10 + '0'; - } while ((n /= 10) > 0); + fast_roll_min = fast_roll_max = wmp_roll; + fast_pitch_min = fast_pitch_max = wmp_pitch; + fast_yaw_min = fast_yaw_max = wmp_yaw; - putstr(s+i); + 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 puthex(unsigned int n) { - char s[9]; +void average_sample(void) +{ int i; + int roll_total; + int pitch_total; + int yaw_total; - i = 8; - s[i] = '\0'; + putstr("Sampling average values\r\n"); - do { - int x = n % 16; - if (x > 9) - x += 'A' - '0' - 10; - s[--i] = x + '0'; - } while ((n /= 16) > 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 UREG(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) { @@ -140,17 +192,15 @@ 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... "); @@ -159,30 +209,65 @@ 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; + case 'P': + putstr("Initialising timer... "); + timer_set_period(10000*TIMER_MS); + reply("done"); + break; default: reply("Unrecognised command."); break;