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# # old_revision [d8ed90db2d4284a290224447c40a0d9cef3fbc31] # new_revision [b85a3bbccc40f21e02f50101af764be93eeb9538] # # patch "main.c" # from [421eab98b5915314487b8122f529bb9742fc9041] # to [3a525d062c198ad4a596f4bfb7360c3acbf5acfb] # ============================================================ --- main.c 421eab98b5915314487b8122f529bb9742fc9041 +++ main.c 3a525d062c198ad4a596f4bfb7360c3acbf5acfb @@ -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 +97,142 @@ 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; + int data; 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 +260,15 @@ 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 +277,59 @@ 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.");