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

#
# old_revision [dea51752ff3061ddca80de6685b04dac53ac77e1]
# new_revision [64de686d701acb9539dc52fe0bff299405612ab0]
#
# patch "main.c"
#  from [9bd0eaef2d3775dda620602212855b3826601db4]
#    to [7098e8a2414c2d385b9a43d19c2e3b2461ae00c0]
#
============================================================
--- main.c	9bd0eaef2d3775dda620602212855b3826601db4
+++ main.c	7098e8a2414c2d385b9a43d19c2e3b2461ae00c0
@@ -1,11 +1,17 @@
+/* main.c */
 
 #include "wmp.h"
 #include "i2c.h"
 #include "timer.h"
 #include "uart.h"
 #include "interrupt.h"
+#include "event.h"
+#include "led.h"
+#include "status.h"
+#include "watchdog.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))
 
@@ -14,18 +20,26 @@ 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;
 
@@ -158,19 +172,62 @@ void average_sample(void)
 	putstr(")\r\n");
 }
 
+void timer_event_handler(void)
+{
+	wmp_start_sample();
+}
+
+void menu_handler(void);
+
 int main(void) {
-	int i;
 	init_interrupt();
 	init_uart();
 	init_i2c();
 	init_pins();
 	init_timer();
+	init_status();
+
+	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> ");
+
+	timer_delay_ms(1000);
+	if (!wmp_init())
+		putstr("WMP initialisation failed\r\n");
+
+	/* Flight is potentially live after this. */
+	timer_set_period(5*TIMER_MS);
+	wmp_start_zero();
+
+	led_init();
+
+	init_watchdog();
+
+	/* Good luck! */
 	while (1) {
-		char c;
-		putstr("prompt> ");
-		c = getch();
+		led_update();
+		event_dispatch();
+		watchdog_check();
+	}
+
+	return 0;
+}
+
+void menu_handler(void)
+{
+	int i;
+	char c;
+
+	while (getch(&c)) {
+#if 1
+		continue; /* Yes, let's just ignore UART input now. */
+#endif
 		if (c == 0x0a)
 			continue;
 		putch(c);
@@ -193,8 +250,6 @@ int main(void) {
 			reply("Help is not available. Try a psychiatrist.");
 			break;
 		case 'T':
-			putstr("I2C status was: ");
-			puthex(i2cstat);
 			putstr(" I2C status is: ");
 			puthex(i2c_statreg());
 			reply(".");
@@ -202,18 +257,6 @@ int main(void) {
 			puthex(i2c_conreg());
 			reply(".");
 			break;
-		case 'S':
-			putstr("Sending START... ");
-			if (i2c_send_start())
-				reply("OK");
-			else
-				reply("FAIL");
-			break;
-		case 'O':
-			putstr("Sending STOP... ");
-			i2c_send_stop();
-			reply("sent");
-			break;
 		case 'I':
 			putstr("Initialising WMP... ");
 			if (wmp_init())
@@ -265,14 +308,68 @@ int main(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 '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;
 		}
+		putstr("prompt> ");
 	}
-
-	return 0;
 }