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Use the timer to kick off WMP readings regularly.

master
Gavan Fantom 14 years ago
parent
commit
65b11ff92e
  1. 4
      i2c.c
  2. 11
      main.c
  3. 13
      timer.c
  4. 37
      wmp.c
  5. 2
      wmp.h

4
i2c.c

@ -1,6 +1,7 @@
#include "i2c.h"
#include "interrupt.h"
#include "event.h"
#define I2CBASE 0xE001C000
@ -108,6 +109,7 @@ void __attribute__((interrupt("IRQ"))) i2c_interrupt_handler(void)
i2c_transaction = NULL;
IREG(I2CONSET) = STOFLAG;
IREG(I2CONCLR) = STAFLAG | AAFLAG | SIFLAG;
event_set(EVENT_I2C_COMPLETE);
}
}
break;
@ -138,6 +140,7 @@ void __attribute__((interrupt("IRQ"))) i2c_interrupt_handler(void)
i2c_transaction = NULL;
IREG(I2CONSET) = STOFLAG;
IREG(I2CONCLR) = STAFLAG | AAFLAG | SIFLAG;
event_set(EVENT_I2C_COMPLETE);
}
break;
@ -150,6 +153,7 @@ void __attribute__((interrupt("IRQ"))) i2c_interrupt_handler(void)
i2c_transaction = NULL;
IREG(I2CONSET) = STOFLAG;
IREG(I2CONCLR) = STAFLAG | AAFLAG | SIFLAG;
event_set(EVENT_I2C_COMPLETE);
break;
/* We don't handle slave mode */

11
main.c

@ -159,6 +159,11 @@ void average_sample(void)
putstr(")\r\n");
}
void timer_event_handler(void)
{
wmp_start_sample();
}
void menu_handler(void);
int main(void) {
@ -170,6 +175,10 @@ int main(void) {
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> ");
@ -268,7 +277,7 @@ void menu_handler(void)
break;
case 'P':
putstr("Initialising timer... ");
timer_set_period(10000*TIMER_MS);
timer_set_period(10*TIMER_MS);
reply("done");
break;
case 'E':

13
timer.c

@ -58,7 +58,6 @@ void init_timer(void)
TWREG(PC) = 0;
TREG(TCR) = TCR_ENABLE;
event_register(EVENT_TIMER, timer_event_handler);
}
unsigned int timer_read(void)
@ -74,9 +73,10 @@ void timer_delay_clocks(unsigned int clocks)
void timer_set_period(unsigned int period)
{
interrupt_register(TIMER0, timer_interrupt_handler);
TWREG(MR0) = period;
TWREG(MCR) = MR0I | MR0R;
interrupt_register(TIMER0, timer_interrupt_handler);
TWREG(TC) = 0;
}
void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void)
@ -87,15 +87,8 @@ void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void)
if (ir & (1<<0)) {
/* Match channel 0 */
putstr(" *timer0* ");
event_set(EVENT_TIMER);
}
event_set(EVENT_TIMER);
interrupt_clear();
}
void timer_event_handler(void)
{
putstr(" *t0event* ");
}

37
wmp.c

@ -1,10 +1,12 @@
#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 */
@ -105,6 +107,8 @@ bool wmp_sample(void)
if (wmp_result != I2C_SUCCESS)
return FALSE;
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];
@ -117,3 +121,36 @@ bool wmp_sample(void)
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");
}
}

2
wmp.h

@ -16,5 +16,7 @@ extern bool wmp_roll_fast;
bool wmp_init(void);
bool wmp_sample(void);
bool wmp_read_calibration_data(void);
bool wmp_start_sample(void);
void wmp_event_handler(void);
#endif /* __WMP_H */

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