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* initial Wii Motion+ support
* initial timer support
This commit is contained in:
Gavan Fantom
2011-05-15 22:22:50 +00:00
parent 52e1c59a2e
commit b3f0bbf7c9
9 changed files with 415 additions and 49 deletions
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224
main.c
View File

@@ -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 @@ void reply(char *str)
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... ");
@@ -159,30 +277,60 @@ int main(void) {
else
reply("FAIL");
break;
case 'D':
putstr("Sending address... ");
if (i2c_send_address(0x53, TRUE))
reply("OK");
else
reply("FAIL");
break;
case 'B':
putstr("Sending bytes... ");
if (i2c_send_data(0xfe))
reply("OK");
else
reply("FAIL");
if (i2c_send_data(0x04))
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())
reply("done");
else
reply("FAIL");
break;
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");
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 'N':
putstr("The time is ");
puthex(timer_read());
reply(".");
break;
default:
reply("Unrecognised command.");
break;