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Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop

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to 200Hz, add SD card logging, and a number of other changes.
This commit is contained in:
Gavan Fantom
2014-05-06 21:03:48 +00:00
parent b482b85ffd
commit e8adff93c1
25 changed files with 1725 additions and 581 deletions
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13
timer.h
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@@ -3,13 +3,14 @@
#include "types.h"
#define TIMER_PCLK 14745600
#define TIMER_PRESCALE 9215
#define TIMER0_PRESCALE 0
#define TIMER_PCLK 58982400
#define TIMER_PRESCALE 36863
#define TIMER0_PRESCALE 3
#define TIMER_SECOND (TIMER_PCLK/(TIMER_PRESCALE+1))
#define TIMER_MS (TIMER_SECOND/1000)
#define TIMER_US (TIMER_SECOND/1000000)
/* Since we're using awkward numbers, this gives better accuracy */
#define TIMER_MS(x) ((x) * TIMER_SECOND / 1000)
#define TIMER_US(x) ((x) * TIMER_SECOND / 1000000)
#define TIMER0_SECOND (TIMER_PCLK/(TIMER0_PRESCALE+1))
#define TIMER0_MS (TIMER0_SECOND/1000)
@@ -21,7 +22,7 @@
#endif
#define PWM_PERIOD ((4*PWM_MAX)+1)
#define TIMER_INPUT_TIMEOUT (TIMER_PCLK/10)
#define TIMER_INPUT_TIMEOUT (TIMER0_SECOND/10)
#define TIMER_CPPM_SYNC 40000
#define TIMER_CH(x) (timer_map[x])