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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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62
uart.c
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@@ -2,6 +2,8 @@
#include "types.h"
#include "interrupt.h"
#include "event.h"
#include "led.h"
#include "panic.h"
#define UARTBASE 0xE000C000
@@ -30,10 +32,10 @@
char uart_txbuf[UART_TXBUFSIZE];
char uart_rxbuf[UART_RXBUFSIZE];
volatile int uart_txread;
volatile int uart_txwrite;
volatile int uart_rxread;
volatile int uart_rxwrite;
volatile unsigned int uart_txread;
volatile unsigned int uart_txwrite;
volatile unsigned int uart_rxread;
volatile unsigned int uart_rxwrite;
volatile bool tx_running;
void __attribute__((interrupt("IRQ"))) uart_interrupt_handler(void);
@@ -46,7 +48,7 @@ void init_uart(void)
UREG(LCR) = 0x80;
UREG(DLM) = 0x00;
UREG(DLL) = 0x08; /* 14745600 / (16*115200) */
UREG(DLL) = 0x20; /* 58982400 / (16*115200) */
UREG(LCR) = 0x13;
UREG(FCR) = 0x07;
@@ -61,9 +63,42 @@ void init_uart(void)
}
void putch(char c) {
CHECKPOINT(4);
/* Wait for space in the buffer */
while (uart_txread == ((uart_txwrite+1) % UART_TXBUFSIZE));
while (uart_txread == ((uart_txwrite+1) % UART_TXBUFSIZE)) ;
interrupt_block();
if (uart_txread == uart_txwrite) {
if (U0THRE) {
tx_running = TRUE;
UREG(THR) = c;
interrupt_unblock();
CHECKPOINT(5);
return;
}
}
uart_txbuf[uart_txwrite] = c;
uart_txwrite = (uart_txwrite + 1) % UART_TXBUFSIZE;
if (!tx_running) {
if (uart_txread != uart_txwrite) {
tx_running = TRUE;
uart_txread = (uart_txread + 1) % UART_TXBUFSIZE;
UREG(THR) = c;
}
}
interrupt_unblock();
CHECKPOINT(5);
}
void putch_irq(char c) {
/* Hope for space in the buffer */
// if (uart_txread == ((uart_txwrite+1) % UART_TXBUFSIZE))
// return;
#if 1
if (uart_txread == uart_txwrite) {
if (U0THRE) {
tx_running = TRUE;
@@ -82,6 +117,9 @@ void putch(char c) {
UREG(THR) = c;
}
}
#else
UREG(THR) = c;
#endif
}
void __attribute__((interrupt("IRQ"))) uart_interrupt_handler(void)
@@ -93,10 +131,12 @@ void __attribute__((interrupt("IRQ"))) uart_interrupt_handler(void)
* to treat them as such in this handler, so let the compiler
* have an easier time.
*/
int local_txwrite;
int local_txread;
int local_rxwrite;
int local_rxread;
unsigned int local_txwrite;
unsigned int local_txread;
unsigned int local_rxwrite;
unsigned int local_rxread;
CHECKPOINT(((checkpoint & 0x00ff) | 0x0100));
source = UREG(IIR);
@@ -136,6 +176,8 @@ void __attribute__((interrupt("IRQ"))) uart_interrupt_handler(void)
break;
}
CHECKPOINT((checkpoint & 0x00ff) | 0x0200);
interrupt_clear();
}