Quadrotor from scratch
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289 lines
5.5 KiB

#include "wmp.h"
#include "i2c.h"
#include "timer.h"
#include "uart.h"
#include "interrupt.h"
#include "event.h"
#define PINSEL0 (*((volatile unsigned char *) 0xE002C000))
#define FP0XDIR (*((volatile unsigned int *) 0x3FFFC000))
#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014))
#define SCS (*((volatile unsigned int *) 0xe01fc1a0))
void init_pins(void)
{
PINSEL0 = 0x00000055; /* P0.0 and P0.1 assigned to UART */
/* P0.2 and P0.3 assigned to I2C */
SCS = 1;
FP0XDIR = 0x04000000; /* P0.26 is an output */
FP0XVAL = 0x0;
}
void reply(char *str)
{
putstr(str);
putstr("\r\n");
}
unsigned int count = 0;
void minmax_sample(void)
{
int count;
unsigned int fast_roll_min, fast_roll_max;
unsigned int fast_pitch_min, fast_pitch_max;
unsigned int fast_yaw_min, fast_yaw_max;
unsigned int slow_roll_min, slow_roll_max;
unsigned int slow_pitch_min, slow_pitch_max;
unsigned 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");
}
void timer_event_handler(void)
{
wmp_start_sample();
}
void menu_handler(void);
int main(void) {
init_interrupt();
init_uart();
init_i2c();
init_pins();
init_timer();
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> ");
while (1) {
FP0XVAL ^= 0x04000000;
event_dispatch();
}
return 0;
}
void menu_handler(void)
{
int i;
char c;
while (getch(&c)) {
if (c == 0x0a)
continue;
putch(c);
putstr("\r\n");
switch (c & 0xdf) {
case 0x0a:
case 0x0d:
break;
case 'A':
reply("apple");
break;
case 'C':
count++;
putstr("The current count is ");
putint(count);
reply(".");
break;
case 'H':
case '?':
reply("Help is not available. Try a psychiatrist.");
break;
case 'T':
putstr(" I2C status is: ");
puthex(i2c_statreg());
reply(".");
putstr("I2C register is: ");
puthex(i2c_conreg());
reply(".");
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;
case 'P':
putstr("Initialising timer... ");
timer_set_period(10*TIMER_MS);
reply("done");
break;
default:
reply("Unrecognised command.");
break;
}
putstr("prompt> ");
}
}