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362 lines
6.4 KiB
362 lines
6.4 KiB
/* main.c */ |
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#include "sensors.h" |
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#include "i2c.h" |
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#include "timer.h" |
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#include "uart.h" |
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#include "interrupt.h" |
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#include "event.h" |
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#include "led.h" |
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#include "status.h" |
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#include "watchdog.h" |
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#include "thrust.h" |
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#include "panic.h" |
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#include "sdcard.h" |
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#include "log.h" |
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#include "spi.h" |
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#define PINSEL0 (*((volatile unsigned int *) 0xE002C000)) |
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#define PINSEL1 (*((volatile unsigned int *) 0xE002C004)) |
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#define FP0XDIR (*((volatile unsigned int *) 0x3FFFC000)) |
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#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014)) |
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#define SCS (*((volatile unsigned int *) 0xe01fc1a0)) |
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#define BUTTON_PRESSED (!((FP0XVAL) & 0x00010000)) |
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char buffer[512]; |
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void init_pins(void) |
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{ |
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PINSEL0 = 0x2a09a255; /* P0.0 and P0.1 assigned to UART */ |
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/* P0.2 and P0.3 assigned to I2C */ |
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/* P0.4 and P0.6 assigned to CAP0.[12] */ |
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/* P0.7 and P0.9 assigned to MAT2.[02] */ |
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/* P0.8 assigned to UART1 */ |
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/* P0.12 and P0.13 assigned to MAT1.[01] */ |
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/* P0.14 assigned to SPI1 */ |
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PINSEL1 = 0x00000140; /* P0.19 and P0.20 assigned to SPI1 */ |
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SCS = 1; |
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FP0XDIR = 0x04200000; /* P0.26 and P0.21 are outputs */ |
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FP0XVAL = 0x0; |
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} |
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#ifdef USE_UART |
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void reply(char *str) |
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{ |
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putstr(str); |
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putstr("\r\n"); |
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} |
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#else |
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#define reply(x) ((void)0) |
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#endif |
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void timer_event_handler(void) |
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{ |
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unsigned int timestamp = timer_read(); |
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log_put_header(timestamp); |
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sensors_start_sample(); |
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} |
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void menu_handler(void); |
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void wait_for_button_pressed(bool target) |
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{ |
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bool pressed; |
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led_set(!target); |
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/* Very crude debouncing */ |
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timer_delay_ms(100); |
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target = target ? TRUE:FALSE; |
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do { |
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pressed = BUTTON_PRESSED; |
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} while (pressed != target); |
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led_set(pressed); |
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} |
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void calibrate_escs() |
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{ |
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wait_for_button_pressed(0); |
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putstr("Calibration mode\r\n"); |
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wait_for_button_pressed(1); |
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wait_for_button_pressed(0); |
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set_thrust(0, 1.0); |
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set_thrust(1, 1.0); |
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set_thrust(2, 1.0); |
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set_thrust(3, 1.0); |
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putstr("Max throttle set\r\n"); |
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wait_for_button_pressed(1); |
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wait_for_button_pressed(0); |
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set_thrust(0, 0.0); |
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set_thrust(1, 0.0); |
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set_thrust(2, 0.0); |
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set_thrust(3, 0.0); |
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putstr("Zero throttle set\r\n"); |
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wait_for_button_pressed(1); |
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wait_for_button_pressed(0); |
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putstr("Exit calibration mode\r\n"); |
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} |
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#ifdef USE_UART |
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void dump_buffer(char *buffer, unsigned int length, unsigned int addr); |
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void dump_buffer(char *buffer, unsigned int length, unsigned int addr) |
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{ |
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unsigned int i; |
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for (i = 0; i < length; i++) { |
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if ((i % 16) == 0) { |
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puthex(addr+i); |
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putstr(":"); |
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} |
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putstr(" "); |
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puthex(buffer[i]); |
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if ((i % 16) == 15) { |
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putstr("\r\n"); |
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} |
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} |
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if ((i % 16) != 0) |
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putstr("\r\n"); |
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} |
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#else |
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#define dump_buffer(a, b, c) ((void)0) |
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#endif |
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int main(void) { |
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int i; |
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init_interrupt(); |
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init_uart(); |
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init_i2c(); |
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init_pins(); |
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init_timer(); |
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init_status(); |
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event_register(EVENT_UART_INPUT, menu_handler); |
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event_register(EVENT_TIMER, timer_event_handler); |
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for (i = 0; i < 10; i++) { |
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if (init_sdcard()) |
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break; |
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} |
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putstr("Your entire life has been a mathematical error... a mathematical error I'm about to correct!\r\n"); |
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if (BUTTON_PRESSED) |
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calibrate_escs(); |
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putstr("prompt> "); |
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timer_delay_ms(1000); |
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if (!sensors_init()) |
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putstr("Sensor initialisation failed\r\n"); |
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/* Flight is potentially live after this. */ |
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timer_set_period(TIMER_MS(5)); |
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#if 1 |
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sensors_start_zero(); |
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#endif |
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led_init(); |
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init_watchdog(); |
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/* Good luck! */ |
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while (1) { |
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CHECKPOINT(0); |
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led_update(); |
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CHECKPOINT(1); |
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if (!event_dispatch()) |
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sdcard_poll(); |
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CHECKPOINT(2); |
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watchdog_check(); |
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} |
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return 0; |
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} |
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static int power = 0; |
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static unsigned int sd_address = 0; |
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unsigned int read_number(void) |
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{ |
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unsigned int number; |
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unsigned int base; |
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int digit; |
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char c; |
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number = 0; |
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base = 10; |
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while (1) { |
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if (getch(&c)) { |
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digit = -1; |
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if ((c == 0x0a) || (c == 0x0d)) |
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break; |
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putch(c); |
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if (c == 'x') |
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base = 16; |
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if ((c >= '0') && (c <= '9')) |
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digit = c - '0'; |
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if ((c >= 'A') && (c <= 'F')) |
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digit = c - 'A' + 10; |
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if ((digit >= 0) && (digit < (int)base)) { |
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number = number * base; |
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number += digit; |
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} |
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} |
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} |
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putstr("\r\n"); |
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return number; |
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} |
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void menu_handler(void) |
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{ |
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int i; |
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char c; |
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while (getch(&c)) { |
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#if 0 |
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continue; /* Yes, let's just ignore UART input now. */ |
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#endif |
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if (c == 0x0a) |
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continue; |
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putch(c); |
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putstr("\r\n"); |
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switch (c & 0xdf) { |
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case 0x0a: |
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case 0x0d: |
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break; |
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case 'H': |
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case '?': |
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reply("Help is not available. Try a psychiatrist."); |
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break; |
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case 'D': |
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sensors_dump(); |
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break; |
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case 'N': |
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putstr("The time is "); |
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puthex(timer_read()); |
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reply("."); |
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break; |
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case 'I': |
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init_sdcard(); |
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break; |
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case 'R': |
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sd_address = 0; |
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case 'S': |
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if (sdcard_read(sd_address++, buffer, 512)) { |
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dump_buffer(buffer, 512, (sd_address-1) * 512); |
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reply ("SD card read success"); |
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} else { |
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reply("SD card read failed"); |
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} |
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break; |
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case 'A': |
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sd_address = read_number(); |
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putstr("SD read address set to 0x"); |
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puthex(sd_address); |
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reply("."); |
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break; |
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case 'W': |
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for (i = 0; i < 4; i++) { |
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putstr("Width "); |
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putint(i); |
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putstr(": "); |
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putint(timer_input(i)); |
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if (!timer_valid(i)) |
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putstr(" (invalid)"); |
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putstr("\r\n"); |
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} |
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if (!timer_allvalid()) { |
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putstr("ALL INVALID!\r\n"); |
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} |
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break; |
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#if 0 |
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case 'T': |
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sdcard_start_write(); |
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break; |
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#endif |
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case 'L': |
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spi_drain(); |
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break; |
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case '0' & 0xdf: |
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set_thrust(0, 0.0); |
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set_thrust(1, 0.0); |
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set_thrust(2, 0.0); |
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set_thrust(3, 0.0); |
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power = 0; |
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break; |
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#if 0 |
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case '1' & 0xdf: |
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power--; |
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if (power < 0) |
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power = 15; |
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power = power % 16; |
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putstr("Power setting: "); |
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putint(power); |
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putstr("\r\n"); |
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set_thrust(0, ((float)power)/16.0); |
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break; |
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case '2' & 0xdf: |
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power++; |
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power = power % 16; |
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putstr("Power setting: "); |
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putint(power); |
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putstr("\r\n"); |
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set_thrust(0, ((float)power)/16.0); |
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break; |
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#endif |
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#if 0 |
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case '1' & 0xdf: |
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set_thrust(0, 0.5); |
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break; |
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case '2' & 0xdf: |
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set_thrust(1, 0.5); |
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break; |
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case '3' & 0xdf: |
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set_thrust(2, 0.5); |
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break; |
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case '4' & 0xdf: |
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set_thrust(3, 0.5); |
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break; |
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case '5' & 0xdf: |
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set_thrust(0, 1.0); |
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break; |
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case '6' & 0xdf: |
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set_thrust(1, 1.0); |
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break; |
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case '7' & 0xdf: |
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set_thrust(2, 1.0); |
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break; |
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case '8' & 0xdf: |
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set_thrust(3, 1.0); |
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break; |
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#endif |
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case '9' & 0xdf: |
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timer_set_pwm_invalid(0); |
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timer_set_pwm_invalid(1); |
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timer_set_pwm_invalid(2); |
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timer_set_pwm_invalid(3); |
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break; |
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default: |
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reply("Unrecognised command."); |
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break; |
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} |
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putstr("prompt> "); |
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} |
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}
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