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cleanup

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This commit is contained in:
Olaf Rempel 2008-03-11 23:26:56 +01:00
parent 24b566fc7e
commit a8b04b8c9a
4 changed files with 17 additions and 11 deletions
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2
main.c
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@ -63,7 +63,7 @@ static uint32_t stick_timer_cb(struct pitc_timer *timer)
global_state &= ~STICK_CALIBRATION; global_state &= ~STICK_CALIBRATION;
} }
} else { } else if (count >= 4) {
if (rc.chan[2] < 0 && rc.chan[3] < 0) if (rc.chan[2] < 0 && rc.chan[3] < 0)
global_state |= MOTORS_RUNNING; global_state |= MOTORS_RUNNING;

2
src/at91_adc.c
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@ -185,6 +185,8 @@ void at91_adc_init(void)
aic->AIC_SVR[AT91C_ID_ADC] = (uint32_t)at91_adc_isr; aic->AIC_SVR[AT91C_ID_ADC] = (uint32_t)at91_adc_isr;
aic->AIC_IECR = (1<<AT91C_ID_ADC); aic->AIC_IECR = (1<<AT91C_ID_ADC);
adc_calibrate(ADC_CAL_GYRO);
/* load ACC calibration data */ /* load ACC calibration data */
twi_read_eeprom(EE_ACC_CAL_DATA, (uint8_t *)&(adc_offset[ADC_ACC_ROLL]), EE_ACC_CAL_DATA_SIZE); twi_read_eeprom(EE_ACC_CAL_DATA, (uint8_t *)&(adc_offset[ADC_ACC_ROLL]), EE_ACC_CAL_DATA_SIZE);
printf("ACC offsets: %4d/%4d/%4d\n\r", printf("ACC offsets: %4d/%4d/%4d\n\r",

1
src/at91_tc1.c
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@ -222,6 +222,7 @@ void rcontrol_calibrate(uint32_t mode)
void rcontrol_print_cal(void) void rcontrol_print_cal(void)
{ {
uint32_t i; uint32_t i;
printf("stick-calibration:\n\r");
for (i = 0; i < ARRAY_SIZE(ch_data); i++) { for (i = 0; i < ARRAY_SIZE(ch_data); i++) {
printf(" %ld: %d(%+d) - %d(0) - %d(%+d)\n\r", i, printf(" %ld: %d(%+d) - %d(0) - %d(%+d)\n\r", i,
ch_data[i].min, ch_data[i].min - ch_data[i].mid, ch_data[i].min, ch_data[i].min - ch_data[i].mid,

21
src/at91_udp.c
View File

@ -267,7 +267,7 @@ void ep_transfer_receive(uint32_t ep, char *data, uint32_t length,
/* stalls the endpoint */ /* stalls the endpoint */
static void ep_send_stall(uint32_t ep) static void ep_send_stall(uint32_t ep)
{ {
printf("stall\n\r"); printf("usb stall\n\r");
AT91C_UDP_CSR[ep] |= AT91C_UDP_FORCESTALL; AT91C_UDP_CSR[ep] |= AT91C_UDP_FORCESTALL;
} }
@ -290,6 +290,12 @@ static void udp_configure_ep(const struct usb_endpoint_descriptor *desc)
*AT91C_UDP_IER = (1 << ep); *AT91C_UDP_IER = (1 << ep);
} }
static void udp_print_config(void)
{
printf("usb: addr=%d cfg=%d if=%d\n\r",
current_address, current_config, current_interface);
}
/* /*
* set local address * set local address
* (USB_REQ_SET_ADDRESS callback) * (USB_REQ_SET_ADDRESS callback)
@ -298,6 +304,7 @@ static void udp_txcb_setaddress(void)
{ {
*AT91C_UDP_FADDR = (AT91C_UDP_FEN | current_address); *AT91C_UDP_FADDR = (AT91C_UDP_FEN | current_address);
*AT91C_UDP_GLBSTATE = AT91C_UDP_FADDEN; *AT91C_UDP_GLBSTATE = AT91C_UDP_FADDEN;
udp_print_config();
} }
/* /*
@ -312,17 +319,13 @@ static void udp_txcb_setconfig(void)
/* set UDP to "configured" */ /* set UDP to "configured" */
*AT91C_UDP_GLBSTATE = AT91C_UDP_CONFG; *AT91C_UDP_GLBSTATE = AT91C_UDP_CONFG;
} udp_print_config();
static void udp_txcb_setinterface(void)
{
printf("claim interface %d\n\r", current_interface);
} }
static void ep_handle_ctrlrequest(struct usb_ctrlrequest *req) static void ep_handle_ctrlrequest(struct usb_ctrlrequest *req)
{ {
printf("typ:0x%02x req:0x%02x val:0x%04x idx:0x%04x len:0x%04x\n\r", // printf("typ:0x%02x req:0x%02x val:0x%04x idx:0x%04x len:0x%04x\n\r",
req->bRequestType, req->bRequest, req->wValue, req->wIndex, req->wLength); // req->bRequestType, req->bRequest, req->wValue, req->wIndex, req->wLength);
switch (req->bRequestType & (USB_TYPE_MASK | USB_RECIP_MASK)) { switch (req->bRequestType & (USB_TYPE_MASK | USB_RECIP_MASK)) {
case (USB_TYPE_STANDARD | USB_RECIP_DEVICE): /* 0x00/0x80 */ case (USB_TYPE_STANDARD | USB_RECIP_DEVICE): /* 0x00/0x80 */
@ -385,7 +388,7 @@ static void ep_handle_ctrlrequest(struct usb_ctrlrequest *req)
switch (req->bRequest) { switch (req->bRequest) {
case USB_REQ_SET_INTERFACE: /* 0x0b */ case USB_REQ_SET_INTERFACE: /* 0x0b */
current_interface = req->wValue; current_interface = req->wValue;
ep_transfer_send(0, NULL, 0, udp_txcb_setinterface); ep_transfer_send(0, NULL, 0, udp_print_config);
break; break;
default: default: