static void kbd_drv_rx(int irq, void *dev_id, struct pt_regs *regs)
{
int i;
kbd_setregs(regs);
#ifndef CONFIG_SA1100_ITSY
while (!ignore_kbd_irq && (i=getcFromKBCTL()) != KBCTL_NODATA) {
if (i != KBCTL_AGAIN && i != KK_NONE)
handle_scancode((unsigned char) i, ((unsigned char)i & 0x80) ? 0 : 1);
}
#endif
// vsync_irq();
reset_timer1( (TIMER1_RATE+30)/60 );
mark_bh(KEYBOARD_BH);
}
// *************************************************************************************************
// Test RF reception
// *************************************************************************************************
void test_rf(void)
{
u16 time1, time2, packet1, packet2, div;
s16 ref, delta;
u8 i;
s16 freqest;
u8 freqest1;
s16 freqest0;
u8 continue_test = YES;
// Config radio for RX
rftest_init();
// Set timeout in 1.5 seconds
reset_timer1();
set_timer1(32768*1.5);
T1CCTL0 = 0x44;
T1CTL = 0x02;
// Clear RF interrupts
S1CON &= ~(BIT1 | BIT0); // Clear MCU interrupt flag
RFIF &= ~BIT4; // Clear "receive/transmit done" interrupt
RFIM |= BIT4; // Enable "receive/transmit done" interrupt
// Enable IRQ
INT_ENABLE(INUM_RFTXRX, INT_ON);
INT_ENABLE(INUM_RF, INT_ON);
INT_ENABLE(INUM_T1, INT_ON);
// Clear test result variable
test_result = 0;
// Continue to receive packets until timeout
while ((rftest_count < RFTEST_PACKET_COUNT) && (!sTimer1.iflag))
{
// Start new RX if radio is IDLE
if (MARCSTATE == 0x01) SRX();
}
SIDLE();
// Analyze received packets
if (sTimer1.iflag || rftest_count < RFTEST_PACKET_COUNT/2)
{
// Timeout - no or not enough packets received
test_result = 0x8000;
continue_test = NO;
}
else
{
// Store last and first packet
for (i=0; i<RFTEST_PACKET_COUNT; i++)
{
if (rftest[i].valid)
{
time1 = rftest[i].time;
packet1 = rftest[i].packet_nb;
break;
}
}
for (i=RFTEST_PACKET_COUNT-1; i>0; i--)
{
if (rftest[i].valid)
{
time2 = rftest[i].time;
packet2 = rftest[i].packet_nb;
break;
}
}
// Calculate mean freqest
freqest = 0;
div = 0;
for (i=0; i<RFTEST_PACKET_COUNT; i++)
{
if (rftest[i].valid)
{
// Sign extend negative numbers
if ((rftest[i].freqoffset & BIT7) == BIT7)
{
freqest += (s16)(0xFF00 | rftest[i].freqoffset);
}
else
{
freqest += (s16)(rftest[i].freqoffset);
}
div++;
}
}
// FREQEST range check
freqest0 = freqest/(s16)div;
if ((freqest0 < RFTEST_FREQEST_MIN) || (freqest0 > RFTEST_FREQEST_MAX))
{
test_result = 0x2000 | (u8)freqest0;
continue_test = NO;
}
else
{ // FREQEST range ok
// Calculate distance between 1 and 2
// TX sends packet each 3276 ACLK ticks (= 1145 T1CLK ticks)
ref = (packet2 - packet1)*3276;
delta = time2 - time1;
if ((ref - delta) < RFTEST_ACLK_DEVIATION_MAX)
{
// Store ACLK deviation in test result
test_result = ((ref - delta)&0x0F) << 8;
// Store average FREQEST
if (freqest < 0)
{
freqest1 = (u8)((freqest*(-1))/div);
freqest1 = ~freqest1 + 1;
test_result |= freqest1;
}
else
{
test_result |= (u8)(freqest/div);
}
}
else if ((delta - ref) < RFTEST_ACLK_DEVIATION_MAX)
{
// Store ACLK deviation in test result
test_result = ((delta - ref)&0x0F) << 8;
// Store average FREQEST
if (freqest < 0)
{
freqest1 = (u8)((freqest*(-1))/div);
freqest1 = ~freqest1 + 1;
test_result |= freqest1;
}
else
{
test_result |= (u8)(freqest/div);
}
}
else
{
// Too high ACLK deviation
test_result = 0x4000;
continue_test = NO;
}
}
}
// 2nd test stage - use RF offset to catch another few packets
if (continue_test == YES)
{
rftest_count = 0;
// Clear RX variables
for (i=0; i<RFTEST_PACKET_COUNT; i++)
{
rftest[i].valid = 0;
rftest[i].time = 0;
rftest[i].packet_nb = 0;
rftest[i].freqoffset = 0;
}
// Set frequency offset
FSCTRL0 = freqest0;
// Set timeout in 0.5 seconds
reset_timer1();
set_timer1(32768*0.5);
// Try to receive just 1 packet
while ((rftest_count < 1) && (!sTimer1.iflag))
{
// Start new RX if radio is IDLE
if (MARCSTATE == 0x01) SRX();
}
SIDLE();
// Analyze received packets frequency offset - should be close to 0
if (rftest_count > 0)
{
if (!((rftest[0].freqoffset >= 0xFE) || (rftest[0].freqoffset <= 0x02)))
{
test_result = 0x1000;
}
}
else
{
test_result = 0x1000;
}
}
// Disable IRQ
INT_ENABLE(INUM_RFTXRX, INT_OFF);
INT_ENABLE(INUM_RF, INT_OFF);
INT_ENABLE(INUM_T1, INT_OFF);
// Stop Timer1
T1CTL = 0x00;
T1CNTL = 0x55;
reset_timer1();
}
int main(void)
{
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 9600); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it
uartSetBaudRate(2, 57600); // set UARTH speed
uartSetBaudRate(3, 57600); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
// initialize rprintf system and configure uart1 (USB) for rprintf
rprintfInit(uart1SendByte);
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
rprintf("\r\nSystem Warming Up");
// initialize the timer system (comment out ones you don't want)
init_timer0(TIMER_CLK_1024);
init_timer1(TIMER_CLK_64);
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_1024);
//timer5Init();
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
int i = 0, j = 0;
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
while(1)
{
control();
delay_cycles(100);
//an optional small delay to prevent crazy oscillations
}
return 0;
}
void prvSetupHardware(){
int i, j;
//add 1.7s delay for potential power issues
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
delay_cycles(65535);
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 38400); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it doesn't work
uartSetBaudRate(2, 38400); // set UARTH speed
uartSetBaudRate(3, 38400); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
rprintfInit(uart1SendByte);// initialize rprintf system and configure uart1 (USB) for rprintf
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
//rprintf("\r\nSystem Warmed Up");
// initialize the timer system
init_timer0(TIMER_CLK_1024);
// init_timer1(TIMER_CLK_64); // Timer 1 is initialized by FreeRTOS
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_64);
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
//reset all timers to zero
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
/********PWM Setup***********/
prvPWMSetup();
}
