int main()
{
///////// System Clock Initialization /////////
// Fosc = 12MHz
// MSEL=4, PSEL=1
// PLLCFG=0100100=0x24=36
// cclk = 60MHz
// Fcco = 240MHz
PLLCFG = 0x24;
// Enable PLL
PLLCON = 0x1;
PLLFEED = 0xAA;
PLLFEED = 0x55;
// Wait for PLL to achieve lock
while(!(PLLSTAT & 0x400));
// Connect PLL
PLLCON=0x3;
PLLFEED=0xAA;
PLLFEED=0x55;
///////// Peripheral Clock Initialization /////////
// Set periphery divider
// 0x00 => /4
// 0x01 => /1
// 0x02 => /2
APBDIV_bit.APBDIV = 0x02;
serialInit(UART0, 115200);
if (initOF() == false) {
serialPuts(UART0, "SPI Init Error\n");
}
while (1) {
updateOF();
if (_motion == false)
serialPuts(UART0, "no ");
serialPuts(UART0, "motion\n");
if (_overflow == true)
serialPuts(UART0, "overflow\n");
serialPuts(UART0, "squal: ");
serialPuti(UART0, surface_quality);
serialPutc(UART0, '\n');
serialPuti(UART0, raw_dx);
serialPutc(UART0, '\n');
serialPuti(UART0, raw_dx);
serialPutc(UART0, '\n');
delay(1000);
}
}
void cliTask(void * pdata)
{
char line[CLI_COMMAND_MAX_LEN+1];
int pos = 0;
cliPrompt();
for (;;) {
uint8_t c;
while (!cliRxFifo.pop(c)) {
CoTickDelay(10); // 20ms
}
if (c == 12) {
// clear screen
serialPrint("\033[2J\033[1;1H");
cliPrompt();
}
else if (c == 127) {
// backspace
if (pos) {
line[--pos] = '\0';
serialPutc(c);
}
}
else if (c == '\r' || c == '\n') {
// enter
serialCrlf();
line[pos] = '\0';
cliExecLine(line);
pos = 0;
cliPrompt();
}
else if (isascii(c) && pos < CLI_COMMAND_MAX_LEN) {
line[pos++] = c;
serialPutc(c);
}
}
}
void cliPrompt()
{
serialPutc('>');
}
