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-rw-r--r--accel.c2
-rw-r--r--gyro.c2
-rw-r--r--main.c14
-rw-r--r--ui.c25
4 files changed, 29 insertions, 14 deletions
diff --git a/accel.c b/accel.c
index ed2aa81..6d6d9d2 100644
--- a/accel.c
+++ b/accel.c
@@ -15,6 +15,7 @@
/* registers */
#define LIS302DL_WHOAMI 0xf
#define LIS302DL_CTRLREG1 0x20
+#define LIS302DL_CTRLREG2 0x21
#define LIS302DL_UNUSED1 0x28
#define LIS302DL_OUTZ 0x2D
@@ -84,6 +85,7 @@ void accelStart () {
puts ("cannot start write");
}
sleepwhile (twr.status == TWST_WAIT);
+ assert (twr.status == TWST_OK);
puts ("accelStart done");
disableWakeup (WAKE_I2C);
}
diff --git a/gyro.c b/gyro.c
index fdf2d1f..ac9ec1c 100644
--- a/gyro.c
+++ b/gyro.c
@@ -17,6 +17,7 @@
#define L3GD20_CTRLREG1 0x20
#define L3GD20_CTRLREG3 0x22
#define L3GD20_CTRLREG4 0x23
+#define L3GD20_CTRLREG5 0x24
#define L3GD20_OUTZ 0x2c
/* raw z value */
@@ -65,6 +66,7 @@ void gyroStart () {
puts ("cannot start write");
}
sleepwhile (twr.status == TWST_WAIT);
+ assert (twr.status == TWST_OK);
puts ("gyroStart done");
disableWakeup (WAKE_I2C);
}
diff --git a/main.c b/main.c
index b9bb5ce..a69a045 100644
--- a/main.c
+++ b/main.c
@@ -37,24 +37,10 @@ int main () {
gyroInit ();
accelInit ();
pwmInit ();
- pwmStart ();
set_sleep_mode (SLEEP_MODE_IDLE);
- puts ("initialization done");
-
- /* global interrupt enable */
sei ();
- gyroStart ();
- accelStart ();
-
uiLoop ();
-
- timerStop ();
- pwmStop ();
-
- puts ("stopped");
-
- /* global interrupt disable */
cli ();
while (1);
diff --git a/ui.c b/ui.c
index 9175133..b9528a4 100644
--- a/ui.c
+++ b/ui.c
@@ -149,6 +149,8 @@ static void doSelectFine () {
/* Idle function, waits for timer start or select commands
*/
static void doIdle () {
+ pwmSet (horizonLed (0), 1);
+
if (horizonChanged) {
/* start timer */
for (uint8_t i = 0; i < PWM_LED_COUNT; i++) {
@@ -244,6 +246,11 @@ static void doInit () {
/* get initial orientation */
h = accelGetHorizon ();
if (h != HORIZON_NONE) {
+ /* init done */
+ for (uint8_t i = 0; i < PWM_LED_COUNT; i++) {
+ pwmSet (horizonLed (i), PWM_OFF);
+ }
+
mode = UIMODE_IDLE;
puts ("init->idle");
@@ -319,6 +326,21 @@ void uiLoop () {
}
#endif
+ /* startup, test all LED’s */
+ pwmStart ();
+ for (uint8_t i = 0; i < PWM_LED_COUNT; i++) {
+ pwmSet (i, PWM_ON);
+ }
+ gyroStart ();
+ pwmSet (0, PWM_OFF);
+ accelStart ();
+ pwmSet (1, PWM_OFF);
+
+ /* make sure data is read even when missing the first interrupt (i.e.
+ * reboot) */
+ enableWakeup (WAKE_ACCEL);
+ enableWakeup (WAKE_GYRO);
+
while (1) {
processSensors ();
@@ -374,5 +396,8 @@ void uiLoop () {
accelval[1], accelval[3], accelval[5]);
#endif
}
+
+ timerStop ();
+ pwmStop ();
}