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[WIP] Wallaby2 #22

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[WIP] Wallaby2 #22

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2 changes: 1 addition & 1 deletion main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ int main()
//readAccel();
//readMag();
//readGyro();
readIMU();
if(count%1000==0)readIMU();
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TODO: better update frequency control


if (batt < 636) // about 5.75 volts
{
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5 changes: 5 additions & 0 deletions wallaby.h
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Expand Up @@ -17,6 +17,11 @@
#include "wallaby_uart.h"


// Wallaby2
#ifndef WALLABY2
#define WALLABY2
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Don't default to WALLABY2 in this way if it is missing... what if we were a WALLABY

#endif


#ifdef USE_CROSS_STUDIO_DEBUG
#include <__cross_studio_io.h>
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16 changes: 16 additions & 0 deletions wallaby_dig.c
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Expand Up @@ -41,6 +41,20 @@ void update_dig_pin_from_reg(uint32_t pin, GPIO_TypeDef* port, uint8_t output_en
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
}

#ifdef WALLABY2

// Wallaby22
if (pullup_enable)
{
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
}
else
{
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
}
#else

// Wallaby1
if (pullup_enable)
{
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
Expand All @@ -49,6 +63,8 @@ void update_dig_pin_from_reg(uint32_t pin, GPIO_TypeDef* port, uint8_t output_en
{
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
}
#endif


GPIO_Init(port, &GPIO_InitStructure);
}
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4 changes: 2 additions & 2 deletions wallaby_dma.c
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Expand Up @@ -246,10 +246,10 @@ void handle_dma()
}
else
{
//debug_printf("got bad spi packet with start %d version %d tot %d\n", aRxBuffer[0], aRxBuffer[1], aRxBuffer[REG_READABLE_COUNT-1]);
debug_printf("got bad spi packet with start %d version %d tot %d\n", aRxBuffer[0], aRxBuffer[1], aRxBuffer[REG_READABLE_COUNT-1]);
if (aRxBuffer[1] == WALLABY_SPI_VERSION)
{
//debug_printf("SPI protocol version mismatch\n");
debug_printf("SPI protocol version mismatch\n");
}
}
// Clear DMA Transfer Complete Flags so we can notice when a transfer happens again
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