Revision 6:a6971458d612, committed 2011-02-24

Comitter:

hlipka

Date:

Thu Feb 24 22:05:04 2011 +0000

Parent:

5:a5eba88e8c3e

Commit message:

calibration works now

Changed in this revision

diff -r a5eba88e8c3e -r a6971458d612 ar1020.cpp
--- a/ar1020.cpp	Thu Feb 24 21:30:56 2011 +0000
+++ b/ar1020.cpp	Thu Feb 24 22:05:04 2011 +0000
@@ -168,7 +168,7 @@
         _enable->write(0);
     }
 
-    wait_us(10);
+    wait_us(100);
 
     writeByte(0x55);
     wait_us(100);
@@ -279,30 +279,36 @@
     _enable->write(0);
     wait_us(10);
     char cid3[1]={0x04};
-    cmd(0x14,cid3,1,false);
+    r=cmd(0x14,cid3,1,false);
+    printf("start calibration=%i\n",r);
+    if (r<0)
+        return;
 
-    wait_ms(1);
-
+    printf("start OK, press upper left\n");
+    led1=1;
     int resp=readCalibResponse();
     printf("status=%i\n",resp);
-    printf("start OK, press upper left");
-    led1=1;
-    resp=readCalibResponse();
-    printf("status=%i\n",resp);
-    printf("press upper right");
+    printf("press upper right\n");
     led2=1;
     resp=readCalibResponse();
     printf("status=%i\n",resp);
-    printf("press lower right");
+    printf("press lower right\n");
     led3=1;
     resp=readCalibResponse();
     printf("status=%i\n",resp);
-    printf("press lower left");
+    printf("press lower left\n");
     led4=1;
     resp=readCalibResponse();
     printf("status=%i\n",resp);
+    printf("exit calibration mode\n");
+
+    led1=0;
+    led2=0;
+    led3=0;
+    led4=0;
 
     _enable->write(1);
+    wait_ms(1000);
 
     r=cmd(0x23,NULL,0);
     printf("save registers=%i\n",r);
@@ -317,7 +323,7 @@
 int AR1020::readCalibResponse() {
     while (true) {
         while (true) {
-            wait_us(100);
+            wait_us(10);
             if (1==_siq->read())
                 break;
         }
@@ -329,21 +335,22 @@
             continue;
         }
 
+        wait_us(100);
         r=readByte();
-        wait_us(100);
         if (r!=0x02) {
             printf("2=0x%x\n",r);
             continue;
         }
 
+        wait_us(100);
         r=readByte();
-        wait_us(100);
         if (r!=0x00) {
             printf("3=0x%x\n",r);
             continue;
         }
+
+        wait_us(100);
         int rc=readByte();
-        wait_us(100);
         if (rc!=0x14) {
             printf("4=0x%x\n",r);
             continue;