Bugfixes and cleanups for the third robot.
- Fix a bug in the gyro board code that would cause it to
enable the ISR for the wrong timer.
- Fix a bug in the gyro board code that would cause it to
set a falling edge interrupts on the wrong pin.
- Cleanup some junk in gyp files.
- Break usb_receiver stuff into a separate gyp file so it would
build correctly for both robots.
- Fix the dip switch numbering in the gyro board code.
diff --git a/gyro_board/src/usb/digital.c b/gyro_board/src/usb/digital.c
index 83ef169..ed8522a 100644
--- a/gyro_board/src/usb/digital.c
+++ b/gyro_board/src/usb/digital.c
@@ -30,7 +30,7 @@
int is_bot3;
void digital_init(void) {
- if (dip_switch(0) || dip_switch(1) || dip_switch(2) || dip_switch(3)) {
+ if (dip_switch(1) || dip_switch(2) || dip_switch(3) || dip_switch(4)) {
is_bot3 = 1;
} else {
is_bot3 = 0;
diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index c735126..f5ca745 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -13,6 +13,7 @@
// How long (in ms) to wait after a falling edge on the bottom indexer sensor
// before reading the indexer encoder.
static const int kBottomFallDelayTime = 32;
+static const int kWheelStopThreshold = 2.5;
#define ENC(gpio, a, b) readGPIO(gpio, a) * 2 + readGPIO(gpio, b)
int encoder_bits(int channel) {
@@ -434,35 +435,6 @@
static volatile uint32_t sensor_timing_wraps = 0;
void encoder_init(void) {
- // Setup the encoder interface.
- SC->PCONP |= PCONP_PCQEI;
- PINCON->PINSEL3 = ((PINCON->PINSEL3 & 0xffff3dff) | 0x00004100);
- // Reset the count and velocity.
- QEI->QEICON = 0x00000005;
- QEI->QEICONF = 0x00000004;
- // Wrap back to 0 when we wrap the int and vice versa.
- QEI->QEIMAXPOS = 0xFFFFFFFF;
-
- // Set up encoder 2.
- GPIOINT->IO0IntEnF |= (1 << 22); // Set GPIO falling interrupt.
- GPIOINT->IO0IntEnR |= (1 << 22); // Set GPIO rising interrupt.
- GPIOINT->IO0IntEnF |= (1 << 21); // Set GPIO falling interrupt.
- GPIOINT->IO0IntEnR |= (1 << 21); // Set GPIO rising interrupt.
- // Make sure they're in mode 00 (the default, aka nothing special).
- PINCON->PINSEL1 &= ~(0x3 << 12);
- PINCON->PINSEL1 &= ~(0x3 << 10);
- encoder2_val = 0;
-
- // Set up encoder 3.
- GPIOINT->IO0IntEnF |= (1 << 20); // Set GPIO falling interrupt.
- GPIOINT->IO0IntEnR |= (1 << 20); // Set GPIO rising interrupt.
- GPIOINT->IO0IntEnF |= (1 << 19); // Set GPIO falling interrupt.
- GPIOINT->IO0IntEnR |= (1 << 19); // Set GPIO rising interrupt.
- // Make sure they're in mode 00 (the default, aka nothing special).
- PINCON->PINSEL1 &= ~(0x3 << 8);
- PINCON->PINSEL1 &= ~(0x3 << 6);
- encoder3_val = 0;
-
// Enable interrupts from the GPIO pins.
NVIC_EnableIRQ(EINT3_IRQn);
@@ -483,12 +455,21 @@
TIM2->MR0 = kWheelStopThreshold * (10 ^ 8);
TIM2->MCR = 1;
// Enable timer IRQ, and make it lower priority than the encoders.
- NVIC_SetPriority(TIMER3_IRQn, 1);
- NVIC_EnableIRQ(TIMER3_IRQn);
+ NVIC_SetPriority(TIMER2_IRQn, 1);
+ NVIC_EnableIRQ(TIMER2_IRQn);
// Set up GPIO interrupt on other edge.
- GPIOINT->IO0IntEnF |= (1 << 23);
+ GPIOINT->IO0IntEnF |= (1 << 4);
} else { // is main robot
+ // Setup the encoder interface.
+ SC->PCONP |= PCONP_PCQEI;
+ PINCON->PINSEL3 = ((PINCON->PINSEL3 & 0xffff3dff) | 0x00004100);
+ // Reset the count and velocity.
+ QEI->QEICON = 0x00000005;
+ QEI->QEICONF = 0x00000004;
+ // Wrap back to 0 when we wrap the int and vice versa.
+ QEI->QEIMAXPOS = 0xFFFFFFFF;
+
// Set up encoder 1.
// Make GPIOs 2.11 and 2.12 trigger EINT1 and EINT2 (respectively).
// PINSEL4[23:22] = {0 1}
@@ -501,7 +482,27 @@
NVIC_EnableIRQ(EINT1_IRQn);
NVIC_EnableIRQ(EINT2_IRQn);
encoder1_val = 0;
+
+ // Set up encoder 2.
+ GPIOINT->IO0IntEnF |= (1 << 22); // Set GPIO falling interrupt.
+ GPIOINT->IO0IntEnR |= (1 << 22); // Set GPIO rising interrupt.
+ GPIOINT->IO0IntEnF |= (1 << 21); // Set GPIO falling interrupt.
+ GPIOINT->IO0IntEnR |= (1 << 21); // Set GPIO rising interrupt.
+ // Make sure they're in mode 00 (the default, aka nothing special).
+ PINCON->PINSEL1 &= ~(0x3 << 12);
+ PINCON->PINSEL1 &= ~(0x3 << 10);
+ encoder2_val = 0;
+ // Set up encoder 3.
+ GPIOINT->IO0IntEnF |= (1 << 20); // Set GPIO falling interrupt.
+ GPIOINT->IO0IntEnR |= (1 << 20); // Set GPIO rising interrupt.
+ GPIOINT->IO0IntEnF |= (1 << 19); // Set GPIO falling interrupt.
+ GPIOINT->IO0IntEnR |= (1 << 19); // Set GPIO rising interrupt.
+ // Make sure they're in mode 00 (the default, aka nothing special).
+ PINCON->PINSEL1 &= ~(0x3 << 8);
+ PINCON->PINSEL1 &= ~(0x3 << 6);
+ encoder3_val = 0;
+
// Set up encoder 4.
GPIOINT->IO2IntEnF |= (1 << 0); // Set GPIO falling interrupt.
GPIOINT->IO2IntEnR |= (1 << 0); // Set GPIO rising interrupt.
@@ -522,7 +523,6 @@
PINCON->PINSEL4 &= ~(0x3 << 6);
encoder5_val = 0;
-
xTaskCreate(vDelayCapture,
(signed char *) "SENSORs",
configMINIMAL_STACK_SIZE + 100,
@@ -573,8 +573,8 @@
if (is_bot3) {
packet->robot_id = 1;
- packet->main.left_drive = encoder3_val;
- packet->main.right_drive = encoder2_val;
+ //packet->main.left_drive = encoder3_val;
+ //packet->main.right_drive = encoder2_val;
packet->bot3.shooter_cycle_ticks = shooter_cycle_ticks;
} else { // is main robot