Delete old button board code
Signed-off-by: Sindy Tan <sindytn@gmail.com>
Change-Id: Ia97587878fae5c085c0d463bf5ec25577cbb10f6
diff --git a/motors/BUILD b/motors/BUILD
index 9ebad0f..1c6b4a3 100644
--- a/motors/BUILD
+++ b/motors/BUILD
@@ -136,29 +136,6 @@
]
cc_binary(
- name = "button_board.elf",
- srcs = [
- "button_board.cc",
- ],
- target_compatible_with = ["@platforms//os:none"],
- deps = [
- ":util",
- "//motors/core",
- "//motors/peripheral:adc",
- "//motors/peripheral:can",
- "//motors/print:usb",
- "//motors/usb",
- "//motors/usb:cdc",
- "//motors/usb:hid",
- ],
-)
-
-hex_from_elf(
- name = "button_board",
- target_compatible_with = ["@platforms//os:none"],
-)
-
-cc_binary(
name = "simple_receiver.elf",
srcs = [
"simple_receiver.cc",
diff --git a/motors/README.md b/motors/README.md
index 4d5559d..3391ead 100644
--- a/motors/README.md
+++ b/motors/README.md
@@ -3,7 +3,7 @@
1. Install Teensy Loader [here](https://www.pjrc.com/teensy/loader_mac.html).
## Make changes
-1. Most of the code lives in `/motors/driver_station_2*`. `/motors/button_board*` is deprecated.
+1. Most of the code lives in `/motors/driver_station_2*`.
## Deploy
1. Build driver station. This outputs a file `bazel-bin/motors/driver_station_2.hex`.
diff --git a/motors/button_board.cc b/motors/button_board.cc
deleted file mode 100644
index e509ea6..0000000
--- a/motors/button_board.cc
+++ /dev/null
@@ -1,407 +0,0 @@
-// This file has the main for the Teensy on the button board.
-
-#include <inttypes.h>
-#include <stdio.h>
-
-#include <atomic>
-#include <cmath>
-
-#include "motors/core/kinetis.h"
-#include "motors/core/time.h"
-#include "motors/peripheral/adc.h"
-#include "motors/peripheral/can.h"
-#include "motors/print/print.h"
-#include "motors/usb/cdc.h"
-#include "motors/usb/hid.h"
-#include "motors/usb/usb.h"
-#include "motors/util.h"
-
-namespace frc971::motors {
-namespace {
-
-struct JoystickAdcReadings {
- uint16_t analog0, analog1, analog2, analog3;
-};
-
-void AdcInitJoystick() {
- AdcInitCommon();
-
- // ANALOG0 ADC0_SE5b
- PORTD_PCR1 = PORT_PCR_MUX(0);
- // ANALOG1 ADC0_SE14
- PORTC_PCR0 = PORT_PCR_MUX(0);
- // ANALOG2 ADC0_SE13
- PORTB_PCR3 = PORT_PCR_MUX(0);
- // ANALOG3 ADC0_SE12
- PORTB_PCR2 = PORT_PCR_MUX(0);
-}
-
-JoystickAdcReadings AdcReadJoystick(const DisableInterrupts &) {
- JoystickAdcReadings r;
-
- ADC0_SC1A = 5;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- ADC0_SC1A = 14;
- r.analog0 = ADC0_RA;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- ADC0_SC1A = 13;
- r.analog1 = ADC0_RA;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- ADC0_SC1A = 12;
- r.analog2 = ADC0_RA;
- while (!(ADC0_SC1A & ADC_SC1_COCO)) {
- }
- r.analog3 = ADC0_RA;
-
- return r;
-}
-
-// The HID report descriptor we use.
-constexpr char kReportDescriptor1[] = {
- 0x05, 0x01, // Usage Page (Generic Desktop),
- 0x09, 0x04, // Usage (Joystick),
- 0xA1, 0x01, // Collection (Application),
- 0x75, 0x08, // Report Size (8),
- 0x95, 0x04, // Report Count (4),
- 0x15, 0x00, // Logical Minimum (0),
- 0x26, 0xFF, 0x00, // Logical Maximum (255),
- 0x35, 0x00, // Physical Minimum (0),
- 0x46, 0xFF, 0x00, // Physical Maximum (255),
- 0x09, 0x30, // Usage (X),
- 0x09, 0x31, // Usage (Y),
- 0x09, 0x32, // Usage (Z),
- 0x09, 0x33, // Usage (Rz),
- 0x81, 0x02, // Input (Variable),
- 0x75, 0x01, // Report Size (1),
- 0x95, 0x10, // Report Count (16),
- 0x25, 0x01, // Logical Maximum (1),
- 0x45, 0x01, // Physical Maximum (1),
- 0x05, 0x09, // Usage Page (Button),
- 0x19, 0x01, // Usage Minimum (01),
- 0x29, 0x10, // Usage Maximum (16),
- 0x81, 0x02, // Input (Variable),
- 0xC0 // End Collection
-};
-
-constexpr uint16_t report_size() { return 1 * 4 + 2; }
-
-char DecodeAnalog(int analog) {
- // None: 132
- // Far: 71
- // Near: 103
- // Both: 0
- if (analog < 30) {
- return 0x3;
- } else if (::std::abs(analog - 71) < 10) {
- return 0x2;
- } else if (::std::abs(analog - 103) < 10) {
- return 0x1;
- } else {
- return 0x0;
- }
-}
-
-void SendJoystickData(teensy::HidFunction *joystick0,
- teensy::HidFunction *joystick1) {
- uint32_t start = micros();
- while (true) {
- JoystickAdcReadings adc;
- char report0[report_size()];
- char report1[report_size()];
- {
- DisableInterrupts disable_interrupts;
- adc = AdcReadJoystick(disable_interrupts);
- }
-
- FTM0->C1V = adc.analog0 / 4;
- FTM0->C0V = adc.analog1 / 4;
- FTM0->C4V = adc.analog2 / 4;
- FTM0->C3V = adc.analog3 / 4;
- FTM0->PWMLOAD = FTM_PWMLOAD_LDOK;
- report0[0] = report1[0] = adc.analog0 / 16;
- report0[1] = report1[1] = adc.analog1 / 16;
- report0[2] = report1[2] = adc.analog2 / 16;
- report0[3] = report1[3] = adc.analog3 / 16;
-
- report0[4] = ((PERIPHERAL_BITBAND(GPIOD_PDIR, 5) << 0) |
- (PERIPHERAL_BITBAND(GPIOD_PDIR, 6) << 1) |
- (PERIPHERAL_BITBAND(GPIOB_PDIR, 0) << 2) |
- (PERIPHERAL_BITBAND(GPIOB_PDIR, 1) << 3) |
- (PERIPHERAL_BITBAND(GPIOA_PDIR, 14) << 4) |
- (PERIPHERAL_BITBAND(GPIOE_PDIR, 26) << 5) |
- (PERIPHERAL_BITBAND(GPIOA_PDIR, 16) << 6) |
- (PERIPHERAL_BITBAND(GPIOA_PDIR, 15) << 7)) ^
- 0xff;
-
- report0[5] = ((PERIPHERAL_BITBAND(GPIOE_PDIR, 25) << 0) |
- (PERIPHERAL_BITBAND(GPIOE_PDIR, 24) << 1) |
- (PERIPHERAL_BITBAND(GPIOC_PDIR, 3) << 2) |
- (PERIPHERAL_BITBAND(GPIOC_PDIR, 7) << 3) |
- (PERIPHERAL_BITBAND(GPIOD_PDIR, 3) << 4) |
- (PERIPHERAL_BITBAND(GPIOD_PDIR, 2) << 5) |
- (PERIPHERAL_BITBAND(GPIOD_PDIR, 7) << 6) |
- (PERIPHERAL_BITBAND(GPIOA_PDIR, 13) << 7)) ^
- 0xff;
-
- report1[4] =
- ((PERIPHERAL_BITBAND(GPIOA_PDIR, 12) << 0) |
- (PERIPHERAL_BITBAND(GPIOD_PDIR, 0) << 1) |
- (PERIPHERAL_BITBAND(GPIOB_PDIR, 17) << 2) |
- (PERIPHERAL_BITBAND(GPIOB_PDIR, 16) << 3) |
- (DecodeAnalog(report1[0]) << 4) | (DecodeAnalog(report1[1]) << 6)) ^
- 0x0f;
- report1[5] = (DecodeAnalog(report1[2])) | (DecodeAnalog(report1[3]) << 2);
-
- {
- DisableInterrupts disable_interrupts;
- joystick0->UpdateReport(report0, sizeof(report0), disable_interrupts);
- joystick1->UpdateReport(report1, sizeof(report1), disable_interrupts);
- }
-
- start = delay_from(start, 1);
- }
-}
-
-void SetupLedFtm(BigFTM *ftm) {
- // PWMSYNC doesn't matter because we set SYNCMODE down below.
- ftm->MODE = FTM_MODE_WPDIS;
- ftm->MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN;
- ftm->SC = FTM_SC_CLKS(0) /* Disable counting for now */;
-
- // Use center-aligned high-true for all the channels.
- ftm->C0SC = FTM_CSC_ELSB;
- ftm->C0V = 0;
- ftm->C1SC = FTM_CSC_ELSB;
- ftm->C1V = 0;
- ftm->C2SC = FTM_CSC_ELSB;
- ftm->C2V = 0;
- ftm->C3SC = FTM_CSC_ELSB;
- ftm->C3V = 0;
- ftm->C4SC = FTM_CSC_ELSB;
- ftm->C4V = 0;
- ftm->C5SC = FTM_CSC_ELSB;
- ftm->C5V = 0;
- ftm->C6SC = FTM_CSC_ELSB;
- ftm->C6V = 0;
- ftm->C7SC = FTM_CSC_ELSB;
- ftm->C7V = 0;
-
- ftm->COMBINE = FTM_COMBINE_SYNCEN3 /* Synchronize updates usefully */ |
- FTM_COMBINE_SYNCEN2 /* Synchronize updates usefully */ |
- FTM_COMBINE_SYNCEN1 /* Synchronize updates usefully */ |
- FTM_COMBINE_SYNCEN0 /* Synchronize updates usefully */;
-
- ftm->CNTIN = 0;
- ftm->CNT = 0;
- ftm->MOD = 1024;
- ftm->OUTINIT = 0;
- ftm->POL = 0;
- ftm->SYNCONF =
- FTM_SYNCONF_HWWRBUF /* Hardware trigger flushes switching points */ |
- FTM_SYNCONF_SWWRBUF /* Software trigger flushes switching points */ |
- FTM_SYNCONF_SWRSTCNT /* Software trigger resets the count */ |
- FTM_SYNCONF_SYNCMODE /* Use the new synchronization mode */;
- // Don't want any intermediate loading points.
- ftm->PWMLOAD = 0;
-
- ftm->SYNC = FTM_SYNC_SWSYNC /* Flush everything out right now */;
- // Wait for the software synchronization to finish.
- while (ftm->SYNC & FTM_SYNC_SWSYNC) {
- }
- ftm->SC = FTM_SC_CPWMS /* Center-aligned PWM */ |
- FTM_SC_CLKS(1) /* Use the system clock */ |
- FTM_SC_PS(6) /* Prescaler=64 */;
-
- ftm->MODE &= ~FTM_MODE_WPDIS;
-}
-
-} // namespace
-
-extern "C" {
-
-void *__stack_chk_guard = (void *)0x67111971;
-void __stack_chk_fail(void) {
- while (true) {
- GPIOC_PSOR = (1 << 5);
- printf("Stack corruption detected\n");
- delay(1000);
- GPIOC_PCOR = (1 << 5);
- delay(1000);
- }
-}
-
-} // extern "C"
-
-extern "C" int main(void) {
- // for background about this startup delay, please see these conversations
- // https://forum.pjrc.com/threads/36606-startup-time-(400ms)?p=113980&viewfull=1#post113980
- // https://forum.pjrc.com/threads/31290-Teensey-3-2-Teensey-Loader-1-24-Issues?p=87273&viewfull=1#post87273
- delay(400);
-
- // Set all interrupts to the second-lowest priority to start with.
- for (int i = 0; i < NVIC_NUM_INTERRUPTS; i++) NVIC_SET_SANE_PRIORITY(i, 0xD);
-
- // Now set priorities for all the ones we care about. They only have meaning
- // relative to each other, which means centralizing them here makes it a lot
- // more manageable.
- NVIC_SET_SANE_PRIORITY(IRQ_USBOTG, 0x7);
-
- // Set all the LED pins to output, slew rate controlled, high drive strength.
- // Builtin
- PERIPHERAL_BITBAND(GPIOC_PDOR, 5) = 1;
- PORTC_PCR5 = PORT_PCR_DSE | PORT_PCR_SRE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 5) = 1;
- // LED0 FTM0_CH1
- PERIPHERAL_BITBAND(GPIOC_PDOR, 2) = 0;
- PORTC_PCR2 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 2) = 1;
- // LED1 FTM0_CH0
- PERIPHERAL_BITBAND(GPIOC_PDOR, 1) = 0;
- PORTC_PCR1 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 1) = 1;
- // LED2 FTM0_CH4
- PERIPHERAL_BITBAND(GPIOD_PDOR, 4) = 0;
- PORTD_PCR4 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
- PERIPHERAL_BITBAND(GPIOD_PDDR, 4) = 1;
- // LED3 FTM0_CH3
- PERIPHERAL_BITBAND(GPIOC_PDOR, 4) = 0;
- PORTC_PCR4 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 4) = 1;
- // LED4 FTM3_CH4 yellow
- PERIPHERAL_BITBAND(GPIOC_PDOR, 8) = 0;
- PORTC_PCR8 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 8) = 1;
- // LED5 FTM3_CH5 green
- PERIPHERAL_BITBAND(GPIOC_PDOR, 9) = 0;
- PORTC_PCR9 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 9) = 1;
- // LED6 FTM3_CH6 red
- PERIPHERAL_BITBAND(GPIOC_PDOR, 10) = 0;
- PORTC_PCR10 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 10) = 1;
-
- // Set up the CAN pins.
- PORTB_PCR18 = PORT_PCR_DSE | PORT_PCR_MUX(2);
- PORTB_PCR19 = PORT_PCR_DSE | PORT_PCR_MUX(2);
-
- // .1ms filter time.
- PORTA_DFWR = 6000;
- PORTB_DFWR = 6000;
- PORTC_DFWR = 6000;
- PORTD_DFWR = 6000;
- PORTE_DFWR = 6000;
-
- // Set up the buttons. The LEDs pull them up to 5V, so the Teensy needs to not
- // be set to pull up.
- // BTN0
- PORTD_PCR5 = PORT_PCR_MUX(1);
- PORTD_DFER |= 1 << 5;
- // BTN1
- PORTD_PCR6 = PORT_PCR_MUX(1);
- PORTD_DFER |= 1 << 6;
- // BTN2
- PORTB_PCR0 = PORT_PCR_MUX(1);
- PORTB_DFER |= 1 << 0;
- // BTN3
- PORTB_PCR1 = PORT_PCR_MUX(1);
- PORTB_DFER |= 1 << 1;
- // BTN4
- PORTA_PCR14 = PORT_PCR_MUX(1);
- PORTA_DFER |= 1 << 14;
- // BTN5
- PORTE_PCR26 = PORT_PCR_MUX(1);
- PORTE_DFER |= 1 << 26;
- // BTN6
- PORTA_PCR16 = PORT_PCR_MUX(1);
- PORTA_DFER |= 1 << 16;
- // BTN7
- PORTA_PCR15 = PORT_PCR_MUX(1);
- PORTA_DFER |= 1 << 15;
- // BTN8
- PORTE_PCR25 = PORT_PCR_MUX(1);
- PORTE_DFER |= 1 << 25;
- // BTN9
- PORTE_PCR24 = PORT_PCR_MUX(1);
- PORTE_DFER |= 1 << 24;
- // BTN10
- PORTC_PCR3 = PORT_PCR_MUX(1);
- PORTC_DFER |= 1 << 3;
- // BTN11
- PORTC_PCR7 = PORT_PCR_MUX(1);
- PORTC_DFER |= 1 << 7;
- // BTN12
- PORTD_PCR3 = PORT_PCR_MUX(1);
- PORTD_DFER |= 1 << 3;
- // BTN13
- PORTD_PCR2 = PORT_PCR_MUX(1);
- PORTD_DFER |= 1 << 2;
- // BTN14
- PORTD_PCR7 = PORT_PCR_MUX(1);
- PORTD_DFER |= 1 << 7;
- // BTN15
- PORTA_PCR13 = PORT_PCR_MUX(1);
- PORTA_DFER |= 1 << 13;
- // BTN16
- PORTA_PCR12 = PORT_PCR_MUX(1);
- PORTA_DFER |= 1 << 12;
- // BTN17
- PORTD_PCR0 = PORT_PCR_MUX(1);
- PORTD_DFER |= 1 << 0;
- // BTN18
- PORTB_PCR17 = PORT_PCR_MUX(1);
- PORTB_DFER |= 1 << 17;
- // BTN19
- PORTB_PCR16 = PORT_PCR_MUX(1);
- PORTB_DFER |= 1 << 16;
-
- delay(100);
-
- teensy::UsbDevice usb_device(0, 0x16c0, 0x0492);
- usb_device.SetManufacturer("FRC 971 Spartan Robotics");
- usb_device.SetProduct("Spartan Joystick Board");
-
- teensy::HidFunction joystick0(&usb_device, report_size());
- joystick0.set_report_descriptor(
- ::std::string(kReportDescriptor1, sizeof(kReportDescriptor1)));
-
- teensy::HidFunction joystick1(&usb_device, report_size());
- joystick1.set_report_descriptor(
- ::std::string(kReportDescriptor1, sizeof(kReportDescriptor1)));
-
- teensy::AcmTty tty1(&usb_device);
- PrintingParameters printing_parameters;
- printing_parameters.stdout_tty = &tty1;
-
- const ::std::unique_ptr<PrintingImplementation> printing =
- CreatePrinting(printing_parameters);
- usb_device.Initialize();
- printing->Initialize();
-
- can_init(0, 1);
- AdcInitJoystick();
- SetupLedFtm(FTM0);
- SetupLedFtm(FTM3);
-
- // Leave the LEDs on for a bit longer.
- delay(300);
- printf("Done starting up\n");
-
- // Done starting up, now turn all the LEDs off.
- PERIPHERAL_BITBAND(GPIOC_PDOR, 5) = 0;
- PERIPHERAL_BITBAND(GPIOC_PDOR, 2) = 1;
- PERIPHERAL_BITBAND(GPIOC_PDOR, 1) = 1;
- PERIPHERAL_BITBAND(GPIOD_PDOR, 4) = 1;
- PERIPHERAL_BITBAND(GPIOC_PDOR, 4) = 1;
- PERIPHERAL_BITBAND(GPIOC_PDOR, 8) = 1;
- PERIPHERAL_BITBAND(GPIOC_PDOR, 9) = 1;
- PERIPHERAL_BITBAND(GPIOC_PDOR, 10) = 1;
-
- SendJoystickData(&joystick0, &joystick1);
-
- return 0;
-}
-
-} // namespace frc971::motors