merging the recent gyro board code updates in
I'm merging the wrong way in the middle because the merge is complicated
because there are changes to things that got split out into different
files.
diff --git a/gyro_board/src/usb/Makefile b/gyro_board/src/usb/Makefile
index c6050d6..424df84 100644
--- a/gyro_board/src/usb/Makefile
+++ b/gyro_board/src/usb/Makefile
@@ -61,7 +61,13 @@
$(FLASHER) -termonly -control $(NAME).hex $(PORT) $(SPEED) $(OSC)
deploy: all $(NAME).hex
- $(FLASHER) -hex -verify -control $(NAME).hex $(PORT) $(SPEED) $(OSC)
+ # TODO(aschuh): Figure out why the verify fails (or remove it) and then
+ # remove the -.
+ -$(FLASHER) -hex -verify -control $(NAME).hex $(PORT) $(SPEED) $(OSC)
+
+reset: deploy
+ # Echo an ESC into it to immediately exit the terminal.
+ `which echo` -e '\e' | $(FLASHER) -termonly -control $(PORT) $(SPEED) $(OSC)
cat:
@cd ../../bin; python serial_looper.py
diff --git a/gyro_board/src/usb/data_struct.h b/gyro_board/src/usb/data_struct.h
index ac86a1a..edccea3 100644
--- a/gyro_board/src/usb/data_struct.h
+++ b/gyro_board/src/usb/data_struct.h
@@ -41,6 +41,8 @@
uint8_t angle_adjust_bottom_hall_effect : 1;
uint8_t top_disc : 1;
uint8_t bottom_disc : 1;
+ uint8_t loader_top : 1;
+ uint8_t loader_bottom : 1;
};
uint16_t booleans;
};
diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index ff0a282..136cefd 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -42,7 +42,7 @@
// ENC1A 2.11
void EINT1_IRQHandler(void) {
- // TODO(brians): figure out why this has to be up here too
+ SC->EXTPOLAR ^= 0x2;
SC->EXTINT = 0x2;
int fiopin = GPIO2->FIOPIN;
if (((fiopin >> 1) ^ fiopin) & 0x800) {
@@ -50,11 +50,10 @@
} else {
--encoder1_val;
}
- SC->EXTPOLAR ^= 0x2;
- SC->EXTINT = 0x2;
}
// ENC1B 2.12
void EINT2_IRQHandler(void) {
+ SC->EXTPOLAR ^= 0x4;
SC->EXTINT = 0x4;
int fiopin = GPIO2->FIOPIN;
if (((fiopin >> 1) ^ fiopin) & 0x800) {
@@ -62,38 +61,37 @@
} else {
++encoder1_val;
}
- SC->EXTPOLAR ^= 0x4;
- SC->EXTINT = 0x4;
}
-// GPIO Interrupt handlers
-static void NoGPIO() {}
-static void Encoder2ARise() {
- GPIOINT->IO0IntClr |= (1 << 22);
+// TODO(brians): Have this indicate some kind of error instead of just looping
+// infinitely in the ISR because it never clears it.
+static void NoGPIO(void) {}
+static void Encoder2ARise(void) {
+ GPIOINT->IO0IntClr = (1 << 22);
if (GPIO0->FIOPIN & (1 << 21)) {
++encoder2_val;
} else {
--encoder2_val;
}
}
-static void Encoder2AFall() {
- GPIOINT->IO0IntClr |= (1 << 22);
+static void Encoder2AFall(void) {
+ GPIOINT->IO0IntClr = (1 << 22);
if (GPIO0->FIOPIN & (1 << 21)) {
--encoder2_val;
} else {
++encoder2_val;
}
}
-static void Encoder2BRise() {
- GPIOINT->IO0IntClr |= (1 << 21);
+static void Encoder2BRise(void) {
+ GPIOINT->IO0IntClr = (1 << 21);
if (GPIO0->FIOPIN & (1 << 22)) {
--encoder2_val;
} else {
++encoder2_val;
}
}
-static void Encoder2BFall() {
- GPIOINT->IO0IntClr |= (1 << 21);
+static void Encoder2BFall(void) {
+ GPIOINT->IO0IntClr = (1 << 21);
if (GPIO0->FIOPIN & (1 << 22)) {
++encoder2_val;
} else {
@@ -101,32 +99,32 @@
}
}
-static void Encoder3ARise() {
- GPIOINT->IO0IntClr |= (1 << 20);
+static void Encoder3ARise(void) {
+ GPIOINT->IO0IntClr = (1 << 20);
if (GPIO0->FIOPIN & (1 << 19)) {
++encoder3_val;
} else {
--encoder3_val;
}
}
-static void Encoder3AFall() {
- GPIOINT->IO0IntClr |= (1 << 20);
+static void Encoder3AFall(void) {
+ GPIOINT->IO0IntClr = (1 << 20);
if (GPIO0->FIOPIN & (1 << 19)) {
--encoder3_val;
} else {
++encoder3_val;
}
}
-static void Encoder3BRise() {
- GPIOINT->IO0IntClr |= (1 << 19);
+static void Encoder3BRise(void) {
+ GPIOINT->IO0IntClr = (1 << 19);
if (GPIO0->FIOPIN & (1 << 20)) {
--encoder3_val;
} else {
++encoder3_val;
}
}
-static void Encoder3BFall() {
- GPIOINT->IO0IntClr |= (1 << 19);
+static void Encoder3BFall(void) {
+ GPIOINT->IO0IntClr = (1 << 19);
if (GPIO0->FIOPIN & (1 << 20)) {
++encoder3_val;
} else {
@@ -134,32 +132,32 @@
}
}
-static void Encoder4ARise() {
- GPIOINT->IO2IntClr |= (1 << 0);
+static void Encoder4ARise(void) {
+ GPIOINT->IO2IntClr = (1 << 0);
if (GPIO2->FIOPIN & (1 << 1)) {
++encoder4_val;
} else {
--encoder4_val;
}
}
-static void Encoder4AFall() {
- GPIOINT->IO2IntClr |= (1 << 0);
+static void Encoder4AFall(void) {
+ GPIOINT->IO2IntClr = (1 << 0);
if (GPIO2->FIOPIN & (1 << 1)) {
--encoder4_val;
} else {
++encoder4_val;
}
}
-static void Encoder4BRise() {
- GPIOINT->IO2IntClr |= (1 << 1);
+static void Encoder4BRise(void) {
+ GPIOINT->IO2IntClr = (1 << 1);
if (GPIO2->FIOPIN & (1 << 0)) {
--encoder4_val;
} else {
++encoder4_val;
}
}
-static void Encoder4BFall() {
- GPIOINT->IO2IntClr |= (1 << 1);
+static void Encoder4BFall(void) {
+ GPIOINT->IO2IntClr = (1 << 1);
if (GPIO2->FIOPIN & (1 << 0)) {
++encoder4_val;
} else {
@@ -167,32 +165,32 @@
}
}
-static void Encoder5ARise() {
- GPIOINT->IO2IntClr |= (1 << 2);
+static void Encoder5ARise(void) {
+ GPIOINT->IO2IntClr = (1 << 2);
if (GPIO2->FIOPIN & (1 << 3)) {
++encoder5_val;
} else {
--encoder5_val;
}
}
-static void Encoder5AFall() {
- GPIOINT->IO2IntClr |= (1 << 2);
+static void Encoder5AFall(void) {
+ GPIOINT->IO2IntClr = (1 << 2);
if (GPIO2->FIOPIN & (1 << 3)) {
--encoder5_val;
} else {
++encoder5_val;
}
}
-static void Encoder5BRise() {
- GPIOINT->IO2IntClr |= (1 << 3);
+static void Encoder5BRise(void) {
+ GPIOINT->IO2IntClr = (1 << 3);
if (GPIO2->FIOPIN & (1 << 2)) {
--encoder5_val;
} else {
++encoder5_val;
}
}
-static void Encoder5BFall() {
- GPIOINT->IO2IntClr |= (1 << 3);
+static void Encoder5BFall(void) {
+ GPIOINT->IO2IntClr = (1 << 3);
if (GPIO2->FIOPIN & (1 << 2)) {
++encoder5_val;
} else {
@@ -202,23 +200,23 @@
volatile int32_t capture_top_rise;
volatile int8_t top_rise_count;
-static void IndexerTopRise() {
- GPIOINT->IO0IntClr |= (1 << 5);
+static void IndexerTopRise(void) {
+ GPIOINT->IO0IntClr = (1 << 5);
// edge counting encoder capture
++top_rise_count;
capture_top_rise = encoder3_val;
}
volatile int32_t capture_top_fall;
volatile int8_t top_fall_count;
-static void IndexerTopFall() {
- GPIOINT->IO0IntClr |= (1 << 5);
+static void IndexerTopFall(void) {
+ GPIOINT->IO0IntClr = (1 << 5);
// edge counting encoder capture
++top_fall_count;
capture_top_fall = encoder3_val;
}
volatile int8_t bottom_rise_count;
-static void IndexerBottomRise() {
- GPIOINT->IO0IntClr |= (1 << 4);
+static void IndexerBottomRise(void) {
+ GPIOINT->IO0IntClr = (1 << 4);
// edge counting
++bottom_rise_count;
}
@@ -239,10 +237,10 @@
vTaskDelayUntil(&xSleepFrom, kBottomFallDelayTime / portTICK_RATE_MS);
- NVIC_DisableIRQ(EINT3_IRQn);
- ++bottom_fall_delay_count;
+ NVIC_DisableIRQ(USB_IRQn);
capture_bottom_fall_delay = encoder3_val;
- NVIC_EnableIRQ(EINT3_IRQn);
+ ++bottom_fall_delay_count;
+ NVIC_EnableIRQ(USB_IRQn);
} else {
NVIC_EnableIRQ(EINT3_IRQn);
vTaskDelayUntil(&xSleepFrom, 10 / portTICK_RATE_MS);
@@ -251,8 +249,8 @@
}
volatile int8_t bottom_fall_count;
-static void IndexerBottomFall() {
- GPIOINT->IO0IntClr |= (1 << 4);
+static void IndexerBottomFall(void) {
+ GPIOINT->IO0IntClr = (1 << 4);
++bottom_fall_count;
// edge counting start delayed capture
xDelayTimeFrom = xTaskGetTickCount();
@@ -260,16 +258,16 @@
}
volatile int32_t capture_wrist_rise;
volatile int8_t wrist_rise_count;
-static void WristHallRise() {
- GPIOINT->IO0IntClr |= (1 << 6);
+static void WristHallRise(void) {
+ GPIOINT->IO0IntClr = (1 << 6);
// edge counting encoder capture
++wrist_rise_count;
capture_wrist_rise = (int32_t)QEI->QEIPOS;
}
volatile int32_t capture_shooter_angle_rise;
volatile int8_t shooter_angle_rise_count;
-static void ShooterHallRise() {
- GPIOINT->IO0IntClr |= (1 << 7);
+static void ShooterHallRise(void) {
+ GPIOINT->IO0IntClr = (1 << 7);
// edge counting encoder capture
++shooter_angle_rise_count;
capture_shooter_angle_rise = encoder2_val;
@@ -327,12 +325,7 @@
table[index]();
}
void EINT3_IRQHandler(void) {
- // Have to disable it here or else it re-fires the interrupt while the code
- // reads to figure out which pin the interrupt is for.
- // TODO(brians): figure out details + look for an alternative
- NVIC_DisableIRQ(EINT3_IRQn);
IRQ_Dispatch();
- NVIC_EnableIRQ(EINT3_IRQn);
}
int32_t encoder_val(int chan) {
int32_t val;
@@ -476,8 +469,8 @@
packet->robot_id = 0;
packet->main.shooter = encoder1_val;
- packet->main.left_drive = encoder4_val;
- packet->main.right_drive = encoder5_val;
+ packet->main.left_drive = encoder5_val;
+ packet->main.right_drive = encoder4_val;
packet->main.shooter_angle = encoder2_val;
packet->main.indexer = encoder3_val;
@@ -496,7 +489,6 @@
packet->main.capture_top_rise = capture_top_rise;
packet->main.top_rise_count = top_rise_count;
-
packet->main.capture_top_fall = capture_top_fall;
packet->main.top_fall_count = top_fall_count;
packet->main.top_disc = !digital(2);
@@ -506,6 +498,9 @@
packet->main.bottom_fall_count = bottom_fall_count;
packet->main.bottom_disc = !digital(1);
+ packet->main.loader_top = !digital(5);
+ packet->main.loader_bottom = !digital(6);
+
packet->main.capture_shooter_angle_rise = capture_shooter_angle_rise;
packet->main.shooter_angle_rise_count = shooter_angle_rise_count;
packet->main.angle_adjust_bottom_hall_effect = !digital(4);