Make changes to gyro code for third robot.
- Modify gyro code to handle the photosensor on the third robot
shooter.
NOTE: This stuff compiles but I have no idea whether it runs or
not. Expect some changes soon, after Brian gets his hands on it.
diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index 136cefd..b5e69a2 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -10,6 +10,9 @@
// 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;
+// How long to wait for a revolution of the shooter wheel (on the third robot)
+// before said wheel is deemed "stopped". (In secs)
+static const uint8_t kWheelStopThreshold = 1;
#define ENC(gpio, a, b) readGPIO(gpio, a) * 2 + readGPIO(gpio, b)
int encoder_bits(int channel) {
@@ -63,6 +66,44 @@
}
}
+static inline void reset_TC(void) {
+ TIM3->TCR |= (1 << 1); // Put it into reset.
+ while (TIM3->TC != 0) { // Wait for reset.
+ continue;
+ }
+ TIM3->TCR = 1; // Take it out of reset + make sure it's enabled.
+}
+
+// TIM3
+uint32_t shooter_cycle_ticks;
+void TIMER3_IRQHandler(void) {
+ // Apparently, this handler runs regardless of a match or capture event.
+ if (TIM3->IR & (1 << 4)) {
+ // Capture
+ TIM3->IR = (1 << 3); // Clear the interrupt.
+
+ shooter_cycle_ticks = TIM3->CR0;
+
+ reset_TC();
+ } else if (TIM3->IR & 1) {
+ // Match
+ TIM3->IR = 1; // Clear the interrupt
+
+ // Assume shooter is stopped.
+ shooter_cycle_ticks = 0;
+
+ // Disable timer.
+ TIM3->TCR = 0;
+ } else {
+ // TODO (danielp): This should not happen.
+ // Indicate that something strange occurred, and perhaps clear interrupts.
+ }
+
+ // It will only handle one interrupt per run.
+ // If there is another interrupt pending, it won't be cleared, and the ISR
+ // will be run again to handle it.
+}
+
// 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) {}
@@ -272,6 +313,13 @@
++shooter_angle_rise_count;
capture_shooter_angle_rise = encoder2_val;
}
+static void ShooterPhotoFall(void) {
+ GPIOINT->IO0IntClr = (1 << 23);
+ // We reset TC to make sure we don't get a crap
+ // value from CR0 when the capture interrupt occurs
+ // if the shooter is just starting up again.
+ reset_TC();
+}
// Count leading zeros.
// Returns 0 if bit 31 is set etc.
@@ -292,7 +340,7 @@
Encoder5AFall, // index 1: P2.2 Fall #bit 30 //Encoder 5 A //Dio 9
Encoder4BFall, // index 2: P2.1 Fall #bit 29 //Encoder 4 B //Dio 8
Encoder4AFall, // index 3: P2.0 Fall #bit 28 //Encoder 4 A //Dio 7
- NoGPIO, // index 4: NO GPIO #bit 27
+ ShooterPhotoFall, // index 4: P0.23 Fall #bit 27 //Bot3 Shooter
Encoder2AFall, // index 5: P0.22 Fall #bit 26 //Encoder 2 A
Encoder2BFall, // index 6: P0.21 Fall #bit 25 //Encoder 2 B
Encoder3AFall, // index 7: P0.20 Fall #bit 24 //Encoder 3 A
@@ -431,6 +479,28 @@
NVIC_EnableIRQ(EINT3_IRQn);
if (is_bot3) {
+ // Set up timer for bot3 photosensor.
+ // Make sure timer three is powered.
+ SC->PCONP |= (1 << 23);
+ // We don't need all the precision the CCLK can provide.
+ // We'll use CCLK/8. (12.5 mhz).
+ SC->PCLKSEL1 |= (0x3 << 14);
+ // Use timer prescale to get that freq down to 500 hz.
+ TIM3->PR = 25000;
+ // Select capture 3.0 function on pin 0.23.
+ PINCON->PINSEL1 |= (0x3 << 14);
+ // Set timer to capture and interrupt on rising edge.
+ TIM3->CCR = 0x5;
+ // Set up match interrupt.
+ TIM3->MR0 = kWheelStopThreshold * 500;
+ TIM3->MCR = 1;
+ // Enable timer IRQ, and make it lower priority than the encoders.
+ NVIC_SetPriority(TIMER3_IRQn, 1);
+ NVIC_EnableIRQ(TIMER3_IRQn);
+ // Set up GPIO interrupt on other edge.
+ NVIC_DisableIRQ(EINT3_IRQn);
+ GPIOINT->IO0IntEnF |= (1 << 23);
+ NVIC_EnableIRQ(EINT3_IRQn);
} else { // is main robot
xTaskCreate(vDelayCapture,
(signed char *) "SENSORs",