commit ff7b387e542b3a6aaa5e628497d771e9ff34daf0
author Brian Silverman <bsilver16384@gmail.com> Sat Mar 10 18:08:30 2018 -0800
committer Brian Silverman <bsilver16384@gmail.com> Sat Mar 10 18:10:09 2018 -0800
tree 66753c13ac23424ae0e9a1ea247e34d4a285a1b4
parent 5e849f21aa5ad0063f0ba2edc96adc32b135c56b

Enable digital filters on the button inputs

Seems like a good idea to have this.

Change-Id: I7bd1bf64b7e2e9c0ed2113130fc3bbcb6920feba

motors/pistol_grip/controller.cc

diff --git a/motors/pistol_grip/controller.cc b/motors/pistol_grip/controller.cc
index 4460355..a53d5a0 100644
--- a/motors/pistol_grip/controller.cc
+++ b/motors/pistol_grip/controller.cc
@@ -584,14 +584,27 @@
   PORTA_PCR12 = PORT_PCR_DSE | PORT_PCR_MUX(2);
   PORTA_PCR13 = PORT_PCR_DSE | PORT_PCR_MUX(2);
 
+  // .1ms filter time.
+  PORTA_DFWR = PORTC_DFWR = PORTD_DFWR = PORTE_DFWR = 6000;
+
   // BTN0
   PORTC_PCR7 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_MUX(1);
+  PORTC_DFER |= 1 << 7;
   // BTN1
   PORTE_PCR26 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_MUX(1);
+  PORTE_DFER |= 1 << 26;
   // BTN2
   PORTA_PCR14 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_MUX(1);
+  PORTA_DFER |= 1 << 14;
   // BTN3
   PORTD_PCR0 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_MUX(1);
+  PORTD_DFER |= 1 << 0;
+  // BTN4
+  PORTD_PCR7 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_MUX(1);
+  PORTD_DFER |= 1 << 7;
+  // BTN5 (only new revision)
+  PORTA_PCR15 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_MUX(1);
+  PORTA_DFER |= 1 << 15;
 
   PORTA_PCR5 = PORT_PCR_PE | PORT_PCR_PS | PORT_PCR_MUX(1);