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[Krobot-commits] [SCM] krobot branch, master, updated. c8338ac1db819595ad7883625879bc2180fe872c
|
From: Olivier B. <Ba...@us...> - 2010-02-24 21:46:47
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via c8338ac1db819595ad7883625879bc2180fe872c (commit)
from ec6a88b803f8747e048f74bd305d67e32be01ac7 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit c8338ac1db819595ad7883625879bc2180fe872c
Author: Olivier BICHLER <oli...@gm...>
Date: Wed Feb 24 22:46:23 2010 +0100
Added missing resetInterrupt()
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index 876b7ff..59ac9e8 100644
Binary files a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw and b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw differ
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 41d3519..8344746 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -1032,10 +1032,11 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[6];
word3.byte.LB = ReceivedDataBuffer.DATA[7];
+ resetInterrupt(ReceivedDataBuffer.DATA[1]);
newPosition(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL),
- (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
- (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
+ (long) ((float) word1.Val * COEF_WHEEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
break;
case TRAJ_NEW_VELOCITY:
@@ -1044,19 +1045,21 @@ void ProcessIO(void) {
word2.byte.HB = ReceivedDataBuffer.DATA[4];
word2.byte.LB = ReceivedDataBuffer.DATA[5];
+ resetInterrupt(ReceivedDataBuffer.DATA[1]);
newVelocity(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
- (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
- ReceivedDataBuffer.DATA[6]);
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
+ ReceivedDataBuffer.DATA[6]);
break;
case TRAJ_CHANGE_VELOCITY:
word1.byte.HB = ReceivedDataBuffer.DATA[2];
word1.byte.LB = ReceivedDataBuffer.DATA[3];
+ resetInterrupt(ReceivedDataBuffer.DATA[1]);
changeVelocity(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
- ReceivedDataBuffer.DATA[4]);
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ ReceivedDataBuffer.DATA[4]);
break;
case TRAJ_START:
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index bf093d3..aeb43bb 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 6480698..93d6151 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,14 +1,14 @@
:020000040000FA
-:060000005AEF30F012007F
+:0600000069EF30F0120070
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:060800005AEF30F0120077
+:0608000069EF30F0120068
:06080800FDEF0FF01200ED
:0608180065EF10F0120074
-:06082A000400476100001C
-:1008300026010000210000003F6100005F01000070
-:100840000800000031610000470100000E000000B8
-:0C0850002E6100006A010000030000009F
+:06082A00040065610000FE
+:1008300026010000210000005D6100005F01000052
+:10084000080000004F610000470100000E0000009A
+:0C0850004C6100006A0100000300000081
:04085C000BEC0DF0A4
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
@@ -103,7 +103,7 @@
:100E0000E55210EF0DF00BEC0DF01D0ED6EC0CF0D2
:100E1000000E0EEC0FF010EF0DF00BEC0DF067EC88
:100E20000DF084080FE067EC0DF0C4080BE0E66AF3
-:100E3000E3EC0EF0D9EC0EF0020EE66E2DEC30F085
+:100E3000E3EC0EF0D9EC0EF0020EE66E3CEC30F076
:100E4000E552EDD71C0ED6EC0CF00A0E0EEC0FF0AE
:100E5000E7EC0DF067EC0DF0800804E067EC0DF0B6
:100E6000C008E5E167EC0DF0C00802E1E7EC0DF029
@@ -178,15 +178,15 @@
:1012B00049EC0FF0E66A9BEC0DF0FFEC0DF0CDDB96
:1012C000C3EF0EF0A8DB3C0EE12670EC0EF05FECF5
:1012D0000FF070EC0EF0B2EC0FF056EC0FF008C00F
-:1012E0002EF009C02FF00AC030F00BC031F071ECC5
+:1012E0002EF009C02FF00AC030F00BC031F080ECB6
:1012F00022F07EEC0FF0BEEC0EF068EC0FF087EC05
:101300000FF0BEEC0EF0A8EC0DF056EC0FF014C090
-:101310002EF015C02FF016C030F017C031F071EC70
-:1013200022F09FEC0EF075EC0FF088EC21F04DEC04
+:101310002EF015C02FF016C030F017C031F080EC61
+:1013200022F09FEC0EF075EC0FF097EC21F04DECF5
:101330000FF0336A346A800E356E40EC0FF0380ED1
:101340002EC0DBFF390E2FC0DBFF3A0E30C0DBFFB3
:101350003B0E31C0DBFF70EC0EF04DEC0FF0BCDB50
-:10136000BEEC0EF034DBB8DBD0EC2AF0086E080ED1
+:10136000BEEC0EF034DBB8DBDFEC2AF0086E080EC2
:10137000E15E0850080E2DC0DBFF090E2EC0DBFF1A
:101380000A0E2FC0DBFF0B0E30C0DBFFDBDBF60EDF
:10139000DB5007E0D950F40F12EC0FF0EE50ED10D7
@@ -200,16 +200,16 @@
:1014100033DF0A6E060EE15E0A50D4D1380EDBCF00
:1014200004F0390EDBCF05F03A0EDBCF06F03B0EB1
:10143000DBCF07F00C6A0D6A0E6A400E0F6E91DA70
-:1014400071EC22F03CEC0EF0F40EDBCF2FF0F50E39
-:101450007FDB9EDB9CEC0EF088EC21F0140E2EC09E
+:1014400080EC22F03CEC0EF0F40EDBCF2FF0F50E2A
+:101450007FDB9EDB9CEC0EF097EC21F0140E2EC08F
:10146000DBFF150E2FC0DBFF160E30C0DBFF170EA3
-:1014700032DA70EC0EF09CEC0EF071EC22F0180EEB
+:1014700032DA70EC0EF09CEC0EF080EC22F0180EDC
:101480002EC0DBFF190E2FC0DBFF1A0E30C0DBFFB2
:101490001B0E21DABEEC0EF068EC0FF09CEC0EF0A7
-:1014A00071EC22F01C0E2EC0DBFF1D0E2FC0DBFFE7
+:1014A00080EC22F01C0E2EC0DBFF1D0E2FC0DBFFD8
:1014B0001E0E30C0DBFF1F0E31C0DBFF1C0EDBCF6A
:1014C00000F01D0EDBCF01F01E0EDBCF02F01F0E71
-:1014D000DBCF03F088DB93EC0EF071EC22F0200EF2
+:1014D000DBCF03F088DB93EC0EF080EC22F0200EE3
:1014E0002EC0DBFF210E2FC0DBFF220E30C0DBFF42
:1014F000230E31C0DBFFD950180FE96EDACFEAFFB7
:10150000240EEECFDBFF250EEECFDBFF260EEECF57
@@ -222,35 +222,35 @@
:10157000E9DB2C0E2EC0DBFF2D0E2FC0DBFF2E0E65
:1015800030C0DBFF2F0E31C0DBFF2C0EDBCF04F0B1
:101590002D0EDBCF05F02E0EDBCF06F02F0EDBCFAE
-:1015A00007F021DB75EC0FF071EC22F078DA300EE9
+:1015A00007F021DB75EC0FF080EC22F078DA300EDA
:1015B0002EC0DBFF310E2FC0DBFF320E30C0DBFF51
:1015C000330E31C0DBFF280EDBCF2EF0290EDBCF30
:1015D0002FF02A0EDBCF30F02B0EDBCF31F05FDAAD
:1015E000340E2EC0DBFF350E2FC0DBFF360E30C0B1
:1015F000DBFF370E31C0DBFFD950300F6CDBD95029
-:10160000340F69DBD0EC2AF0006E080EE15E00506A
+:10160000340F69DBDFEC2AF0006E080EE15E00505B
:101610000C0E2DC0DBFF0D0E2EC0DBFF0E0E2FC0FB
:10162000DBFF0F0E30C0DBFF006A016A026A400E6A
:10163000036E00C0E6FF01C0E6FF02C0E6FFE66EF3
:101640003BDB5FEC0FF048DAD8EC0FF02DC014F064
:101650002EC015F02FC016F030C017F049EC0FF077
-:10166000D0EC2AF0186E080EE15E1850E552E7CF74
+:10166000DFEC2AF0186E080EE15E1850E552E7CF65
:1016700003F0E552E7CF02F0E552E7CF01F0E55283
:10168000E7CF00F02DC004F02EC005F02FC006F00B
-:1016900030C007F0AADB47DB71EC22F0100E2EC041
+:1016900030C007F0AADB47DB80EC22F0100E2EC032
:1016A000DBFF110E2FC0DBFF120E30C0DBFF130E6D
-:1016B00031C0DBFFF60EDB5002081BE123DB87ECB9
-:1016C00021F09CDB88EC21F075D94CDA060E2FC096
+:1016B00031C0DBFFF60EDB5002081BE123DB96ECAA
+:1016C00021F09CDB97EC21F075D94CDA060E2FC087
:1016D000DBFF070E30C0DBFFD7DB79D9020EDBCF93
:1016E0002FF0030EF2EC0FF0040E2FC0DBFF050EFF
:1016F0004ED02E6A2F6A306A400E316E080EDBCF54
:1017000033F0090EDBCF34F00A0EDBCF35F00B0ED1
:10171000C4EC0FF0C2DB0C0EDBCF04F00D0EDBCF00
:1017200005F00E0EDBCF06F00F0EDBCF07F004C086
-:1017300033F005C034F006C035F007C036F087EC52
+:1017300033F005C034F006C035F007C036F096EC43
:1017400021F00C0E2EC0DBFF0D0E2FC0DBFF0E0EA6
-:1017500030C0DBFF0F0E31C0DBFFD4DA88EC21F0A4
-:101760004DDB87EC21F026D9FDD9040E2FC0DBFF1D
+:1017500030C0DBFF0F0E31C0DBFFD4DA97EC21F095
+:101760004DDB96EC21F026D9FDD9040E2FC0DBFF0E
:10177000050E30C0DBFF020EDBCF2FF0030E27D9A2
:1017800083DBF2EC0FF0060E2FC0DBFF070E30C03C
:10179000DBFF59D805D9040EDBCF2FF0050E54DA44
@@ -270,9 +270,9 @@
:101870002DC018F02EC019F02FC01AF030C01BF088
:101880001200DBCF11F0336A346A340E356E430E2A
:10189000366E0EC02EF00FC02FF010C030F011C009
-:1018A00031F071EC22F02EC00AF02FC00BF030C0E6
+:1018A00031F080EC22F02EC00AF02FC00BF030C0D7
:1018B0000CF031C00DF0DB0E336E0F0E346E490E9E
-:1018C000356EDEDA89DAF2DA02C02EF0C2DA87EC9F
+:1018C000356EDEDA89DAF2DA02C02EF0C2DA96EC90
:1018D00021F0CCEF0EF031C0DBFF046A056A800E08
:1018E000066E3F0E076E0C6A0D6A0E6A400E0F6E92
:1018F00004C0E6FF05C0E6FF06C0E6FF07C0E6FF3E
@@ -281,17 +281,17 @@
:101920000DF0E552E7CF0CF0E552E7CF07F0E552B6
:10193000E7CF06F0E552E7CF05F0E552E7CF04F038
:101940002DC010F02EC011F02FC012F030C013F0D7
-:101950004CDA5BDA71EC22F03CEF0EF034DAABEFEC
+:101950004CDA5BDA80EC22F03CEF0EF034DAABEFDD
:101960000EF0F40EDBCF2FF0F50EB2DAE8D905EF6A
:101970000FF09CDA93EF0EF0140EDBCF00F0150E93
:10198000DBCF01F0160EDBCF02F0170EDBCF03F03A
:10199000336A346ADC0E356E420E366E93EF0EF00B
:1019A000F70EDBCF2FF0F80E43EF0EF0E66E0BDAFA
:1019B000D9EF0EF0100EDBCF33F0110EDBCF34F089
-:1019C000120EDBCF35F0130EDFDADEEF22F080DA15
+:1019C000120EDBCF35F0130EDFDAEDEF22F080DA06
:1019D0007EEF0FF0EE58096E06C02DF007C02EF016
-:1019E00008C02FF0306E6EEC21F02EC002F02FC038
-:1019F00003F030C004F031C005F06EDA1EEC22F0C6
+:1019E00008C02FF0306E7DEC21F02EC002F02FC029
+:1019F00003F030C004F031C005F06EDA2DEC22F0B7
:101A0000DCDA2FC0F3FF30C0F4FF040EE15C1200FB
:101A10002EDAE76E1200D9CFE6FFE1CFD9FF120030
:101A2000E552E7CFD9FF12009CD9026A036AB40ECF
@@ -303,7 +303,7 @@
:101A8000DBFFDBCFE6FF070EDBCFE6FF040EDBCF8D
:101A9000E6FF050EDBCFE6FF4EDADEEF0EF0140EAA
:101AA000DBCF33F0150EDBCF34F0160EDBCF35F085
-:101AB000170EDBCF36F01EEC22F04DEF0FF0E66E86
+:101AB000170EDBCF36F02DEC22F04DEF0FF0E66E77
:101AC000CFD9020EE66EE0EC08F0E55212007BD9A9
:101AD00090EC06F0E552120089DA31C0E6FF120000
:101AE000D950F60F9FD9040EEECFDBFF050EEECFD7
@@ -326,31 +326,31 @@
:101BF000366E1200126E060EE15E1250120027DEE3
:101C00002EC024F02FC025F030C026F031C027F0C0
:101C1000350E336EFA0E346E0E0E356E3C0E366E89
-:101C200071EC22F02EC020F02FC021F030C022F045
+:101C200080EC22F02EC020F02FC021F030C022F036
:101C300031C023F0336A346A5C0E356E430E366E63
-:101C400071EC22F02EEF0CF043D961D945D971EC3B
+:101C400080EC22F02EEF0CF043D961D945D980EC1D
:101C500022F091D9BD0E336E370E346E860E356E7E
:101C6000410E366EB6D92DC00CF02EC00DF02FC02F
-:101C70000EF030C00FF0120022D918D936D91EEC60
-:101C800022F04DEF0FF024D91AD926D971EC22F0A9
+:101C70000EF030C00FF0120022D918D936D92DEC51
+:101C800022F04DEF0FF024D91AD926D980EC22F09A
:101C900035D9CC0E336EBC0E346E8C0E356E3B0EC9
:101CA000366E97D92DC000F02EC001F02FC002F083
:101CB00030C003F049EF0FF0140EDBCF0CF0150E1F
:101CC000DBCF0DF0160EDBCF0EF0170EDBCF0FF0D3
-:101CD00048DE87EF21F0E96EDACFEAFFA9EF0FF0D7
+:101CD00048DE96EF21F0E96EDACFEAFFA9EF0FF0C8
:101CE000FD0EDBCF2FF0FE0E68EF0FF0DBCFE6FF2F
-:101CF000AEEF0CF069D9ECD835D93BDE71EC22F0AF
-:101D0000DEEF22F091DE0C0EDBCF0EF00D0EDBCFFE
+:101CF000AEEF0CF069D9ECD835D93BDE80EC22F0A0
+:101D0000EDEF22F091DE0C0EDBCF0EF00D0EDBCFEF
:101D10000FF00E0EDBCF10F00F0EB3DD56EC09F016
:101D200069DFBCEF0CF000C02EF001C02FF002C044
:101D300030F003C031F01200EAD8B9EF0CF01BD933
-:101D400056EF0FF021D9BBD814DE87EF21F0C0D8B1
+:101D400056EF0FF021D9BBD814DE96EF21F0C0D8A2
:101D500085DD49EF0FF0FDEC04F0E552E552E55268
:101D60001200F70EDBCFE6FFF80EDBCFE6FFF90E31
:101D7000DBCFE6FFFA0EDBCFE6FF1200FB0EDBCF78
:101D80002FF0FC0E1200010EE66ED5DE020EE66E9E
:101D9000E0EC08F0E55244D610D92FC0E6FF30C081
-:101DA000E6FF1200E3EC26F0E552E552E552E5527B
+:101DA000E6FF1200F2EC26F0E552E552E552E5526C
:101DB00012007EEC04F0E552E5521200DECFE6FFA1
:101DC000DDCFE6FF1200FE0EDBCFE6FF120023DEC2
:101DD000B9DE3DDD2EEF0CF02EC006F02FC007F06F
@@ -363,13 +363,13 @@
:101E4000E5521200DBCF03F0005001100210031026
:101E5000120003C02FF004C030F005C031F01200B2
:101E6000DAEC07F0206E0D0EE15E20501200E66EF7
-:101E700074EC2FF0E5521200CEDD040EE1261200C4
-:101E8000400E366E1EEF22F0000EDFCF2FF0010E57
+:101E700083EC2FF0E5521200CEDD040EE1261200B5
+:101E8000400E366E2DEF22F0000EDFCF2FF0010E48
:101E900012002DC0E6FFF6EF0FF02EC000F02FC0AD
:101EA00001F030C002F031C003F012002EC033F058
:101EB0002FC034F030C035F031C036F012002EC0E3
:101EC00008F02FC009F030C00AF031C00BF012004A
-:101ED000DBCF30F059EF21F0A60E336E280E346EB2
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:101EF0002FF006C030F007C031F012002EC004F001
:101F00002FC005F030C006F031C007F012002EC01F
@@ -380,12 +380,12 @@
:101F50000EF0EECFE6FFEECFE6FFEECFE6FFEFCFDF
:101F6000E6FF12002EC00CF02FC00DF030C00EF0B6
:101F700031C00FF012002EC010F02FC011F030C091
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:101F9000FC0EDBCFE6FFFD0E76EF0EF00A0EE66ECE
:101FA000E66A07DFE66A120036DDCCDDFFEF0DF0F2
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:061FFA00DACFE4FFE2CFA4
@@ -393,42 +393,42 @@
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:10216000F28CF30E8C1695160101476B486B496B88
:102170004A6B010E4B6FF90E921680160E0EE66E2C
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