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[Krobot-commits] [SCM] krobot branch, master, updated. ae44815bfc0c54ff4b99e56c1ed95498973bbc49
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From: Olivier B. <Ba...@us...> - 2010-03-17 20:46:14
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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 ae44815bfc0c54ff4b99e56c1ed95498973bbc49 (commit)
from 1a98cc1a882658e4100bc99f990fd972304ed99e (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit ae44815bfc0c54ff4b99e56c1ed95498973bbc49
Author: Olivier BICHLER <oli...@gm...>
Date: Wed Mar 17 21:45:50 2010 +0100
Corrected bug on trajCompleted
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index e1266e8..a653410 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -10,7 +10,7 @@
volatile BOOL trajLoaded = 0;
volatile BOOL trajEngaged = 0;
-volatile BOOL trajCompleted = 0;
+volatile BYTE trajCompleted = 0;
volatile DWORD posRight = 0;
volatile DWORD posLeft = 0;
@@ -21,7 +21,7 @@ void checkLM629Interrupt(void) {
// Toutes les interruptions non masqu doivent e traitici dans le cas de la mode LM_INTERRUPT.
BYTE statusRight = readStatus(MOTOR_RIGHT);
BYTE statusLeft = readStatus(MOTOR_LEFT);
- char axis = 0;
+ char axis;
// Bit 1: Command-Error Interrupt
if ((statusRight & LM_COMMAND_ERROR) || (statusLeft & LM_COMMAND_ERROR)) {
@@ -30,9 +30,17 @@ void checkLM629Interrupt(void) {
}
// Bit 2: Trajectory-Complete Interrupt
- if ((statusRight & LM_TRAJECTORY_COMPLETE) && (statusLeft & LM_TRAJECTORY_COMPLETE)) {
- trajCompleted = 1;
- resetInterrupt(MOTOR_BOTH, LM_TRAJECTORY_COMPLETE);
+ axis = 0;
+
+ if (statusRight & LM_TRAJECTORY_COMPLETE)
+ axis|= MOTOR_RIGHT;
+
+ if (statusLeft & LM_TRAJECTORY_COMPLETE)
+ axis|= MOTOR_LEFT;
+
+ if (axis > 0) {
+ trajCompleted = axis;
+ resetInterrupt(axis, LM_TRAJECTORY_COMPLETE);
}
// Bit 3: Index-Pulse Interrupt -- Not implemented
@@ -46,6 +54,8 @@ void checkLM629Interrupt(void) {
}
// Bit 6: Breakpoint Interrupt
+ axis = 0;
+
if (statusRight & LM_BREAKPOINT)
axis|= MOTOR_RIGHT;
@@ -1081,7 +1091,7 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
BOOL isTrajComplete(void) {
// Delay10KTCYx(12); // attends 120000 cycles, 8 MHz / 4 = 10 ms
- if (trajCompleted) {
+ if ((trajCompleted & MOTOR_RIGHT) && (trajCompleted & MOTOR_LEFT)) {
trajEngaged = 0;
return TRUE;
}
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index ff89231..cde4e46 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 df1a37f..17911fd 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,1562 +1,1570 @@
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