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[Krobot-commits] [SCM] krobot branch, master, updated. 0c87730d46b7f3cb3d288d7b1da1cb6cbefae993
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From: Jason C. <Ba...@us...> - 2011-06-09 13:49:10
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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 0c87730d46b7f3cb3d288d7b1da1cb6cbefae993 (commit)
via d302e68ad4ae539ee5c0298292169a74334aa866 (commit)
from cf636917019a640478508dbfb03699c7dd791485 (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 0c87730d46b7f3cb3d288d7b1da1cb6cbefae993
Merge: d302e68ad4ae539ee5c0298292169a74334aa866 cf636917019a640478508dbfb03699c7dd791485
Author: jchevrie <jas...@cr...>
Date: Thu Jun 9 15:48:12 2011 +0200
Merge branch 'master' of ssh://krobot.git.sourceforge.net/gitroot/krobot/krobot
commit d302e68ad4ae539ee5c0298292169a74334aa866
Author: jchevrie <jas...@cr...>
Date: Thu Jun 9 15:46:09 2011 +0200
Fix some bugs and refresh the code.
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/controller_motor_stm32.mk b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/controller_motor_stm32.mk
index 258c050..614a6e1 100644
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/controller_motor_stm32.mk
+++ b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/controller_motor_stm32.mk
@@ -9,7 +9,7 @@ Firmware_DEBUG = 1
# Our target application
TRG += controller_motor_stm32
-controller_motor_stm32_PREFIX = "/home/justin/opt/arm-i386/bin/arm-none-eabi-"
+controller_motor_stm32_PREFIX = "/home/jason/opt/arm-i386/bin/arm-none-eabi-"
controller_motor_stm32_SUFFIX = ""
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.c b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.c
index 50d4b12..eb2d5bc 100644
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.c
+++ b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.c
@@ -172,7 +172,6 @@ void NORETURN emission_process(void)
int i,j;
unsigned short word[LENGTH_WORD]={1};
unsigned short state=0;
- int emission_time=EMISSION_TIME_HIGH;
for(i=0;i<LENGTH_WORD;i++) {
@@ -181,69 +180,30 @@ void NORETURN emission_process(void)
}
initLatch();
-
-//sélection de la diode de départ
- writeCommande(0);
-
- writeSDI(1);
- wait_clock(100);
-
- writeCLK(1);
- wait_clock(100);
- writeCLK(0);
- wait_clock(100);
-
- writeLatch(1);
- wait_clock(100);
- writeLatch(0);
- wait_clock(100);
i=0;
j=0;
while(1)
{
-
- if (state == 0) emission_time = EMISSION_TIME_HIGH;
- if (state == 1) emission_time = EMISSION_TIME_LOW;
-
- timer_setDelay(&timer_emission_process, us_to_ticks((utime_t)(emission_time)));
+ timer_setDelay(&timer_emission_process, us_to_ticks((utime_t)(EMISSION_PROCESS_TIME)));
timer_setEvent(&timer_emission_process);
timer_add(&timer_emission_process);// Start process timer
if (state == 0 && word[j] == 1) writeCommande(1);
else writeCommande(0);
- if(state == 1)
- {
+ if(state == 1){
+
state=0;
j++;
- if(j==LENGTH_WORD)
- {
+ if(j==LENGTH_WORD){
j=0;
- i++;
- if(i==NUM_LEDS)
- {
- i=0;
- writeSDI(1);
- }
- else writeSDI(0);
-
- wait_clock(100);
- writeCLK(1);
- wait_clock(100);
- writeCLK(0);
- wait_clock(100);
-
- writeCommande(0);
-
- wait_clock(100);
- writeLatch(1);
- wait_clock(100);
- writeLatch(0);
- wait_clock(100);
+ nextLed();
}
}
- else state=1;
+ else {
+ state=1;
+ }
timer_waitEvent(&timer_emission_process); // Wait until the end of counting
}
@@ -251,22 +211,18 @@ void NORETURN emission_process(void)
void initLatch(void) {
int i=0;
- writeCommande(0);
- for(i=0; i<NUM_LEDS;i++) {
- writeSDI(0);
-
- //wait_clock(100);
+ // initialise the shift register
+ writeSDI(0);
+ for(i=0; i<NUM_LEDS;i++) {
writeCLK(1);
- //wait_clock(100);
writeCLK(0);
- //wait_clock(100);
-
- writeLatch(1);
- //wait_clock(100);
- writeLatch(0);
- //wait_clock(100);
}
+ // light all LEDs off
+ writeCommande(0);
+ writeLatch(1);
+ writeLatch(0);
+
return;
}
@@ -278,6 +234,9 @@ void wait_clock(int nb_clk)
void selectLed(int num_led) {
int i;
+ currentLED = num_led;
+ initLatch();
+
writeSDI(1); // and we wait ...
writeCLK(1); // on the rising edge
writeCLK(0);
@@ -287,6 +246,7 @@ void selectLed(int num_led) {
writeCLK(0);
}
// Finally, writting Latch
+ writeCommande(0);
writeLatch(1);
writeLatch(0);
return;
@@ -303,6 +263,7 @@ void nextLed(void) {
writeCLK(1);
writeCLK(0);
}
+ writeCommande(0);
writeLatch(1);
writeLatch(0);
currentLED++;
@@ -313,12 +274,14 @@ void nextLed(void) {
void selectDoubleLed(int num_first_led) {
int selectLED;
int i;
+
+ initLatch();
selectLED = (num_first_led>=NUM_LEDS/2) ? num_first_led - NUM_LEDS/2 : num_first_led;
writeSDI(1); // and we wait ...
writeCLK(1); // on the rising edge
writeCLK(0);
writeSDI(0);
- for(i=0; i<NUM_LEDS;i++) { // and we go
+ for(i=0; i<NUM_LEDS/2-1;i++) { // and we go
writeCLK(1);
writeCLK(0);
}
@@ -331,6 +294,7 @@ void selectDoubleLed(int num_first_led) {
writeCLK(0);
}
// Finally, writting Latch
+ writeCommande(0);
writeLatch(1);
writeLatch(0);
return;
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.h b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.h
index 9c181fd..a39a916 100644
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.h
+++ b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/emission.h
@@ -11,10 +11,8 @@
#define PWM_56k 1278
#define NUM_LEDS 16
-#define CYCLE_TIME_US 17
#define LENGTH_WORD 10
-#define EMISSION_TIME_HIGH 35*CYCLE_TIME_US
-#define EMISSION_TIME_LOW 15*CYCLE_TIME_US
+#define EMISSION_PROCESS_TIME 1000
#define CYCLE_WAIT 100
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krobot
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