From 7debf190911dc3b282268c31f132e5c9e1970660 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Wed, 25 Jun 2014 22:15:37 +0000
Subject: [PATCH] Solved a problem with the initial period of the GPIO blinking
functions. Solved a syncrhonization problem with the dynamixel master
interface.
---
src/bioloid_stm32.c | 5 +++--
src/dynamixel_master_uart_dma.c | 9 +++++++--
src/gpio.c | 9 +++++++++
src/motion_manager.c | 2 +-
4 files changed, 20 insertions(+), 5 deletions(-)
diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index cdd23d8..917d7aa 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -79,7 +79,6 @@ uint8_t write_operation(uint8_t address,uint8_t length, uint8_t *data)
else manager_disable_servo(j+1);
manager_set_module(j+1,byte_value&0x07);
}
- else break;
}
if(do_op)
{
@@ -147,7 +146,7 @@ int32_t main(void)
EE_ReadVariable(RETURN_LEVEL_OFFSET,&eeprom_data);
dyn_slave_set_return_level((uint8_t)eeprom_data);
/* initialize the IMU */
- imu_init();
+// imu_init();
// initialize the Analog to digital converter
// adc_init();
// initialize motion manager
@@ -160,6 +159,8 @@ int32_t main(void)
// initialize the action module
action_init(action_period);
+ gpio_blink_led(NORTH_LED,1000);
+
while(1) /* main function does not return */
{
if(dyn_slave_is_packet_ready())// check if a new instruction packet has been received
diff --git a/src/dynamixel_master_uart_dma.c b/src/dynamixel_master_uart_dma.c
index a279031..e5f0e48 100755
--- a/src/dynamixel_master_uart_dma.c
+++ b/src/dynamixel_master_uart_dma.c
@@ -148,6 +148,8 @@ uint8_t dyn_master_read(uint8_t id,uint8_t address,uint8_t length,uint8_t *data)
{
uint8_t error;
+ // wait for the transmission to end
+ while(dyn_master_sending_packet);
// generate the read packet for the desired device
dyn_init_instruction_packet(dyn_master_tx_buffer);
// set the ping instruction
@@ -183,7 +185,9 @@ uint8_t dyn_master_read(uint8_t id,uint8_t address,uint8_t length,uint8_t *data)
uint8_t dyn_master_write(uint8_t id, uint8_t address, uint8_t length, uint8_t *data)
{
uint8_t error;
-
+
+ // wait for the transmission to end
+ while(dyn_master_sending_packet);
// generate the read packet for the desired device
dyn_init_instruction_packet(dyn_master_tx_buffer);
// set the ping instruction
@@ -537,6 +541,8 @@ void dyn_master_sync_write(uint8_t num,uint8_t *ids,uint8_t address, uint8_t len
{
uint8_t i;
+ // wait for the transmission to end
+ while(dyn_master_sending_packet);
dyn_master_no_answer=0x01;
// generate the sync write packet
dyn_init_instruction_packet(dyn_master_tx_buffer);
@@ -555,7 +561,6 @@ void dyn_master_sync_write(uint8_t num,uint8_t *ids,uint8_t address, uint8_t len
dyn_master_enable_tx();
// send the data
dyn_master_send();
- // wait for the transmission to end
}
// repeater functions
diff --git a/src/gpio.c b/src/gpio.c
index 19d621f..55969fa 100644
--- a/src/gpio.c
+++ b/src/gpio.c
@@ -312,6 +312,7 @@ void gpio_toggle_led(led_t led_id)
void gpio_blink_led(led_t led_id, int16_t period_ms)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
+ uint16_t capture;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
@@ -325,6 +326,8 @@ void gpio_blink_led(led_t led_id, int16_t period_ms)
TIM_OCInitStructure.TIM_Pulse = north_led_period;
TIM_OC1Init(GPO_TIMER, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ capture = TIM_GetCounter(GPO_TIMER);
+ TIM_SetCompare1(GPO_TIMER, capture + north_led_period);
TIM_ITConfig(GPO_TIMER, TIM_IT_CC1, ENABLE);
}
else
@@ -337,6 +340,8 @@ void gpio_blink_led(led_t led_id, int16_t period_ms)
TIM_OCInitStructure.TIM_Pulse = south_led_period;
TIM_OC2Init(GPO_TIMER, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ capture = TIM_GetCounter(GPO_TIMER);
+ TIM_SetCompare2(GPO_TIMER, capture + south_led_period);
TIM_ITConfig(GPO_TIMER, TIM_IT_CC2, ENABLE);
}
else
@@ -349,6 +354,8 @@ void gpio_blink_led(led_t led_id, int16_t period_ms)
TIM_OCInitStructure.TIM_Pulse = east_led_period;
TIM_OC3Init(GPO_TIMER, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ capture = TIM_GetCounter(GPO_TIMER);
+ TIM_SetCompare3(GPO_TIMER, capture + east_led_period);
TIM_ITConfig(GPO_TIMER, TIM_IT_CC3, ENABLE);
}
else
@@ -361,6 +368,8 @@ void gpio_blink_led(led_t led_id, int16_t period_ms)
TIM_OCInitStructure.TIM_Pulse = west_led_period;
TIM_OC4Init(GPO_TIMER, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ capture = TIM_GetCounter(GPO_TIMER);
+ TIM_SetCompare4(GPO_TIMER, capture + west_led_period);
TIM_ITConfig(GPO_TIMER, TIM_IT_CC4, ENABLE);
}
else
diff --git a/src/motion_manager.c b/src/motion_manager.c
index b386bda..cd58b08 100644
--- a/src/motion_manager.c
+++ b/src/motion_manager.c
@@ -224,7 +224,7 @@ void manager_init(uint16_t period_us)
}
else
{
- manager_servos[i].id=servo_ids[i];
+ manager_servos[i].id=0;
manager_servos[i].model=0x0000;
manager_servos[i].module=MM_NONE;
manager_servos[i].encoder_resolution=0;
--
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