serpi mod roll speed; servo pos; ball pos

diff --git a/modules/comm/spi/spi_host.c b/modules/comm/spi/spi_host.c
index 9ccf87d..0782acd 100644 (file)
--- a/modules/comm/spi/spi_host.c
+++ b/modules/comm/spi/spi_host.c
@@ -35,7 +35,7 @@
 static volatile uint8_t g_ss_number;
 static volatile spi_mode_t g_spi_mode;
 static volatile uint8_t g_slave_selected;
 static volatile uint8_t g_ss_number;
 static volatile spi_mode_t g_spi_mode;
 static volatile uint8_t g_slave_selected;

-static volatile uint8_t g_spi_order;
+/*static*/ volatile uint8_t g_spi_order;

 static volatile spi_format_t g_spi_format;
 static volatile spi_mode_t g_spi_mode;
 static volatile spi_clk_rate_t g_spi_clk_rate;
 static volatile spi_format_t g_spi_format;
 static volatile spi_mode_t g_spi_mode;
 static volatile spi_clk_rate_t g_spi_clk_rate;

diff --git a/modules/debug/diagnostic/Makefile b/modules/debug/diagnostic/Makefile
index d4fdf06..b6eb78a 100644 (file)
--- a/modules/debug/diagnostic/Makefile
+++ b/modules/debug/diagnostic/Makefile
@@ -2,9 +2,9 @@ TARGET = diagnostic
 
 # List C source files here. (C dependencies are automatically generated.)
 ifeq ($(HOST),avr)
 
 # List C source files here. (C dependencies are automatically generated.)
 ifeq ($(HOST),avr)

-SRC = stack_space.c int_show.c stackdump.c
+SRC = stack_space.c int_show.c

 else
 else

-SRC = diag_host.c stackdump.c
+SRC = diag_host.c 

 endif
 
 include $(AVERSIVE_DIR)/mk/aversive_module.mk
 endif
 
 include $(AVERSIVE_DIR)/mk/aversive_module.mk

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index e3afa27..c71def0 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -191,7 +191,7 @@ void trajectory_stop(struct trajectory *traj)
                                  UPDATE_A | UPDATE_D | RESET_D | RESET_A);
 }
 
                                  UPDATE_A | UPDATE_D | RESET_D | RESET_A);
 }
 

-#include <stackdump.h>
+//#include <stackdump.h>

 
 /** set relative angle and distance consign to 0, and break any
  * deceleration ramp in quadramp filter */
 
 /** set relative angle and distance consign to 0, and break any
  * deceleration ramp in quadramp filter */

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 8d2355d..8a15ca9 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -45,7 +45,8 @@
 #include "main.h"
 #include "actuator.h"
 
 #include "main.h"
 #include "actuator.h"
 

-#define COBROLLER_SPEED 600
+#define COBROLLER_SPEED 1200
+//#define COBROLLER_SPEED 600

 //#define COBROLLER_SPEED 400
 
 #define SERVO_DOOR_OPEN 300
 //#define COBROLLER_SPEED 400
 
 #define SERVO_DOOR_OPEN 300


@@ -53,10 +54,10 @@
 #define SERVO_DOOR_BLOCK 530
 
 #define SERVO_CARRY_L_OPEN 295
 #define SERVO_DOOR_BLOCK 530
 
 #define SERVO_CARRY_L_OPEN 295

-#define SERVO_CARRY_L_CLOSED 400 // 510
+#define SERVO_CARRY_L_CLOSED 440//400 // 510

 
 #define SERVO_CARRY_R_OPEN 455
 
 #define SERVO_CARRY_R_OPEN 455

-#define SERVO_CARRY_R_CLOSED 350 // 250
+#define SERVO_CARRY_R_CLOSED 310//350 // 250

 
 void actuator_init(void);
 
 
 void actuator_init(void);
 

diff --git a/projects/microb2010/mainboard/.config b/projects/microb2010/mainboard/.config
index dc35470..23029bc 100644 (file)
--- a/projects/microb2010/mainboard/.config
+++ b/projects/microb2010/mainboard/.config
@@ -1,5 +1,5 @@
 #
 #

-# Automatically generated by make menuconfig: don't edit
+# Automatically generated make config: don't edit

 #
 
 #
 #
 
 #


@@ -74,6 +74,10 @@ CONFIG_FORMAT_BINARY=y
 #
 # Base modules
 #
 #
 # Base modules
 #

+
+#
+# Enable math library in generation options to see all modules
+#

 CONFIG_MODULE_CIRBUF=y
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 CONFIG_MODULE_FIXED_POINT=y
 CONFIG_MODULE_CIRBUF=y
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 CONFIG_MODULE_FIXED_POINT=y


@@ -94,6 +98,10 @@ CONFIG_MODULE_TIME=y
 #
 # Communication modules
 #
 #
 # Communication modules
 #

+
+#
+# uart needs circular buffer, mf2 client may need scheduler
+#

 CONFIG_MODULE_UART=y
 # CONFIG_MODULE_UART_9BITS is not set
 CONFIG_MODULE_UART_CREATE_CONFIG=y
 CONFIG_MODULE_UART=y
 # CONFIG_MODULE_UART_9BITS is not set
 CONFIG_MODULE_UART_CREATE_CONFIG=y


@@ -178,6 +186,10 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 # Control system modules
 #
 CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y
 # Control system modules
 #
 CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y

+
+#
+# Filters
+#

 CONFIG_MODULE_PID=y
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set
 CONFIG_MODULE_PID=y
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set


@@ -188,12 +200,20 @@ CONFIG_MODULE_QUADRAMP=y
 #
 # Radio devices
 #
 #
 # Radio devices
 #

+
+#
+# Some radio devices require SPI to be activated
+#

 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #
 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #

+
+#
+# Crypto modules depend on utils module
+#

 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set
 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set


@@ -203,12 +223,20 @@ CONFIG_MODULE_QUADRAMP=y
 #
 # Encodings modules
 #
 #
 # Encodings modules
 #

+
+#
+# Encoding modules depend on utils module
+#

 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #
 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #

+
+#
+# Debug modules depend on utils module
+#

 CONFIG_MODULE_DIAGNOSTIC=y
 CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG=y
 CONFIG_MODULE_ERROR=y
 CONFIG_MODULE_DIAGNOSTIC=y
 CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG=y
 CONFIG_MODULE_ERROR=y

diff --git a/projects/microb2010/mainboard/actuator.c b/projects/microb2010/mainboard/actuator.c
index ed86f33..9ed1d63 100644 (file)
--- a/projects/microb2010/mainboard/actuator.c
+++ b/projects/microb2010/mainboard/actuator.c
@@ -73,8 +73,8 @@ void pwm_set_and_save(void *pwm, int32_t val)
 void support_balls_deploy(void)
 {
 #ifndef HOST_VERSION
 void support_balls_deploy(void)
 {
 #ifndef HOST_VERSION

-       pwm_ng_set(SUPPORT_BALLS_R_SERVO, 560);
-       pwm_ng_set(SUPPORT_BALLS_L_SERVO, 155);
+       pwm_ng_set(SUPPORT_BALLS_R_SERVO, 550);
+       pwm_ng_set(SUPPORT_BALLS_L_SERVO, 165);

 #endif
 }
 
 #endif
 }
 

diff --git a/projects/microb2010/tests/static_beacon/.config b/projects/microb2010/tests/static_beacon/.config
index 1d00663..8c61239 100644 (file)
--- a/projects/microb2010/tests/static_beacon/.config
+++ b/projects/microb2010/tests/static_beacon/.config
@@ -1,5 +1,5 @@
 #
 #

-# Automatically generated make config: don't edit
+# Automatically generated by make menuconfig: don't edit

 #
 
 #
 #
 
 #


@@ -74,10 +74,6 @@ CONFIG_FORMAT_BINARY=y
 #
 # Base modules
 #
 #
 # Base modules
 #

-
-#
-# Enable math library in generation options to see all modules
-#

 CONFIG_MODULE_CIRBUF=y
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 # CONFIG_MODULE_FIXED_POINT is not set
 CONFIG_MODULE_CIRBUF=y
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 # CONFIG_MODULE_FIXED_POINT is not set


@@ -98,10 +94,6 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y
 #
 # Communication modules
 #
 #
 # Communication modules
 #

-
-#
-# uart needs circular buffer, mf2 client may need scheduler
-#

 CONFIG_MODULE_UART=y
 # CONFIG_MODULE_UART_9BITS is not set
 CONFIG_MODULE_UART_CREATE_CONFIG=y
 CONFIG_MODULE_UART=y
 # CONFIG_MODULE_UART_9BITS is not set
 CONFIG_MODULE_UART_CREATE_CONFIG=y


@@ -186,10 +178,6 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y
 # Control system modules
 #
 # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
 # Control system modules
 #
 # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set

-
-#
-# Filters
-#

 # CONFIG_MODULE_PID is not set
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set
 # CONFIG_MODULE_PID is not set
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set


@@ -200,20 +188,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y
 #
 # Radio devices
 #
 #
 # Radio devices
 #

-
-#
-# Some radio devices require SPI to be activated
-#

 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #
 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #

-
-#
-# Crypto modules depend on utils module
-#

 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set
 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set


@@ -223,20 +203,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y
 #
 # Encodings modules
 #
 #
 # Encodings modules
 #

-
-#
-# Encoding modules depend on utils module
-#

 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #
 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #

-
-#
-# Debug modules depend on utils module
-#

 # CONFIG_MODULE_DIAGNOSTIC is not set
 # CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
 # CONFIG_MODULE_ERROR is not set
 # CONFIG_MODULE_DIAGNOSTIC is not set
 # CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
 # CONFIG_MODULE_ERROR is not set