From 131105c7a1914925f6894ef95547953719dba54c Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Mon, 11 Jul 2022 13:01:38 -0400
Subject: [PATCH] towards broadcast channels: needs better debug
---
firmware/axl-stepper/src/main.cpp | 12 ++++++------
firmware/axl-stepper/src/osap_config.h | 3 +++
firmware/axl-stepper/src/osape | 2 +-
firmware/axl-stepper/src/osape_ucbus | 2 +-
4 files changed, 11 insertions(+), 8 deletions(-)
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index 85e0284..d1a0360 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -21,6 +21,7 @@ VBus_UCBusDrop vbUCBusDrop(&osap, "ucBusDrop");
// -------------------------------------------------------- 2: States
EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
+ ERRLIGHT_TOGGLE;
// check for partner-config badness,
if(len != AXL_NUM_DOF * 4 + 2){ OSAP::error("state req has bad DOF count"); return EP_ONDATA_REJECT; }
// we have accel, rate, posn data,
@@ -196,10 +197,12 @@ void setup() {
DEBUG2PIN_SETUP;
// port begin
vpUSBSerial.begin();
- vbUCBusDrop.begin(4);
+ vbUCBusDrop.begin();
// setup stepper machine
stepper_hw->init(false, 0.0F);
stepper_hw->setMicrostep(4);
+ // add ro the ucbus...
+ vbUCBusDrop.broadcastChannels[12] = (new Route())->sib(2);
// setup controller
axl_setup();
// ticker begin:
@@ -219,7 +222,7 @@ void loop() {
lastBlink = millis();
CLKLIGHT_TOGGLE;
updateStatesEP();
- axl_printHomeState();
+ //axl_printHomeState();
}
}
@@ -250,7 +253,4 @@ void TC0_Handler(void){
}
// deadies, unused ATM
-
-void ucBusDrop_onRxISR(void){}
-
-void ucBusDrop_onPacketARx(uint8_t* data, uint16_t len){}
\ No newline at end of file
+void ucBusDrop_onRxISR(void){}
\ No newline at end of file
diff --git a/firmware/axl-stepper/src/osap_config.h b/firmware/axl-stepper/src/osap_config.h
index a0efe77..e55f3b9 100644
--- a/firmware/axl-stepper/src/osap_config.h
+++ b/firmware/axl-stepper/src/osap_config.h
@@ -28,4 +28,7 @@ no warranty is provided, and users accept all liability.
#define ENDPOINT_MAX_ROUTES 4
#define ENDPOINT_ROUTE_MAX_LEN 64
+// count of broadcast channels width,
+#define VBUS_BROADCAST_CHANNELS 64
+
#endif
\ No newline at end of file
diff --git a/firmware/axl-stepper/src/osape b/firmware/axl-stepper/src/osape
index 97e593d..109cdad 160000
--- a/firmware/axl-stepper/src/osape
+++ b/firmware/axl-stepper/src/osape
@@ -1 +1 @@
-Subproject commit 97e593d51e42f77c12b9ed2ae561adc5136ae9cc
+Subproject commit 109cdadb4abefa5ecade29d62f0cfdaf2f6138e6
diff --git a/firmware/axl-stepper/src/osape_ucbus b/firmware/axl-stepper/src/osape_ucbus
index ba7240a..55661c3 160000
--- a/firmware/axl-stepper/src/osape_ucbus
+++ b/firmware/axl-stepper/src/osape_ucbus
@@ -1 +1 @@
-Subproject commit ba7240a9f473f3df114cccfd3c393cc9f5ea1074
+Subproject commit 55661c3f0510b7e31ce059a47fc1c401c608c765
--
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