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Fix embedded binary parameter loading #40

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Merged
merged 13 commits into from
Apr 4, 2019
Merged

Fix embedded binary parameter loading #40

merged 13 commits into from
Apr 4, 2019

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at-wat
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@at-wat at-wat commented Mar 26, 2019 •
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fix #42

@at-wat at-wat self-assigned this Mar 26, 2019
@at-wat at-wat changed the title Fix embedded binary parameter struct alignment Fix embedded binary parameter loading Mar 26, 2019
at-wat
at-wat commented Mar 28, 2019
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tfrog-motordriver/main.c Outdated
printf("enc_rev: %d, %d\n\r", motor_param[0].enc_rev, motor_param[1].enc_rev);
printf("enc_denominator: %d, %d\n\r", motor_param[0].enc_denominator, motor_param[1].enc_denominator);
printf("enc_rev_raw: %d, %d\n\r", motor_param[0].enc_rev_raw, motor_param[1].enc_rev_raw);
AT91C_BASE_RSTC->RSTC_RCR = 0xA5000000 | AT91C_RSTC_EXTRST | AT91C_RSTC_PROCRST | AT91C_RSTC_PERRST;
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need parameter version check. otherwise, endless reset loop occurs.

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at-wat commented Mar 29, 2019

Before adding a new field.

0177AA003500010000003001756E6B6E6F776E00000000000000000000000000
000000000000000000000000B0040A000100000000000000FFFF

After adding the char field at the end (deafult value 0xAA).

0177AA003600010000003001756E6B6E6F776E00000000000000000000000000
000000000000000000000000B0040A000100000000AA0000FFFF

Size is calculated correctly even if the size() is not changed due to the trailing padding.

-- Locomotion Board 1.5 --
-- T-frog Motor Driver rev.5
-- Compiled: Mar 29 2019 15:43:56 --
User Reset. NRST pin detected low.
SRAM init
FPGA ID: 1a0
FPGA test
ADC init
Migrating EEPROM data  # <- migrated as expected
Velocity Control init
PWM control init
Watchdog init
Start ticker
RS485 init
Board version: R6, R6A
Entering main control loop

@at-wat at-wat requested a review from DaikiMaekawa April 2, 2019 09:06
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at-wat commented Apr 2, 2019

@DaikiMaekawa please take a look. sorry, this will make conflicts with your PR.

@at-wat at-wat merged commit a10213d into master Apr 4, 2019
@at-wat at-wat deleted the fix-embedded-param-alignment branch April 4, 2019 14:53
@at-wat at-wat mentioned this pull request May 29, 2019
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Overdetecting ERROR_HALL_ENC on binary embedded parameter mode
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