From 90cc2cfc1c67fcc0b5be470a2a00a97edf3880f3 Mon Sep 17 00:00:00 2001
From: "brian.schmalz" <brian.schmalz@72233254-1b6c-9e9c-5072-401df62706fb>
Date: Sat, 2 Mar 2013 22:03:53 +0000
Subject: [PATCH] Updated project to use RB3 as an output to control the light.
 Also added a new light state machine.

git-svn-id: https://eggbotcode.googlecode.com/svn/trunk@261 72233254-1b6c-9e9c-5072-401df62706fb
---
 .../app-SimpleServo.X.production.cof          |  Bin 475941 -> 476855 bytes
 .../app-SimpleServo.X.production.hex          | 3736 +++++++++--------
 .../app-SimpleServo.X.production.unified.hex  | 3696 ++++++++--------
 .../Makefile-EBBv13_no_bootloader.mk          |    2 +-
 .../Makefile-local-EBBv13_no_bootloader.mk    |   24 +-
 .../nbproject/configurations.xml              |   31 +-
 .../nbproject/private/configurations.xml      |    4 +-
 .../nbproject/private/private.xml             |    4 -
 EBB_firmware/app-SimpleServo.X/source/UBW.c   |   62 +-
 9 files changed, 3786 insertions(+), 3773 deletions(-)

diff --git a/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.cof b/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.cof
index 8403e97fd50765133600f0885eee8ee779b26d88..1a2c8cf3da278220b1460df09dd79ea15a0aa267 100644
GIT binary patch
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diff --git a/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.hex b/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.hex
index 4723525..eac9420 100644
--- a/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.hex
+++ b/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.hex
@@ -1,1876 +1,1878 @@
 :020000040000FA
-:060000002DEF39F01200A3
-:0600080025EF22F01200BA
+:0600000052EF39F012007E
+:060008004AEF22F0120095
 :0600180022EF00F01200CF
-:06002A000200A8720000B4
-:1000300000050000E4000000A6720000B90E0000F8
+:06002A000200F27200006A
+:1000300000050000E7000000F0720000B90E0000AB
 :0400400002000000BA
 :0C004400D8CFE4FFE0CFE4FFE46EDACF99
 :10005000E4FFE2CFDAFFE9CFE4FFEACFE4FFF3CF3A
 :10006000E4FFF4CFE4FFE652D9CFE6FFE1CFD9FFBA
-:10007000040EE126020EDB6A030EDB6AA4A63AD365
-:10008000A49605011A511B1104E005011A07000E80
-:100090001B5B0E01002B0E01AB510E01005D01E256
-:1000A000A4D10E01006B0E01A951EA6A310FE96E6D
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diff --git a/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.unified.hex b/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.unified.hex
index 625733e..76f0d7b 100644
--- a/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.unified.hex
+++ b/EBB_firmware/app-SimpleServo.X/dist/EBBv13_no_bootloader/production/app-SimpleServo.X.production.unified.hex
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diff --git a/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-EBBv13_no_bootloader.mk b/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-EBBv13_no_bootloader.mk
index d7e752e..aeb4c28 100644
--- a/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-EBBv13_no_bootloader.mk
+++ b/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-EBBv13_no_bootloader.mk
@@ -192,7 +192,7 @@ dist/${CND_CONF}/${IMAGE_TYPE}/app-SimpleServo.X.${IMAGE_TYPE}.${OUTPUT_SUFFIX}:
 	@${MKDIR} dist/${CND_CONF}/${IMAGE_TYPE} 
 	${MP_LD} $(MP_EXTRA_LD_PRE) "source\rm18f46j50_g.lkr"  -p$(MP_PROCESSOR_OPTION_LD)  -w  -l"./source"  -z__MPLAB_BUILD=1  -u_CRUNTIME -l ${MP_CC_DIR}\\..\\lib  -o dist/${CND_CONF}/${IMAGE_TYPE}/app-SimpleServo.X.${IMAGE_TYPE}.${DEBUGGABLE_SUFFIX}  ${OBJECTFILES_QUOTED_IF_SPACED}   
 	@echo "Creating unified hex file"
-	@"C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/hexmate" --edf="C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/en_msgs.txt" dist/${CND_CONF}/${IMAGE_TYPE}/app-SimpleServo.X.${IMAGE_TYPE}.hex  -odist/${CND_CONF}/production/app-SimpleServo.X.production.unified.hex
+	@"C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/hexmate" --edf="C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/en_msgs.txt" dist/${CND_CONF}/${IMAGE_TYPE}/app-SimpleServo.X.${IMAGE_TYPE}.hex  -odist/${CND_CONF}/production/app-SimpleServo.X.production.unified.hex
 
 endif
 
diff --git a/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-local-EBBv13_no_bootloader.mk b/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-local-EBBv13_no_bootloader.mk
index d220553..5204a2e 100644
--- a/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-local-EBBv13_no_bootloader.mk
+++ b/EBB_firmware/app-SimpleServo.X/nbproject/Makefile-local-EBBv13_no_bootloader.mk
@@ -15,23 +15,23 @@
 # $ makeMP_CC="/opt/microchip/mplabc30/v3.30c/bin/pic30-gcc" ...  
 #
 SHELL=cmd.exe
-PATH_TO_IDE_BIN=C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/
+PATH_TO_IDE_BIN=C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/
 # Adding MPLAB X bin directory to path.
-PATH:=C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/:$(PATH)
+PATH:=C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/:$(PATH)
 # Path to java used to run MPLAB X when this makefile was created
-MP_JAVA_PATH="C:\Program Files (x86)\Microchip\MPLABX\sys\java\jre1.6.0_32-windows-x64\java-windows/bin/"
+MP_JAVA_PATH="C:\Program Files\Microchip\MPLABX\sys\java\jre1.6.0_32-windows\java-windows/bin/"
 OS_CURRENT="$(shell uname -s)"
-MP_CC="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin\mcc18.exe"
+MP_CC="C:\Program Files\Microchip\mplabc18\v3.44\bin\mcc18.exe"
 # MP_CPPC is not defined
 # MP_BC is not defined
-MP_AS="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin\..\mpasm\MPASMWIN.exe"
-MP_LD="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin\mplink.exe"
-MP_AR="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin\mplib.exe"
-DEP_GEN=${MP_JAVA_PATH}java -jar "C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/extractobjectdependencies.jar" 
-MP_CC_DIR="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin"
+MP_AS="C:\Program Files\Microchip\mplabc18\v3.44\bin\..\mpasm\MPASMWIN.exe"
+MP_LD="C:\Program Files\Microchip\mplabc18\v3.44\bin\mplink.exe"
+MP_AR="C:\Program Files\Microchip\mplabc18\v3.44\bin\mplib.exe"
+DEP_GEN=${MP_JAVA_PATH}java -jar "C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/extractobjectdependencies.jar" 
+MP_CC_DIR="C:\Program Files\Microchip\mplabc18\v3.44\bin"
 # MP_CPPC_DIR is not defined
 # MP_BC_DIR is not defined
-MP_AS_DIR="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin\..\mpasm"
-MP_LD_DIR="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin"
-MP_AR_DIR="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin"
+MP_AS_DIR="C:\Program Files\Microchip\mplabc18\v3.44\bin\..\mpasm"
+MP_LD_DIR="C:\Program Files\Microchip\mplabc18\v3.44\bin"
+MP_AR_DIR="C:\Program Files\Microchip\mplabc18\v3.44\bin"
 # MP_BC_DIR is not defined
diff --git a/EBB_firmware/app-SimpleServo.X/nbproject/configurations.xml b/EBB_firmware/app-SimpleServo.X/nbproject/configurations.xml
index e49224e..bd83275 100644
--- a/EBB_firmware/app-SimpleServo.X/nbproject/configurations.xml
+++ b/EBB_firmware/app-SimpleServo.X/nbproject/configurations.xml
@@ -286,35 +286,8 @@
         <property key="stack-analysis-mcc18" value="false"/>
         <property key="stack-analysis-mplink" value="false"/>
       </C18LanguageToolchain>
-      <ICD3PlatformTool>
-        <property key="AutoSelectMemRanges" value="auto"/>
-        <property key="Freeze Peripherals" value="true"/>
-        <property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
-        <property key="ToolFirmwareFilePath"
-                  value="Press to browse for a specific firmware version"/>
-        <property key="ToolFirmwareOption.UseLatestFirmware" value="true"/>
-        <property key="debugoptions.useswbreakpoints" value="false"/>
-        <property key="hwtoolclock.frcindebug" value="false"/>
-        <property key="memories.aux" value="false"/>
-        <property key="memories.bootflash" value="false"/>
-        <property key="memories.configurationmemory" value="false"/>
-        <property key="memories.eeprom" value="true"/>
-        <property key="memories.flashdata" value="true"/>
-        <property key="memories.id" value="true"/>
-        <property key="memories.programmemory" value="true"/>
-        <property key="memories.programmemory.end" value="0xfff7"/>
-        <property key="memories.programmemory.start" value="0x0"/>
-        <property key="poweroptions.powerenable" value="false"/>
-        <property key="programoptions.eraseb4program" value="true"/>
-        <property key="programoptions.preserveeeprom" value="false"/>
-        <property key="programoptions.preserveprogramrange" value="false"/>
-        <property key="programoptions.preserveprogramrange.end" value="0xfff7"/>
-        <property key="programoptions.preserveprogramrange.start" value="0x0"/>
-        <property key="programoptions.preserveuserid" value="false"/>
-        <property key="programoptions.usehighvoltageonmclr" value="false"/>
-        <property key="programoptions.uselvpprogramming" value="false"/>
-        <property key="voltagevalue" value="3.25"/>
-      </ICD3PlatformTool>
+      <PICkit3PlatformTool>
+      </PICkit3PlatformTool>
       <item path="source/BL_rm18f46j50_g.lkr" ex="true" overriding="false">
         <C18>
         </C18>
diff --git a/EBB_firmware/app-SimpleServo.X/nbproject/private/configurations.xml b/EBB_firmware/app-SimpleServo.X/nbproject/private/configurations.xml
index 2ac8976..1db65e2 100644
--- a/EBB_firmware/app-SimpleServo.X/nbproject/private/configurations.xml
+++ b/EBB_firmware/app-SimpleServo.X/nbproject/private/configurations.xml
@@ -5,7 +5,7 @@
   <confs>
     <conf name="EBBv13_with_bootloader" type="2">
       <platformToolSN>:=MPLABCommUSB:=04D8:=9009:=0100:=Microchip Technology, Inc. (www.microchip.com):=MPLAB ICD3 tm (www.microchip.com):=JIT091597204:=x:=en</platformToolSN>
-      <languageToolchainDir>C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin</languageToolchainDir>
+      <languageToolchainDir>C:\Program Files\Microchip\mplabc18\v3.44\bin</languageToolchainDir>
       <mdbdebugger version="1">
         <placeholder1>place holder 1</placeholder1>
         <placeholder2>place holder 2</placeholder2>
@@ -23,7 +23,7 @@
     </conf>
     <conf name="EBBv13_no_bootloader" type="2">
       <platformToolSN>:=MPLABCommUSB:=04D8:=900A:=0002:=Microchip Technology Inc.:=PICkit 3:=BUR101260159:=x:=en</platformToolSN>
-      <languageToolchainDir>C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin</languageToolchainDir>
+      <languageToolchainDir>C:\Program Files\Microchip\mplabc18\v3.44\bin</languageToolchainDir>
       <mdbdebugger version="1">
         <placeholder1>place holder 1</placeholder1>
         <placeholder2>place holder 2</placeholder2>
diff --git a/EBB_firmware/app-SimpleServo.X/nbproject/private/private.xml b/EBB_firmware/app-SimpleServo.X/nbproject/private/private.xml
index b0821d8..cc2c0e5 100644
--- a/EBB_firmware/app-SimpleServo.X/nbproject/private/private.xml
+++ b/EBB_firmware/app-SimpleServo.X/nbproject/private/private.xml
@@ -1,8 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/1"/>
-    <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/1">
-        <file>file:/D:/Projects/eggbotcode/EBB_firmware/app-SimpleServo.X/source/main.c</file>
-        <file>file:/D:/Projects/eggbotcode/EBB_firmware/app-SimpleServo.X/source/UBW.c</file>
-    </open-files>
 </project-private>
diff --git a/EBB_firmware/app-SimpleServo.X/source/UBW.c b/EBB_firmware/app-SimpleServo.X/source/UBW.c
index 810af42..d093fea 100644
--- a/EBB_firmware/app-SimpleServo.X/source/UBW.c
+++ b/EBB_firmware/app-SimpleServo.X/source/UBW.c
@@ -95,9 +95,13 @@
 #define SS_STATE_WAITING_FOR_PEN_EXIT 4
 
 
+#define SL_STATE_WAITING            0
+#define SL_STATE_ON                 1
+
+
 // Constants for servo motor speed
-#define SERVO_MOTOR_STOP            17600
-#define SERVO_MOTOR_RUN             20000
+#define SERVO_MOTOR_STOP            17625
+#define SERVO_MOTOR_RUN             22000
 
 // Constants for timed operations
 #define SS_TIMER_BOOTUP_WAIT        2000    // in milliseconds - from boot to first operation
@@ -213,8 +217,10 @@ unsigned int gPulseCounters[4] = {0,0,0,0};
 
 // SimpleSerial state variable
 unsigned char SimpleServoState = SS_STATE_WAITING;
+unsigned char SimpleLightState = SL_STATE_WAITING;
 
 volatile unsigned int SimpleServoTimer = 0;
+volatile unsigned int SimpleLightTimer = 0;
 
 /** P R I V A T E  P R O T O T Y P E S ***************************************/
 void BlinkUSBStatus (void);		// Handles blinking the USB status LED
@@ -276,7 +282,13 @@ void low_ISR(void)
             SimpleServoTimer--;
         }
 
-		// Handle RC servo pulse generation (for next pulse/channel)
+        // Count down SimpleLightTimer
+        if (SimpleLightTimer)
+        {
+            SimpleLightTimer--;
+        }
+
+        // Handle RC servo pulse generation (for next pulse/channel)
 		// Always incriment the gRCServo2msCounter
         gRC2msCounter++;
 
@@ -722,6 +734,10 @@ void UserInit(void)
 
     // Set up timer for bootup wait
     SimpleServoTimer = SS_TIMER_BOOTUP_WAIT;
+
+    // Set up PortB pin 3 as an output, and set low (turn light off)
+    TRISBbits.TRISB3 = OUTPUT_PIN;
+    PORTBbits.RB3 = 0;
     
 }//end UserInit
 
@@ -773,7 +789,7 @@ void ProcessIO(void)
         case SS_STATE_WAITING:
             if (SimpleServoTimer == 0)
             {
-                process_SM(2000, 0, -10000);
+                process_SM(2000, 0, -12000);
                 SimpleServoTimer = 3000;
                 SimpleServoState = SS_STATE_LIFT_RUNNING_DOWN;
             }
@@ -783,7 +799,7 @@ void ProcessIO(void)
             if (SimpleServoTimer == 0)
             {
                 RCServo2_Move(SERVO_MOTOR_RUN, 3, 0, 0);
-                SimpleServoTimer = 1000;
+                SimpleServoTimer = 100;
                 SimpleServoState = SS_STATE_RUNNING_MOTOR;
             }
             break;
@@ -806,13 +822,11 @@ void ProcessIO(void)
             break;
 
         case SS_STATE_WAITING_FOR_PEN_EXIT:
+            if (PORTBbits.RB2 == 1)
             {
-                if (PORTBbits.RB2 == 1)
-                {
-                    process_SM(2000, 0, -10000);
-                    SimpleServoTimer = 5000;
-                    SimpleServoState = SS_STATE_LIFT_RUNNING_DOWN;
-                }
+                process_SM(2000, 0, -10000);
+                SimpleServoTimer = 5000;
+                SimpleServoState = SS_STATE_LIFT_RUNNING_DOWN;
             }
             break;
 
@@ -820,7 +834,31 @@ void ProcessIO(void)
             break;
     }
 
-	// Check for any new I packets (from T command) ready to go out
+
+    switch (SimpleLightState)
+    {
+        case SL_STATE_WAITING:
+            if (SimpleServoState == SS_STATE_LIFT_RUNNING_DOWN)
+            {
+                PORTBbits.RB3 = 1;
+                SimpleLightTimer = 10000;
+                SimpleLightState = SL_STATE_ON;
+            }
+            break;
+
+        case SL_STATE_ON:
+            if (SimpleLightTimer == 0)
+            {
+                PORTBbits.RB3 = 0;
+                SimpleLightState = SL_STATE_WAITING;
+            }
+            break;
+
+        default:
+            break;
+    }
+
+    // Check for any new I packets (from T command) ready to go out
 	while (ISR_D_FIFO_length > 0)
 	{
 		// Spit out an I packet first