From 9db05f09d6e4759730c6d3eda91ec4627ddc4053 Mon Sep 17 00:00:00 2001
From: "brian.schmalz" <brian.schmalz@72233254-1b6c-9e9c-5072-401df62706fb>
Date: Sun, 22 Sep 2013 16:10:17 +0000
Subject: [PATCH] git-svn-id: https://eggbotcode.googlecode.com/svn/trunk@271
 72233254-1b6c-9e9c-5072-401df62706fb

---
 .../app-SimpleServo.X.production.cof          |  Bin 476855 -> 478222 bytes
 .../app-SimpleServo.X.production.hex          | 3755 +++++++++--------
 .../app-SimpleServo.X.production.unified.hex  | 3712 ++++++++--------
 .../Makefile-EBBv13_no_bootloader.mk          |    8 +-
 .../Makefile-local-EBBv13_no_bootloader.mk    |   24 +-
 .../nbproject/private/configurations.xml      |    4 +-
 .../nbproject/private/private.xml             |    9 +-
 .../app-SimpleServo.X/nbproject/project.xml   |    3 +-
 .../app-SimpleServo.X/source/RCServo2.c       |    5 +
 EBB_firmware/app-SimpleServo.X/source/UBW.c   |    8 +-
 10 files changed, 3785 insertions(+), 3743 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 1a2c8cf3da278220b1460df09dd79ea15a0aa267..25265576e689ceae7fa14a7ac44c945c14a67f43 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 eac9420..20e79aa 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
@@ -1,1878 +1,1891 @@
 :020000040000FA
-:0600000052EF39F012007E
-:060008004AEF22F0120095
+:0600000091EF39F012003F
+:0600080086EF22F0120059
 :0600180022EF00F01200CF
-:06002A000200F27200006A
-:1000300000050000E7000000F0720000B90E0000AB
+:06002A00020070730000EB
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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 76f0d7b..998bb82 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 aeb4c28..a949866 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
@@ -44,6 +44,9 @@ OBJECTDIR=build/${CND_CONF}/${IMAGE_TYPE}
 # Distribution Directory
 DISTDIR=dist/${CND_CONF}/${IMAGE_TYPE}
 
+# Source Files Quoted if spaced
+SOURCEFILES_QUOTED_IF_SPACED=../Microchip/USB/usb_device.c "../Microchip/USB/CDC Device Driver/usb_function_cdc.c" source/ebb.c source/main.c source/RCServo2.c source/UBW.c source/usb_descriptors.c
+
 # Object Files Quoted if spaced
 OBJECTFILES_QUOTED_IF_SPACED=${OBJECTDIR}/_ext/343710134/usb_device.o ${OBJECTDIR}/_ext/131024517/usb_function_cdc.o ${OBJECTDIR}/source/ebb.o ${OBJECTDIR}/source/main.o ${OBJECTDIR}/source/RCServo2.o ${OBJECTDIR}/source/UBW.o ${OBJECTDIR}/source/usb_descriptors.o
 POSSIBLE_DEPFILES=${OBJECTDIR}/_ext/343710134/usb_device.o.d ${OBJECTDIR}/_ext/131024517/usb_function_cdc.o.d ${OBJECTDIR}/source/ebb.o.d ${OBJECTDIR}/source/main.o.d ${OBJECTDIR}/source/RCServo2.o.d ${OBJECTDIR}/source/UBW.o.d ${OBJECTDIR}/source/usb_descriptors.o.d
@@ -51,6 +54,9 @@ POSSIBLE_DEPFILES=${OBJECTDIR}/_ext/343710134/usb_device.o.d ${OBJECTDIR}/_ext/1
 # Object Files
 OBJECTFILES=${OBJECTDIR}/_ext/343710134/usb_device.o ${OBJECTDIR}/_ext/131024517/usb_function_cdc.o ${OBJECTDIR}/source/ebb.o ${OBJECTDIR}/source/main.o ${OBJECTDIR}/source/RCServo2.o ${OBJECTDIR}/source/UBW.o ${OBJECTDIR}/source/usb_descriptors.o
 
+# Source Files
+SOURCEFILES=../Microchip/USB/usb_device.c ../Microchip/USB/CDC Device Driver/usb_function_cdc.c source/ebb.c source/main.c source/RCServo2.c source/UBW.c source/usb_descriptors.c
+
 
 CFLAGS=
 ASFLAGS=
@@ -192,7 +198,7 @@ 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}  ${OBJECTFILES_QUOTED_IF_SPACED}   
 	@echo "Creating unified hex file"
-	@"C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/hexmate" --edf="C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/en_msgs.txt" dist/${CND_CONF}/${IMAGE_TYPE}/app-SimpleServo.X.${IMAGE_TYPE}.hex  -odist/${CND_CONF}/production/app-SimpleServo.X.production.unified.hex
+	@"C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/hexmate" --edf="C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../dat/en_msgs.txt" dist/${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 5204a2e..18e4f6a 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/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/
+PATH_TO_IDE_BIN=C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/
 # Adding MPLAB X bin directory to path.
-PATH:=C:/Program Files/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/:$(PATH)
+PATH:=C:/Program Files (x86)/Microchip/MPLABX/mplab_ide/mplab_ide/modules/../../bin/:$(PATH)
 # Path to java used to run MPLAB X when this makefile was created
-MP_JAVA_PATH="C:\Program Files\Microchip\MPLABX\sys\java\jre1.6.0_32-windows\java-windows/bin/"
+MP_JAVA_PATH="C:\Program Files (x86)\Microchip\MPLABX\sys\java\jre1.7.0_17/bin/"
 OS_CURRENT="$(shell uname -s)"
-MP_CC="C:\Program Files\Microchip\mplabc18\v3.44\bin\mcc18.exe"
+MP_CC="C:\Program Files (x86)\Microchip\mplabc18\v3.44\bin\mcc18.exe"
 # MP_CPPC is not defined
 # MP_BC is not defined
-MP_AS="C:\Program Files\Microchip\mplabc18\v3.44\bin\..\mpasm\MPASMWIN.exe"
-MP_LD="C:\Program Files\Microchip\mplabc18\v3.44\bin\mplink.exe"
-MP_AR="C:\Program Files\Microchip\mplabc18\v3.44\bin\mplib.exe"
-DEP_GEN=${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_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_CPPC_DIR is not defined
 # MP_BC_DIR is not defined
-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_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_BC_DIR is not defined
diff --git a/EBB_firmware/app-SimpleServo.X/nbproject/private/configurations.xml b/EBB_firmware/app-SimpleServo.X/nbproject/private/configurations.xml
index 1db65e2..2ac8976 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\Microchip\mplabc18\v3.44\bin</languageToolchainDir>
+      <languageToolchainDir>C:\Program Files (x86)\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\Microchip\mplabc18\v3.44\bin</languageToolchainDir>
+      <languageToolchainDir>C:\Program Files (x86)\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 cc2c0e5..7c3d589 100644
--- a/EBB_firmware/app-SimpleServo.X/nbproject/private/private.xml
+++ b/EBB_firmware/app-SimpleServo.X/nbproject/private/private.xml
@@ -1,4 +1,9 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
+<?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/UBW.c</file>
+        <file>file:/D:/Projects/eggbotcode/EBB_firmware/app-SimpleServo.X/source/RCServo2.c</file>
+        <file>file:/D:/Projects/eggbotcode/EBB_firmware/app-SimpleServo.X/source/ebb.c</file>
+        <file>file:/D:/Projects/eggbotcode/EBB_firmware/app-SimpleServo.X/source/main.c</file>
+    </open-files>
 </project-private>
diff --git a/EBB_firmware/app-SimpleServo.X/nbproject/project.xml b/EBB_firmware/app-SimpleServo.X/nbproject/project.xml
index 30c73f5..9c483b2 100644
--- a/EBB_firmware/app-SimpleServo.X/nbproject/project.xml
+++ b/EBB_firmware/app-SimpleServo.X/nbproject/project.xml
@@ -1,5 +1,4 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project xmlns="http://www.netbeans.org/ns/project/1">
+<?xml version="1.0" encoding="UTF-8"?><project xmlns="http://www.netbeans.org/ns/project/1">
     <type>com.microchip.mplab.nbide.embedded.makeproject</type>
     <configuration>
         <data xmlns="http://www.netbeans.org/ns/make-project/1">
diff --git a/EBB_firmware/app-SimpleServo.X/source/RCServo2.c b/EBB_firmware/app-SimpleServo.X/source/RCServo2.c
index 7552c31..f773391 100644
--- a/EBB_firmware/app-SimpleServo.X/source/RCServo2.c
+++ b/EBB_firmware/app-SimpleServo.X/source/RCServo2.c
@@ -278,6 +278,9 @@ UINT8 RCServo2_Move(
     UINT8 i;
     UINT8 Channel;
 
+    INTCONbits.GIEL = 0;	// Turn low priority interrupts off
+
+
     // Get the channel that's already assigned to the RPn, or assign a new one
     // if possible. If this returns zero, then do nothing as we're out of
     // channels.
@@ -286,6 +289,7 @@ UINT8 RCServo2_Move(
     // Error out if there were no available channels left
     if (Channel == 0)
     {
+        INTCONbits.GIEL = 1;	// Turn low priority interrupts on
         return 0;
     }
 
@@ -340,5 +344,6 @@ UINT8 RCServo2_Move(
             FIFOEmpty = FALSE;
         }
 	}
+    INTCONbits.GIEL = 1;	// Turn low priority interrupts on
     return Channel;
 }
\ No newline at end of file
diff --git a/EBB_firmware/app-SimpleServo.X/source/UBW.c b/EBB_firmware/app-SimpleServo.X/source/UBW.c
index d093fea..e500a33 100644
--- a/EBB_firmware/app-SimpleServo.X/source/UBW.c
+++ b/EBB_firmware/app-SimpleServo.X/source/UBW.c
@@ -100,7 +100,8 @@
 
 
 // Constants for servo motor speed
-#define SERVO_MOTOR_STOP            17625
+//#define SERVO_MOTOR_STOP            17625
+#define SERVO_MOTOR_STOP            0
 #define SERVO_MOTOR_RUN             22000
 
 // Constants for timed operations
@@ -365,6 +366,11 @@ void low_ISR(void)
                 // Disable interrupts (high)
                 INTCONbits.GIEH = 0;
 
+                // For v2.1.5, found bug where if a pin is HIGH when we start doing
+                // RC output, the output is totally messed up. So make sure to set
+                // the pin low first.
+                SetPinLATFromRPn(gRC2RPn[gRC2Ptr], 0);
+
                 // Load up the new compare time
                 CCPR2H = gRC2Value[gRC2Ptr] >> 8;
                 CCPR2L = gRC2Value[gRC2Ptr] & 0xFF;