Merge pull request #31 from ROBOTIS-GIT/develop

merge from develop
ROBOTIS-GIT · Mar 6, 2017 · f0c52a0 · f0c52a0
2 parents f4dab0e + b466b4a
commit f0c52a0
Show file tree

Hide file tree

Showing 8 changed files with 60 additions and 19 deletions.
diff --git a/arduino/opencr_arduino/opencr/libraries/OLLO/OLLO.cpp b/arduino/opencr_arduino/opencr/libraries/OLLO/OLLO.cpp
@@ -55,6 +55,11 @@ void OLLO::begin(int devNum){
 	}
 	mMot_plus = 0;
 	mMot_minus = 0;
+
+
+  pinMode(OLLO_SLEEP, OUTPUT);
+  digitalWrite(OLLO_SLEEP, HIGH);
+
 	switch(devNum){
 	case 1:
 		pinMode(PORT1_SIG1, OUTPUT); //RED  (right)
@@ -86,6 +91,10 @@ void OLLO::begin(int devNum, OlloDeviceIndex device_index){ //MAGNETIC SENSOR, B
 	}
 	mMot_plus = 0;
 	mMot_minus = 0;
+
+  pinMode(OLLO_SLEEP, OUTPUT);
+  digitalWrite(OLLO_SLEEP, HIGH);
+
 	switch(devNum){
 	case 1:
 		if(device_index == TOUCH_SENSOR || device_index == PIR_SENSOR || device_index == MAGNETIC_SENSOR){
@@ -608,8 +617,6 @@ int OLLO::detectColor(uint8_t port){
 		before_color_cnt = 0;
 	}
 
-	before_color_num = bColorResult;	
+	before_color_num = bColorResult;
 	return 0;
 }
-
-
diff --git a/arduino/opencr_arduino/opencr/libraries/OLLO/OLLO.h b/arduino/opencr_arduino/opencr/libraries/OLLO/OLLO.h
@@ -50,13 +50,16 @@ typedef enum COLOR_INDEX {
 #define PORT2_SIG2  44
 #define PORT2_ADC   45
 
-#define PORT3_SIG1  40
-#define PORT3_SIG2  41
-#define PORT3_ADC   42
+#define PORT3_SIG1  70
+#define PORT3_SIG2  71
+#define PORT3_ADC   72
+
+#define PORT4_SIG1  73
+#define PORT4_SIG2  74
+#define PORT4_ADC   75
+
+#define OLLO_SLEEP  46
 
-#define PORT4_SIG1  43
-#define PORT4_SIG2  44
-#define PORT4_ADC   45
 
 class OLLO {
 private:

diff --git a/arduino/opencr_arduino/opencr/variants/OpenCR/bsp/opencr/usbd_cdc_interface.c b/arduino/opencr_arduino/opencr/variants/OpenCR/bsp/opencr/usbd_cdc_interface.c
@@ -85,7 +85,7 @@ extern USBD_HandleTypeDef  USBD_Device;
 static int8_t CDC_Itf_Init(void);
 static int8_t CDC_Itf_DeInit(void);
 static int8_t CDC_Itf_Control(uint8_t cmd, uint8_t* pbuf, uint16_t length);
-static void   CDC_Itf_TxISR(void);
+       void   CDC_Itf_TxISR(void);
 static int8_t CDC_Itf_Receive(uint8_t* pbuf, uint32_t *Len);
 static uint32_t CDC_Itf_TxAvailable( void );
 
@@ -128,11 +128,6 @@ static int8_t CDC_Itf_Init(void)
   rxd_BufPtrIn          = 0;
   rxd_BufPtrOut         = 0;
 
-
-  drv_timer_set_period(TIMER_USB, 1000);            // 5ms
-  drv_timer_attachInterrupt(TIMER_USB, CDC_Itf_TxISR);
-  drv_timer_resume(TIMER_USB);
-
   return (USBD_OK);
 }
 
@@ -477,7 +472,7 @@ BOOL CDC_Itf_IsConnected( void )
 {
   if( USBD_Device.dev_config == 0
     || is_opened == FALSE
-    || USBD_Device.pClassData == NULL ) 
+    || USBD_Device.pClassData == NULL )
   {
     return FALSE;
   }

diff --git a/arduino/opencr_arduino/opencr/variants/OpenCR/bsp/opencr/usbd_conf.c b/arduino/opencr_arduino/opencr/variants/OpenCR/bsp/opencr/usbd_conf.c
@@ -238,9 +238,14 @@ void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
   * @param  hpcd: PCD handle
   * @retval None
   */
+extern void CDC_Itf_TxISR(void);
+
 void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd)
 {
   USBD_LL_SOF(hpcd->pData);
+
+  // for USB CDC
+  CDC_Itf_TxISR();
 }
 
 /**
@@ -357,7 +362,7 @@ USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
   hpcd.Init.dma_enable = 0;
   hpcd.Init.low_power_enable = 0;
   hpcd.Init.phy_itface = PCD_PHY_EMBEDDED;
-  hpcd.Init.Sof_enable = 0;
+  hpcd.Init.Sof_enable = 1;
   hpcd.Init.speed = PCD_SPEED_FULL;
   hpcd.Init.vbus_sensing_enable = 0;
   hpcd.Init.lpm_enable = 0;

diff --git a/arduino/opencr_arduino/opencr/variants/OpenCR/src/drv_timer.c b/arduino/opencr_arduino/opencr/variants/OpenCR/src/drv_timer.c
@@ -156,7 +156,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim)
   if( htim->Instance == TIM6 )
   {
     __HAL_RCC_TIM6_CLK_ENABLE();
-    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
+    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 10, 0);
     HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
   }
 

diff --git a/arduino/opencr_arduino/opencr/variants/OpenCR/variant.cpp b/arduino/opencr_arduino/opencr/variants/OpenCR/variant.cpp
@@ -87,7 +87,7 @@ extern const Pin2PortMapArray g_Pin2PortMapArray[]=
     {GPIOC, GPIO_PIN_5,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 43 OLLO_P2_SIG1
     {GPIOB, GPIO_PIN_1,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 44 OLLO_P2_SIG2
     {GPIOC, GPIO_PIN_4,   &hADC1,   ADC_CHANNEL_14, NULL   ,   NO_PWM       , 6       },  // 45 OLLO_P2_ADC           EXTI_6
-    {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 46
+    {GPIOD, GPIO_PIN_10,  NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 46 OLLO_SLEEP
     {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 47
     {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 48
     {GPIOF, GPIO_PIN_7,   NULL,     NO_ADC        , NULL   ,   NO_PWM       , NO_EXTI },  // 49

diff --git a/arduino/opencr_release/1.0.7/opencr_core_1.0.7.tar.bz2 b/arduino/opencr_release/1.0.7/opencr_core_1.0.7.tar.bz2
diff --git a/arduino/opencr_release/package_opencr_index.json b/arduino/opencr_release/package_opencr_index.json
@@ -226,6 +226,37 @@
               "version": "1.0.0"
             }
           ]
+        },
+        {
+          "name": "OpenCR",
+          "architecture": "OpenCR",
+          "version": "1.0.7",
+          "category": "Arduino",
+          "help": {
+            "online": "https://github.com/ROBOTIS-GIT/OpenCR"
+          },
+          "url": "https://github.com/ROBOTIS-GIT/OpenCR/releases/download/1.0.7/opencr_core_1.0.7.tar.bz2",
+          "archiveFileName": "opencr_core_1.0.7.tar.bz2",
+          "checksum": "SHA-256:05a38b30efd11d6e1ed340d9727bff590c5391f511dee41e76cd0f54aed4f42b",
+          "size": "2662016",
+          "help": {
+                    "online": "https://github.com/ROBOTIS-GIT/OpenCR"
+          },
+          "boards": [
+            {"name": "OpenCR"}
+          ],
+          "toolsDependencies": [
+            {
+              "packager": "OpenCR",
+              "name": "opencr_gcc",
+              "version": "5.4.0-2016q2"
+            },
+            {
+              "packager": "OpenCR",
+              "name": "opencr_tools",
+              "version": "1.0.0"
+            }
+          ]
         }
 
       ],