Merge branch 'hotfix/0.4'

officinerobotiche · Nov 13, 2014 · c08cbfc · c08cbfc
2 parents 6659b68 + 90dbf47
commit c08cbfc
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Showing 13 changed files with 94 additions and 544 deletions.
diff --git a/includes/I2c.h b/includes/I2c.h
diff --git a/includes/communication/decode_packet.h b/includes/communication/decode_packet.h
@@ -28,15 +28,15 @@ extern "C" {
      * @param len
      * @param info
      */
-    void saveOtherData(information_packet_t* list_send, size_t len, information_packet_t info);
+    void saveOtherData(information_packet_t* list_send, size_t len, information_packet_t* info);
 
     /**
      * 
      * @param list_send
      * @param len
      * @param info
      */
-    void sendOtherData(information_packet_t* list_send, size_t len, information_packet_t info);
+    void sendOtherData(information_packet_t* list_send, size_t len, information_packet_t* info);
 
 
 #ifdef	__cplusplus

diff --git a/includes/communication/parsing_packet.h b/includes/communication/parsing_packet.h
@@ -46,15 +46,15 @@ extern "C" {
      * @param len
      * @param info
      */
-    void saveData(information_packet_t* list_send, size_t len, information_packet_t info);
+    void saveData(information_packet_t* list_send, size_t len, information_packet_t* info);
 
     /**
      * 
      * @param list_send
      * @param len
      * @param info
      */
-    void sendData(information_packet_t* list_send, size_t len, information_packet_t info);
+    void sendData(information_packet_t* list_send, size_t len, information_packet_t* info);
 
     /**
      * 

diff --git a/includes/packet/motion.h b/includes/packet/motion.h
@@ -55,10 +55,11 @@ typedef struct coordinate {
 } coordinate_t;
 #define LNG_COORDINATE sizeof(coordinate_t)
 
-typedef struct delta_odometry {
-    coordinate_t delta[BUFFER_ODOMETRY];
-} delta_odometry_t;
-#define LNG_DELTA_ODOMETRY sizeof(delta_odometry_t)
+//TODO correction this messages TOO LARGE
+//typedef struct delta_odometry {
+//    coordinate_t delta[BUFFER_ODOMETRY];
+//} delta_odometry_t;
+//#define LNG_DELTA_ODOMETRY sizeof(delta_odometry_t)
 
 typedef struct parameter_motors {
     float radius_r;
@@ -90,8 +91,8 @@ typedef uint8_t enable_motor_t;
         enable_motor_t enable;                  \
         motor_t motor;                          \
         constraint_t constraint;                \
-        emergency_t emergency;                  \
-        delta_odometry_t delta_odometry;
+        emergency_t emergency;                  
+        //delta_odometry_t delta_odometry;
 
 #define PID_CONTROL_L 0
 #define PID_CONTROL_R 1
@@ -130,8 +131,8 @@ typedef uint8_t enable_motor_t;
                                   hashmap_motion[VELOCITY] = LNG_VELOCITY;                  \
                                   hashmap_motion[VELOCITY_MIS] = LNG_VELOCITY;              \
                                   hashmap_motion[ENABLE] = LNG_ENABLE_MOTOR;                \
-                                  hashmap_motion[EMERGENCY] = LNG_EMERGENCY;                \
-                                  hashmap_motion[DELTA_ODOMETRY] = LNG_DELTA_ODOMETRY;      \
+                                  hashmap_motion[EMERGENCY] = LNG_EMERGENCY;                
+                                  //hashmap_motion[DELTA_ODOMETRY] = LNG_DELTA_ODOMETRY;
 
 #endif	/* MOTION_H */
 
diff --git a/nbproject/Makefile-XC16_dsPIC33FJ128MC804.mk b/nbproject/Makefile-XC16_dsPIC33FJ128MC804.mk
diff --git a/nbproject/Makefile-local-XC16_dsPIC33FJ128MC804.mk b/nbproject/Makefile-local-XC16_dsPIC33FJ128MC804.mk
diff --git a/nbproject/Package-XC16_dsPIC33FJ128MC804.bash b/nbproject/Package-XC16_dsPIC33FJ128MC804.bash
diff --git a/nbproject/configurations.xml b/nbproject/configurations.xml
@@ -21,7 +21,6 @@
         <itemPath>includes/system/user.h</itemPath>
         <itemPath>includes/system/system.h</itemPath>
       </logicalFolder>
-      <itemPath>includes/I2c.h</itemPath>
     </logicalFolder>
     <logicalFolder name="LibraryFiles"
                    displayName="Library Files"
@@ -55,7 +54,6 @@
         <itemPath>src/system/configuration_bits.c</itemPath>
         <itemPath>src/system/interrupts.c</itemPath>
       </logicalFolder>
-      <itemPath>src/I2c.c</itemPath>
       <itemPath>src/main.c</itemPath>
     </logicalFolder>
     <logicalFolder name="ExternalFiles"
@@ -76,7 +74,7 @@
         <targetPluginBoard></targetPluginBoard>
         <platformTool>ICD3PlatformTool</platformTool>
         <languageToolchain>XC16</languageToolchain>
-        <languageToolchainVersion>1.22</languageToolchainVersion>
+        <languageToolchainVersion>1.23</languageToolchainVersion>
         <platform>4</platform>
       </toolsSet>
       <compileType>
@@ -257,23 +255,29 @@
         <property key="memories.aux" value="false"/>
         <property key="memories.bootflash" value="false"/>
         <property key="memories.configurationmemory" value="false"/>
+        <property key="memories.configurationmemory2" value="true"/>
         <property key="memories.dataflash" value="true"/>
         <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="0x157ff"/>
+        <property key="memories.programmemory.partition2" value="true"/>
+        <property key="memories.programmemory.partition2.end"
+                  value="${memories.programmemory.partition2.end.value}"/>
+        <property key="memories.programmemory.partition2.start"
+                  value="${memories.programmemory.partition2.start.value}"/>
         <property key="memories.programmemory.start" value="0x0"/>
-        <property key="memories.userotp" value="false"/>
         <property key="poweroptions.powerenable" value="false"/>
         <property key="programoptions.donoteraseauxmem" value="false"/>
         <property key="programoptions.eraseb4program" value="true"/>
+        <property key="programoptions.preservedataflash" value="false"/>
         <property key="programoptions.preserveeeprom" value="false"/>
         <property key="programoptions.preserveprogramrange" value="false"/>
         <property key="programoptions.preserveprogramrange.end" value="0x157ff"/>
         <property key="programoptions.preserveprogramrange.start" value="0x0"/>
         <property key="programoptions.preserveuserid" value="false"/>
         <property key="programoptions.programcalmem" value="false"/>
+        <property key="programoptions.programuserotp" value="false"/>
         <property key="programoptions.testmodeentrymethod" value="VPPFirst"/>
         <property key="programoptions.usehighvoltageonmclr" value="false"/>
         <property key="programoptions.uselvpprogramming" value="false"/>

diff --git a/nbproject/project.properties b/nbproject/project.properties
diff --git a/src/I2c.c b/src/I2c.c