Difference between revisions of "PF EEPROM"
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m (→EEPROM init registry (SC SVN revision > 1611)) |
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* at present 16 and 32 bit unsigned int keys are support | * at present 16 and 32 bit unsigned int keys are support | ||
* NOTE : python ignores the redundant part of a key name "KEY_" | * NOTE : python ignores the redundant part of a key name "KEY_" | ||
| + | |||
| + | ==keys.py== | ||
| + | <pre> | ||
| + | print ' -p COM port / or IP address port' | ||
| + | print ' -b baudrate' | ||
| + | print ' -i <name or IP address> : IP address of the SWIFI' | ||
| + | print ' -r read keys by name that follow (multiple keys allowed)' | ||
| + | print ' -w write key values by name, value that follow (multiple key values are allowed) (NOTE:after -w, only -r and -w options are processed)' | ||
| + | print ' -f process script file' | ||
| + | print ' -D generation keys.h wiki documentation file' | ||
| + | print ' -l log file name ' | ||
| + | print ' -V verify : after writing ALL values, will go back and verify them. (def=TRUE)' | ||
| + | print | ||
| + | print 'example: keys.py -p 26 -V -r serial_number run_level -w run_level 22 -r run_level' | ||
| + | print | ||
| + | </pre> | ||
==Documentation file== | ==Documentation file== | ||
| Line 18: | Line 34: | ||
=== EEPROM_KEYS_32_BIT === | === EEPROM_KEYS_32_BIT === | ||
*SC_FUP_BAUD : at present unused, but will be used to set the baudrate of the SC FUP port | *SC_FUP_BAUD : at present unused, but will be used to set the baudrate of the SC FUP port | ||
| − | *MC_FUP_BAUD : at present unused, but will be used to set the baudrate of the SC FUP port | + | *MC_FUP_BAUD : at present unused, but will be used to set the baudrate of the SC FUP port |
=(tags SPLD3) EEPROM init table = | =(tags SPLD3) EEPROM init table = | ||
Revision as of 16:44, 31 October 2009
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
Contents
EEPROM init registry (SC SVN revision > 1611)
- During boot, the robot loads critical variables from its "init table registry"
- keys are define in : '../StateControl/eeprom_keys.h';
- the python program "keys.py" uses this file to permit keys to be referenced by name
- at present 16 and 32 bit unsigned int keys are support
- NOTE : python ignores the redundant part of a key name "KEY_"
keys.py
print ' -p COM port / or IP address port'
print ' -b baudrate'
print ' -i <name or IP address> : IP address of the SWIFI'
print ' -r read keys by name that follow (multiple keys allowed)'
print ' -w write key values by name, value that follow (multiple key values are allowed) (NOTE:after -w, only -r and -w options are processed)'
print ' -f process script file'
print ' -D generation keys.h wiki documentation file'
print ' -l log file name '
print ' -V verify : after writing ALL values, will go back and verify them. (def=TRUE)'
print
print 'example: keys.py -p 26 -V -r serial_number run_level -w run_level 22 -r run_level'
print
Documentation file
- filename = ../StateControl/eeprom_keys.h
- created @ 2009-10-31 12:04:46
EEPROM_KEYS_16_BIT
- SERIAL_NUMBER : serial number of the installed SC/MC board : eg 9
- RUN_LEVEL : a simpler way to specifying the progress of bringing and demoing a robot
- FEATURE_BITS : bits the enabled the use of specific features (currently conflicts w/run level)
- REVISION_NUMBER : serial number of the installed SC/MC board : eg 200
EEPROM_KEYS_32_BIT
- SC_FUP_BAUD : at present unused, but will be used to set the baudrate of the SC FUP port
- MC_FUP_BAUD : at present unused, but will be used to set the baudrate of the SC FUP port
(tags SPLD3) EEPROM init table
- The defaults 'feature bits' set in statemachine.h are basically ignored (6-28-09). Although loaded in sm_init.c, they're overwritten in demux_sm - where it reads the the EEPROM init table.
- if FEATURE_MC_CURRENT_UPDATES is NOT SET, then demux_sm skips the states that boot MC through mode 2
- if FEATURE_USE_IMU is set, then after MC is boot (immediately before RUN_TIME), the dataport_select is set to two, and the IMU communications is enabled.
(PRE SPLD 3) Problems / Goals
- need to be able to cleanly specify to boot too.
- great a global called 'run_level'. Each thing that gets turned on has a minimum level.
- what if a 'needed' table isn't loaded - eg calibration table.
- possibly this type of error should limit the maximum level of boot capability. eg no calb table, then at most we remain in a mode that will allow for calibration
