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| − | =definitions=
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| − | *SC/MC = PCB with both the state controller and motor controller processors.
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| − | *SC = state controller, generic reference to the SC/MC
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| − | *MC = motor controller, generic reference to the motor controller part of the PCB - or the whole motor controller process + power board
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| − | *SM, STATEMACHINE : the primary statemachine that doesn't what were here for.
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| − | *MC_SM, MOTOR (controller) statemachine, a state machine that runs on the motor controller that does impedance control, and handles overloads, etc.
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| − | *ISP = in system programming - connectors / signals that are connected to ICD2 / Real-ice dsPIC programmer
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| − | *FUP = field update port, Either of two 9 pin connectors on SC/MC board, uses ASYNC serial to communication without outside world. Also has pins for ISP
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| − | *ISR = interrupt service routine
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| − | =Root for the SC=
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| − | ==ap_main.c:main() : starts off with initialization, and then becomes main loop (primary thread) ==
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| − | *performs hardware and variable initialization, calling many sub functions for initialization
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| − | *enables ISRs (which are defecto prioritizeable threads)
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| − | # At least two ISRs that operate the DMA that move data for the SPI and UARTs
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| − | # Tick timer ISR. Effectively sets a global that says tic. Don't believe does any actual work.
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| − | * ultimately gets to the main loop of the code which is "while (1)"
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| − | This is the primary thread that does ALL the work. Although it appears to have only 2 functions : through nicely obfuscated coding, other functions get called.
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| − | At the next highest level we can say following actions are done in the main loop:
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| − | * execute_cmd_rsp (see last page of ap_main.)
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| − | ** FUP = field update port, this is the ASYNC serial port interface to the outside world
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| − | ** difficult to explain as functions convoluted and are misnamed . However over all this code block deals with the MPD command / response protocol.
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| − | ***Gets 'messages' from buffers (either locally or from the FUP),
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| − | *** Routes /forwards messages to MC/IMU,
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| − | *** Processes message locally (command execution). MAJOR problem w/read real time clock, EEPROM
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| − | *** Passes back "answers" from the IMU/MC,
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| − | *** Answers requests to commands that we locally bound (executed)
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| − | **** Only the SC(both locally and via its FUP) can initiate messages that are executed on another processor (MC, IMU);
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| − | ** This block of code is the primary problem with the system.
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| − | *** We need to be able to send/route messages asynchronois to the STATEMACHINE (eg SM)
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| − | *** Thus the simple routing function needs to be in a thread at a HIGHER level than the SM , and we send messages asynchronous from the state controller, and we need to be
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