diff --git a/.config/dotnet-tools.json b/.config/dotnet-tools.json
new file mode 100644
index 0000000..ac75f2c
--- /dev/null
+++ b/.config/dotnet-tools.json
@@ -0,0 +1,13 @@
+{
+ "version": 1,
+ "isRoot": true,
+ "tools": {
+ "harp.toolkit": {
+ "version": "0.2.2",
+ "commands": [
+ "harp.toolkit"
+ ],
+ "rollForward": false
+ }
+ }
+}
\ No newline at end of file
diff --git a/.github/workflows/Harp.Behavior.yml b/.github/workflows/Harp.Behavior.yml
index 2bf2904..6ec6f5d 100644
--- a/.github/workflows/Harp.Behavior.yml
+++ b/.github/workflows/Harp.Behavior.yml
@@ -82,8 +82,8 @@ jobs:
with:
dotnet-version: 8.x
- - name: Set up T4
- run: dotnet tool install -g dotnet-t4 --version 3.0.0
+ - name: Set up .NET tools
+ run: dotnet tool restore
# ----------------------------------------------------------------------- Configure build
- name: Configure build
@@ -91,11 +91,8 @@ jobs:
uses: harp-tech/configure-build@v1
# ----------------------------------------------------------------------- Regenerate
- - name: Restore generators
- run: dotnet restore Generators
-
- name: Run generators
- run: dotnet build Generators --no-restore --configuration ${{matrix.configuration}}
+ run: dotnet harp.toolkit generate interface -o Interface/${{github.workflow}}
- name: Verify pre-generated code was up-to-date
id: verify-dist
diff --git a/Firmware/Behavior/app.c b/Firmware/Behavior/app.c
index 2166ed0..adf41df 100644
--- a/Firmware/Behavior/app.c
+++ b/Firmware/Behavior/app.c
@@ -159,29 +159,29 @@ void core_callback_reset_registers(void)
//app_regs.REG_PORTS_IN = 0;
//app_regs.REG_POKE_DIG_IN = 0;
- app_regs.REG_OUTPUTS_SET = 0;
- app_regs.REG_OUTPUTS_CLEAR = 0;
- app_regs.REG_OUTPUTS_TOGGLE = 0;
- app_regs.REG_OUTPUTS_OUT = 0;
+ app_regs.REG_OUTPUT_SET = 0;
+ app_regs.REG_OUTPUT_CLEAR = 0;
+ app_regs.REG_OUTPUT_TOGGLE = 0;
+ app_regs.REG_OUTPUT_STATE = 0;
- app_regs.REG_PORT_DIOS_SET = 0;
- app_regs.REG_PORT_DIOS_CLEAR = 0;
- app_regs.REG_PORT_DIOS_TOGGLE = 0;
- app_regs.REG_PORT_DIOS_OUT = 0;
- app_regs.REG_PORT_DIOS_CONF = 0; // All as inputs
- //app_regs.REG_PORT_DIOS_IN = 0;
+ app_regs.REG_PORT_DIO_SET = 0;
+ app_regs.REG_PORT_DIO_CLEAR = 0;
+ app_regs.REG_PORT_DIO_TOGGLE = 0;
+ app_regs.REG_PORT_DIO_STATE = 0;
+ app_regs.REG_PORT_DIO_DIRECTION = 0; // All as inputs
+ //app_regs.REG_PORT_DIO_STATE_EVENT = 0;
- //app_regs.REG_DATA[0] = 0;
- app_regs.REG_DATA[1] = 0;
+ //app_regs.REG_ANALOG_DATA[0] = 0;
+ app_regs.REG_ANALOG_DATA[1] = 0;
- app_regs.REG_OUTPUT_PULSE_EN = B_PORT0_12V | B_PORT1_12V | B_PORT2_12V;
-
- app_regs.REG_PULSE_PORT0_DO = 500;
- app_regs.REG_PULSE_PORT1_DO = 500;
- app_regs.REG_PULSE_PORT2_DO = 500;
- app_regs.REG_PULSE_PORT0_12V = 15;
- app_regs.REG_PULSE_PORT1_12V = 15;
- app_regs.REG_PULSE_PORT2_12V = 15;
+ app_regs.REG_OUTPUT_PULSE_ENABLE = B_SUPPLY_PORT0 | B_SUPPLY_PORT1 | B_SUPPLY_PORT2;
+
+ app_regs.REG_PULSE_DO_PORT0 = 500;
+ app_regs.REG_PULSE_DO_PORT1 = 500;
+ app_regs.REG_PULSE_DO_PORT2 = 500;
+ app_regs.REG_PULSE_SUPPLY_PORT0 = 15;
+ app_regs.REG_PULSE_SUPPLY_PORT1 = 15;
+ app_regs.REG_PULSE_SUPPLY_PORT2 = 15;
app_regs.REG_PULSE_LED0 = 500;
app_regs.REG_PULSE_LED1 = 500;
app_regs.REG_PULSE_RGB0 = 500;
@@ -191,25 +191,25 @@ void core_callback_reset_registers(void)
app_regs.REG_PULSE_DO2 = 250;
app_regs.REG_PULSE_DO3 = 250;
- app_regs.REG_FREQ_DO0 = 1000;
- app_regs.REG_FREQ_DO1 = 2000;
- app_regs.REG_FREQ_DO2 = 3000;
- app_regs.REG_FREQ_DO3 = 4000;
+ app_regs.REG_PWM_FREQUENCY_DO0 = 1000;
+ app_regs.REG_PWM_FREQUENCY_DO1 = 2000;
+ app_regs.REG_PWM_FREQUENCY_DO2 = 3000;
+ app_regs.REG_PWM_FREQUENCY_DO3 = 4000;
- app_regs.REG_DCYCLE_DO0 = 50;
- app_regs.REG_DCYCLE_DO1 = 50;
- app_regs.REG_DCYCLE_DO2 = 50;
- app_regs.REG_DCYCLE_DO3 = 50;
+ app_regs.REG_PWM_DUTY_CYCLE_DO0 = 50;
+ app_regs.REG_PWM_DUTY_CYCLE_DO1 = 50;
+ app_regs.REG_PWM_DUTY_CYCLE_DO2 = 50;
+ app_regs.REG_PWM_DUTY_CYCLE_DO3 = 50;
app_regs.REG_PWM_START = 0;
app_regs.REG_PWM_STOP = 0;
- app_regs.REG_RGBS[0] = 255; // Green
- app_regs.REG_RGBS[1] = 0; // Red
- app_regs.REG_RGBS[2] = 0; // Blue
- app_regs.REG_RGBS[3] = 0; // Green
- app_regs.REG_RGBS[4] = 0; // Red
- app_regs.REG_RGBS[5] = 255; // Blue
+ app_regs.REG_RGB_ALL[0] = 255; // Green
+ app_regs.REG_RGB_ALL[1] = 0; // Red
+ app_regs.REG_RGB_ALL[2] = 0; // Blue
+ app_regs.REG_RGB_ALL[3] = 0; // Green
+ app_regs.REG_RGB_ALL[4] = 0; // Red
+ app_regs.REG_RGB_ALL[5] = 255; // Blue
app_regs.REG_RGB0[0] = 255; // Green
app_regs.REG_RGB0[1] = 0; // Red
@@ -224,23 +224,23 @@ void core_callback_reset_registers(void)
app_regs.REG_LED0_MAX_CURRENT = 30;
app_regs.REG_LED1_MAX_CURRENT = 30;
- app_regs.REG_EVNT_ENABLE = B_EVT_PORT_DIS | B_EVT_PORT_DIOS_IN | B_EVT_DATA | B_EVT_CAM0 | B_EVT_CAM1;
+ app_regs.REG_EVENT_ENABLE = B_PORT_DI | B_PORT_DIO | B_ANALOG_DATA | B_CAMERA0 | B_CAMERA1;
app_regs.REG_START_CAMERAS = 0;
app_regs.REG_STOP_CAMERAS = 0;
- app_regs.REG_EN_SERVOS = 0;
- app_regs.REG_DIS_SERVOS = 0;
- app_regs.REG_EN_ENCODERS = 0;
+ app_regs.REG_ENABLE_SERVOS = 0;
+ app_regs.REG_DISABLE_SERVOS = 0;
+ app_regs.REG_ENABLE_ENCODERS = 0;
- app_regs.REG_CAM_OUT0_FREQ = 30;
- app_regs.REG_CAM_OUT1_FREQ = 30;
+ app_regs.REG_CAMERA0_FREQUENCY = 30;
+ app_regs.REG_CAMERA1_FREQUENCY = 30;
- app_regs.REG_MOTOR_OUT2_PERIOD = 20000;
- app_regs.REG_MOTOR_OUT2_PULSE = 1500;
- app_regs.REG_MOTOR_OUT3_PERIOD = 20000;
- app_regs.REG_MOTOR_OUT3_PULSE = 1500;
+ app_regs.REG_SERVO_MOTOR2_PERIOD = 20000;
+ app_regs.REG_SERVO_MOTOR2_PULSE = 1500;
+ app_regs.REG_SERVO_MOTOR3_PERIOD = 20000;
+ app_regs.REG_SERVO_MOTOR3_PULSE = 1500;
- app_regs.REG_POKE_INPUT_FILTER_MS = 1;
+ app_regs.REG_POKE_INPUT_FILTER = 1;
}
extern ports_state_t _states_;
@@ -266,28 +266,28 @@ void core_callback_registers_were_reinitialized(void)
_states_.quad_counter.port1 = false;
_states_.quad_counter.port2 = false;
- aux16b = app_regs.REG_OUTPUTS_OUT;
- app_write_REG_OUTPUTS_OUT(&aux16b);
+ aux16b = app_regs.REG_OUTPUT_STATE;
+ app_write_REG_OUTPUT_STATE(&aux16b);
aux8b = app_regs.REG_LED0_CURRENT;
app_write_REG_LED0_CURRENT(&aux8b);
aux8b = app_regs.REG_LED1_CURRENT;
app_write_REG_LED1_CURRENT(&aux8b);
- aux16b = app_regs.REG_FREQ_DO0;
- app_write_REG_FREQ_DO0(&aux16b);
- aux16b = app_regs.REG_FREQ_DO1;
- app_write_REG_FREQ_DO1(&aux16b);
- aux16b = app_regs.REG_FREQ_DO2;
- app_write_REG_FREQ_DO2(&aux16b);
- aux16b = app_regs.REG_FREQ_DO3;
- app_write_REG_FREQ_DO3(&aux16b);
+ aux16b = app_regs.REG_PWM_FREQUENCY_DO0;
+ app_write_REG_PWM_FREQUENCY_DO0(&aux16b);
+ aux16b = app_regs.REG_PWM_FREQUENCY_DO1;
+ app_write_REG_PWM_FREQUENCY_DO1(&aux16b);
+ aux16b = app_regs.REG_PWM_FREQUENCY_DO2;
+ app_write_REG_PWM_FREQUENCY_DO2(&aux16b);
+ aux16b = app_regs.REG_PWM_FREQUENCY_DO3;
+ app_write_REG_PWM_FREQUENCY_DO3(&aux16b);
aux8b = app_regs.REG_PWM_START;
app_write_REG_PWM_START(&aux8b);
- aux8b = app_regs.REG_EN_ENCODERS;
- app_write_REG_EN_ENCODERS(&aux8b);
+ aux8b = app_regs.REG_ENABLE_ENCODERS;
+ app_write_REG_ENABLE_ENCODERS(&aux8b);
aux8b = app_regs.REG_MIMIC_PORT0_IR;
app_write_REG_MIMIC_PORT0_IR(&aux8b);
@@ -303,7 +303,7 @@ void core_callback_registers_were_reinitialized(void)
aux8b = app_regs.REG_MIMIC_PORT2_VALVE;
app_write_REG_MIMIC_PORT2_VALVE(&aux8b);
- app_regs.REG_POKE_INPUT_FILTER_MS = 1;
+ app_regs.REG_POKE_INPUT_FILTER = 1;
}
/************************************************************************/
@@ -313,7 +313,7 @@ void core_callback_visualen_to_on(void) {}
void core_callback_visualen_to_off(void) {}
/************************************************************************/
-/* Callbacks: Change on the operation mode */
+/* Callbacks: Change to the operation mode */
/************************************************************************/
extern bool stop_camera_do0;
extern bool stop_camera_do1;
@@ -370,24 +370,24 @@ void core_callback_t_before_exec(void)
ADCA_CH0_CTRL |= ADC_CH_START_bm;
/* Read encoder on Port 2 */
- if (app_regs.REG_EN_ENCODERS & B_EN_ENCODER_PORT2)
+ if (app_regs.REG_ENABLE_ENCODERS & B_ENCODER_PORT2)
{
int16_t timer_cnt = TCD1_CNT;
- if (app_regs.REG_CONF_ENCODERS == GM_POSITION)
+ if (app_regs.REG_ENCODER_MODE == GM_ENCODER_MODE_POSITION)
{
if (timer_cnt > 32768)
{
- app_regs.REG_DATA[1] = 0xFFFF - timer_cnt;
+ app_regs.REG_ANALOG_DATA[1] = 0xFFFF - timer_cnt;
}
else
{
- app_regs.REG_DATA[1] = (32768 - timer_cnt) * -1;
+ app_regs.REG_ANALOG_DATA[1] = (32768 - timer_cnt) * -1;
}
}
else
{
- app_regs.REG_DATA[1] = previous_encoder_poke2 - timer_cnt;
+ app_regs.REG_ANALOG_DATA[1] = previous_encoder_poke2 - timer_cnt;
previous_encoder_poke2 = timer_cnt;
}
@@ -512,7 +512,7 @@ void core_callback_t_1ms(void)
}
/************************************************************************/
-/* Callbacks: cloc control */
+/* Callbacks: clock control */
/************************************************************************/
void core_callback_clock_to_repeater(void) {}
void core_callback_clock_to_generator(void) {}
diff --git a/Firmware/Behavior/app.h b/Firmware/Behavior/app.h
index 0254ba9..ef4e569 100644
--- a/Firmware/Behavior/app.h
+++ b/Firmware/Behavior/app.h
@@ -26,7 +26,7 @@
#define MAJOR_FW_VERSION 3
#endif
#ifndef MINOR_FW_VERSION
-#define MINOR_FW_VERSION 3
+#define MINOR_FW_VERSION 4
#endif
#ifndef PATCH_FW_VERSION
#define PATCH_FW_VERSION 0
diff --git a/Firmware/Behavior/app_funcs.c b/Firmware/Behavior/app_funcs.c
index 00cd2bf..26d3826 100644
--- a/Firmware/Behavior/app_funcs.c
+++ b/Firmware/Behavior/app_funcs.c
@@ -21,26 +21,26 @@ ports_state_t _states_;
extern AppRegs app_regs;
void (*app_func_rd_pointer[])(void) = {
- &app_read_REG_PORT_DIS,
+ &app_read_REG_DIGITAL_INPUT_STATE,
&app_read_REG_RESERVED0,
- &app_read_REG_OUTPUTS_SET,
- &app_read_REG_OUTPUTS_CLEAR,
- &app_read_REG_OUTPUTS_TOGGLE,
- &app_read_REG_OUTPUTS_OUT,
- &app_read_REG_PORT_DIOS_SET,
- &app_read_REG_PORT_DIOS_CLEAR,
- &app_read_REG_PORT_DIOS_TOGGLE,
- &app_read_REG_PORT_DIOS_OUT,
- &app_read_REG_PORT_DIOS_CONF,
- &app_read_REG_PORT_DIOS_IN,
- &app_read_REG_DATA,
- &app_read_REG_OUTPUT_PULSE_EN,
- &app_read_REG_PULSE_PORT0_DO,
- &app_read_REG_PULSE_PORT1_DO,
- &app_read_REG_PULSE_PORT2_DO,
- &app_read_REG_PULSE_PORT0_12V,
- &app_read_REG_PULSE_PORT1_12V,
- &app_read_REG_PULSE_PORT2_12V,
+ &app_read_REG_OUTPUT_SET,
+ &app_read_REG_OUTPUT_CLEAR,
+ &app_read_REG_OUTPUT_TOGGLE,
+ &app_read_REG_OUTPUT_STATE,
+ &app_read_REG_PORT_DIO_SET,
+ &app_read_REG_PORT_DIO_CLEAR,
+ &app_read_REG_PORT_DIO_TOGGLE,
+ &app_read_REG_PORT_DIO_STATE,
+ &app_read_REG_PORT_DIO_DIRECTION,
+ &app_read_REG_PORT_DIO_STATE_EVENT,
+ &app_read_REG_ANALOG_DATA,
+ &app_read_REG_OUTPUT_PULSE_ENABLE,
+ &app_read_REG_PULSE_DO_PORT0,
+ &app_read_REG_PULSE_DO_PORT1,
+ &app_read_REG_PULSE_DO_PORT2,
+ &app_read_REG_PULSE_SUPPLY_PORT0,
+ &app_read_REG_PULSE_SUPPLY_PORT1,
+ &app_read_REG_PULSE_SUPPLY_PORT2,
&app_read_REG_PULSE_LED0,
&app_read_REG_PULSE_LED1,
&app_read_REG_PULSE_RGB0,
@@ -49,30 +49,30 @@ void (*app_func_rd_pointer[])(void) = {
&app_read_REG_PULSE_DO1,
&app_read_REG_PULSE_DO2,
&app_read_REG_PULSE_DO3,
- &app_read_REG_FREQ_DO0,
- &app_read_REG_FREQ_DO1,
- &app_read_REG_FREQ_DO2,
- &app_read_REG_FREQ_DO3,
- &app_read_REG_DCYCLE_DO0,
- &app_read_REG_DCYCLE_DO1,
- &app_read_REG_DCYCLE_DO2,
- &app_read_REG_DCYCLE_DO3,
+ &app_read_REG_PWM_FREQUENCY_DO0,
+ &app_read_REG_PWM_FREQUENCY_DO1,
+ &app_read_REG_PWM_FREQUENCY_DO2,
+ &app_read_REG_PWM_FREQUENCY_DO3,
+ &app_read_REG_PWM_DUTY_CYCLE_DO0,
+ &app_read_REG_PWM_DUTY_CYCLE_DO1,
+ &app_read_REG_PWM_DUTY_CYCLE_DO2,
+ &app_read_REG_PWM_DUTY_CYCLE_DO3,
&app_read_REG_PWM_START,
&app_read_REG_PWM_STOP,
- &app_read_REG_RGBS,
+ &app_read_REG_RGB_ALL,
&app_read_REG_RGB0,
&app_read_REG_RGB1,
&app_read_REG_LED0_CURRENT,
&app_read_REG_LED1_CURRENT,
&app_read_REG_LED0_MAX_CURRENT,
&app_read_REG_LED1_MAX_CURRENT,
- &app_read_REG_EVNT_ENABLE,
+ &app_read_REG_EVENT_ENABLE,
&app_read_REG_START_CAMERAS,
&app_read_REG_STOP_CAMERAS,
- &app_read_REG_EN_SERVOS,
- &app_read_REG_DIS_SERVOS,
- &app_read_REG_EN_ENCODERS,
- &app_read_REG_CONF_ENCODERS,
+ &app_read_REG_ENABLE_SERVOS,
+ &app_read_REG_DISABLE_SERVOS,
+ &app_read_REG_ENABLE_ENCODERS,
+ &app_read_REG_ENCODER_MODE,
&app_read_REG_RESERVED2,
&app_read_REG_RESERVED3,
&app_read_REG_RESERVED4,
@@ -81,23 +81,23 @@ void (*app_func_rd_pointer[])(void) = {
&app_read_REG_RESERVED7,
&app_read_REG_RESERVED8,
&app_read_REG_RESERVED9,
- &app_read_REG_CAM_OUT0_FRAME_ACQUIRED,
- &app_read_REG_CAM_OUT0_FREQ,
- &app_read_REG_CAM_OUT1_FRAME_ACQUIRED,
- &app_read_REG_CAM_OUT1_FREQ,
+ &app_read_REG_CAMERA0_FRAME,
+ &app_read_REG_CAMERA0_FREQUENCY,
+ &app_read_REG_CAMERA1_FRAME,
+ &app_read_REG_CAMERA1_FREQUENCY,
&app_read_REG_RESERVED10,
&app_read_REG_RESERVED11,
&app_read_REG_RESERVED12,
&app_read_REG_RESERVED13,
- &app_read_REG_MOTOR_OUT2_PERIOD,
- &app_read_REG_MOTOR_OUT2_PULSE,
- &app_read_REG_MOTOR_OUT3_PERIOD,
- &app_read_REG_MOTOR_OUT3_PULSE,
+ &app_read_REG_SERVO_MOTOR2_PERIOD,
+ &app_read_REG_SERVO_MOTOR2_PULSE,
+ &app_read_REG_SERVO_MOTOR3_PERIOD,
+ &app_read_REG_SERVO_MOTOR3_PULSE,
&app_read_REG_RESERVED14,
&app_read_REG_RESERVED15,
&app_read_REG_RESERVED16,
&app_read_REG_RESERVED17,
- &app_read_REG_ENCODERS_RESET,
+ &app_read_REG_ENCODER_RESET,
&app_read_REG_RESERVED18,
&app_read_REG_ENABLE_SERIAL_TIMESTAMP,
&app_read_REG_MIMIC_PORT0_IR,
@@ -111,30 +111,30 @@ void (*app_func_rd_pointer[])(void) = {
&app_read_REG_MIMIC_PORT2_VALVE,
&app_read_REG_RESERVED23,
&app_read_REG_RESERVED24,
- &app_read_REG_POKE_INPUT_FILTER_MS
+ &app_read_REG_POKE_INPUT_FILTER
};
bool (*app_func_wr_pointer[])(void*) = {
- &app_write_REG_PORT_DIS,
+ &app_write_REG_DIGITAL_INPUT_STATE,
&app_write_REG_RESERVED0,
- &app_write_REG_OUTPUTS_SET,
- &app_write_REG_OUTPUTS_CLEAR,
- &app_write_REG_OUTPUTS_TOGGLE,
- &app_write_REG_OUTPUTS_OUT,
- &app_write_REG_PORT_DIOS_SET,
- &app_write_REG_PORT_DIOS_CLEAR,
- &app_write_REG_PORT_DIOS_TOGGLE,
- &app_write_REG_PORT_DIOS_OUT,
- &app_write_REG_PORT_DIOS_CONF,
- &app_write_REG_PORT_DIOS_IN,
- &app_write_REG_DATA,
- &app_write_REG_OUTPUT_PULSE_EN,
- &app_write_REG_PULSE_PORT0_DO,
- &app_write_REG_PULSE_PORT1_DO,
- &app_write_REG_PULSE_PORT2_DO,
- &app_write_REG_PULSE_PORT0_12V,
- &app_write_REG_PULSE_PORT1_12V,
- &app_write_REG_PULSE_PORT2_12V,
+ &app_write_REG_OUTPUT_SET,
+ &app_write_REG_OUTPUT_CLEAR,
+ &app_write_REG_OUTPUT_TOGGLE,
+ &app_write_REG_OUTPUT_STATE,
+ &app_write_REG_PORT_DIO_SET,
+ &app_write_REG_PORT_DIO_CLEAR,
+ &app_write_REG_PORT_DIO_TOGGLE,
+ &app_write_REG_PORT_DIO_STATE,
+ &app_write_REG_PORT_DIO_DIRECTION,
+ &app_write_REG_PORT_DIO_STATE_EVENT,
+ &app_write_REG_ANALOG_DATA,
+ &app_write_REG_OUTPUT_PULSE_ENABLE,
+ &app_write_REG_PULSE_DO_PORT0,
+ &app_write_REG_PULSE_DO_PORT1,
+ &app_write_REG_PULSE_DO_PORT2,
+ &app_write_REG_PULSE_SUPPLY_PORT0,
+ &app_write_REG_PULSE_SUPPLY_PORT1,
+ &app_write_REG_PULSE_SUPPLY_PORT2,
&app_write_REG_PULSE_LED0,
&app_write_REG_PULSE_LED1,
&app_write_REG_PULSE_RGB0,
@@ -143,30 +143,30 @@ bool (*app_func_wr_pointer[])(void*) = {
&app_write_REG_PULSE_DO1,
&app_write_REG_PULSE_DO2,
&app_write_REG_PULSE_DO3,
- &app_write_REG_FREQ_DO0,
- &app_write_REG_FREQ_DO1,
- &app_write_REG_FREQ_DO2,
- &app_write_REG_FREQ_DO3,
- &app_write_REG_DCYCLE_DO0,
- &app_write_REG_DCYCLE_DO1,
- &app_write_REG_DCYCLE_DO2,
- &app_write_REG_DCYCLE_DO3,
+ &app_write_REG_PWM_FREQUENCY_DO0,
+ &app_write_REG_PWM_FREQUENCY_DO1,
+ &app_write_REG_PWM_FREQUENCY_DO2,
+ &app_write_REG_PWM_FREQUENCY_DO3,
+ &app_write_REG_PWM_DUTY_CYCLE_DO0,
+ &app_write_REG_PWM_DUTY_CYCLE_DO1,
+ &app_write_REG_PWM_DUTY_CYCLE_DO2,
+ &app_write_REG_PWM_DUTY_CYCLE_DO3,
&app_write_REG_PWM_START,
&app_write_REG_PWM_STOP,
- &app_write_REG_RGBS,
+ &app_write_REG_RGB_ALL,
&app_write_REG_RGB0,
&app_write_REG_RGB1,
&app_write_REG_LED0_CURRENT,
&app_write_REG_LED1_CURRENT,
&app_write_REG_LED0_MAX_CURRENT,
&app_write_REG_LED1_MAX_CURRENT,
- &app_write_REG_EVNT_ENABLE,
+ &app_write_REG_EVENT_ENABLE,
&app_write_REG_START_CAMERAS,
&app_write_REG_STOP_CAMERAS,
- &app_write_REG_EN_SERVOS,
- &app_write_REG_DIS_SERVOS,
- &app_write_REG_EN_ENCODERS,
- &app_write_REG_CONF_ENCODERS,
+ &app_write_REG_ENABLE_SERVOS,
+ &app_write_REG_DISABLE_SERVOS,
+ &app_write_REG_ENABLE_ENCODERS,
+ &app_write_REG_ENCODER_MODE,
&app_write_REG_RESERVED2,
&app_write_REG_RESERVED3,
&app_write_REG_RESERVED4,
@@ -175,23 +175,23 @@ bool (*app_func_wr_pointer[])(void*) = {
&app_write_REG_RESERVED7,
&app_write_REG_RESERVED8,
&app_write_REG_RESERVED9,
- &app_write_REG_CAM_OUT0_FRAME_ACQUIRED,
- &app_write_REG_CAM_OUT0_FREQ,
- &app_write_REG_CAM_OUT1_FRAME_ACQUIRED,
- &app_write_REG_CAM_OUT1_FREQ,
+ &app_write_REG_CAMERA0_FRAME,
+ &app_write_REG_CAMERA0_FREQUENCY,
+ &app_write_REG_CAMERA1_FRAME,
+ &app_write_REG_CAMERA1_FREQUENCY,
&app_write_REG_RESERVED10,
&app_write_REG_RESERVED11,
&app_write_REG_RESERVED12,
&app_write_REG_RESERVED13,
- &app_write_REG_MOTOR_OUT2_PERIOD,
- &app_write_REG_MOTOR_OUT2_PULSE,
- &app_write_REG_MOTOR_OUT3_PERIOD,
- &app_write_REG_MOTOR_OUT3_PULSE,
+ &app_write_REG_SERVO_MOTOR2_PERIOD,
+ &app_write_REG_SERVO_MOTOR2_PULSE,
+ &app_write_REG_SERVO_MOTOR3_PERIOD,
+ &app_write_REG_SERVO_MOTOR3_PULSE,
&app_write_REG_RESERVED14,
&app_write_REG_RESERVED15,
&app_write_REG_RESERVED16,
&app_write_REG_RESERVED17,
- &app_write_REG_ENCODERS_RESET,
+ &app_write_REG_ENCODER_RESET,
&app_write_REG_RESERVED18,
&app_write_REG_ENABLE_SERIAL_TIMESTAMP,
&app_write_REG_MIMIC_PORT0_IR,
@@ -205,22 +205,20 @@ bool (*app_func_wr_pointer[])(void*) = {
&app_write_REG_MIMIC_PORT2_VALVE,
&app_write_REG_RESERVED23,
&app_write_REG_RESERVED24,
- &app_write_REG_POKE_INPUT_FILTER_MS
+ &app_write_REG_POKE_INPUT_FILTER
};
-
/************************************************************************/
-/* REG_PORTS_IN */
+/* REG_DIGITAL_INPUT_STATE */
/************************************************************************/
-void app_read_REG_PORT_DIS(void)
+void app_read_REG_DIGITAL_INPUT_STATE(void)
{
- app_regs.REG_PORT_DIS = (read_POKE0_IR) ? B_DI0 : 0;
- app_regs.REG_PORT_DIS |= (read_POKE1_IR) ? B_DI1 : 0;
- app_regs.REG_PORT_DIS |= (read_POKE2_IR) ? B_DI2 : 0;
- app_regs.REG_PORT_DIS |= (read_DI3) ? B_DI3 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE = (read_POKE0_IR) ? B_DI_PORT0 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE |= (read_POKE1_IR) ? B_DI_PORT1 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE |= (read_POKE2_IR) ? B_DI_PORT2 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE |= (read_DI3) ? B_DI3 : 0;
}
-bool app_write_REG_PORT_DIS(void *a) { return false; }
-
+bool app_write_REG_DIGITAL_INPUT_STATE(void *a) { return false; }
/************************************************************************/
/* REG_RESERVED0 */
@@ -235,29 +233,29 @@ bool app_write_REG_RESERVED0(void *a)
/************************************************************************/
-/* REG_OUTPUTS_SET */
+/* REG_OUTPUT_SET */
/************************************************************************/
bool rgb0_on = false;
bool rgb1_on = false;
-#define start_POKE0_LED do {set_POKE0_LED; if (app_regs.REG_OUTPUT_PULSE_EN & B_PORT0_DO) pulse_countdown.poke0_led = app_regs.REG_PULSE_PORT0_DO + 1; } while(0)
-#define start_POKE1_LED do {set_POKE1_LED; if (app_regs.REG_OUTPUT_PULSE_EN & B_PORT1_DO) pulse_countdown.poke1_led = app_regs.REG_PULSE_PORT1_DO + 1; } while(0)
-#define start_POKE2_LED do {set_POKE2_LED; if (app_regs.REG_OUTPUT_PULSE_EN & B_PORT2_DO) pulse_countdown.poke2_led = app_regs.REG_PULSE_PORT2_DO + 1; } while(0)
+#define start_POKE0_LED do {set_POKE0_LED; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_DO_PORT0) pulse_countdown.poke0_led = app_regs.REG_PULSE_DO_PORT0 + 1; } while(0)
+#define start_POKE1_LED do {set_POKE1_LED; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_DO_PORT1) pulse_countdown.poke1_led = app_regs.REG_PULSE_DO_PORT1 + 1; } while(0)
+#define start_POKE2_LED do {set_POKE2_LED; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_DO_PORT2) pulse_countdown.poke2_led = app_regs.REG_PULSE_DO_PORT2 + 1; } while(0)
-#define start_POKE0_VALVE do {set_POKE0_VALVE; if (app_regs.REG_OUTPUT_PULSE_EN & B_PORT0_12V) pulse_countdown.poke0_valve = app_regs.REG_PULSE_PORT0_12V + 1; } while(0)
-#define start_POKE1_VALVE do {set_POKE1_VALVE; if (app_regs.REG_OUTPUT_PULSE_EN & B_PORT1_12V) pulse_countdown.poke1_valve = app_regs.REG_PULSE_PORT1_12V + 1; } while(0)
-#define start_POKE2_VALVE do {set_POKE2_VALVE; if (app_regs.REG_OUTPUT_PULSE_EN & B_PORT2_12V) pulse_countdown.poke2_valve = app_regs.REG_PULSE_PORT2_12V + 1; } while(0)
+#define start_POKE0_VALVE do {set_POKE0_VALVE; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_SUPPLY_PORT0) pulse_countdown.poke0_valve = app_regs.REG_PULSE_SUPPLY_PORT0 + 1; } while(0)
+#define start_POKE1_VALVE do {set_POKE1_VALVE; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_SUPPLY_PORT1) pulse_countdown.poke1_valve = app_regs.REG_PULSE_SUPPLY_PORT1 + 1; } while(0)
+#define start_POKE2_VALVE do {set_POKE2_VALVE; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_SUPPLY_PORT2) pulse_countdown.poke2_valve = app_regs.REG_PULSE_SUPPLY_PORT2 + 1; } while(0)
-#define start_LED0 do {set_LED0; if (app_regs.REG_OUTPUT_PULSE_EN & B_LED0) pulse_countdown.led0 = app_regs.REG_PULSE_LED0 + 1; } while(0)
-#define start_LED1 do {set_LED1; if (app_regs.REG_OUTPUT_PULSE_EN & B_LED1) pulse_countdown.led1 = app_regs.REG_PULSE_LED1 + 1; } while(0)
+#define start_LED0 do {set_LED0; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_LED0) pulse_countdown.led0 = app_regs.REG_PULSE_LED0 + 1; } while(0)
+#define start_LED1 do {set_LED1; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_LED1) pulse_countdown.led1 = app_regs.REG_PULSE_LED1 + 1; } while(0)
-#define start_RGB0 do {rgb0_on = true; if (app_regs.REG_OUTPUT_PULSE_EN & B_RGB0) pulse_countdown.rgb0 = app_regs.REG_PULSE_RGB0 + 1; } while(0)
-#define start_RGB1 do {rgb1_on = true; if (app_regs.REG_OUTPUT_PULSE_EN & B_RGB1) pulse_countdown.rgb1 = app_regs.REG_PULSE_RGB1 + 1; } while(0)
+#define start_RGB0 do {rgb0_on = true; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_RGB0) pulse_countdown.rgb0 = app_regs.REG_PULSE_RGB0 + 1; } while(0)
+#define start_RGB1 do {rgb1_on = true; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_RGB1) pulse_countdown.rgb1 = app_regs.REG_PULSE_RGB1 + 1; } while(0)
-#define start_DO0 do {set_DO0; if (app_regs.REG_OUTPUT_PULSE_EN & B_DO0) pulse_countdown.do0 = app_regs.REG_PULSE_DO0 + 1; } while(0)
-#define start_DO1 do {set_DO1; if (app_regs.REG_OUTPUT_PULSE_EN & B_DO1) pulse_countdown.do1 = app_regs.REG_PULSE_DO1 + 1; } while(0)
-#define start_DO2 do {set_DO2; if (app_regs.REG_OUTPUT_PULSE_EN & B_DO2) pulse_countdown.do2 = app_regs.REG_PULSE_DO2 + 1; } while(0)
-#define start_DO3 do {set_DO3; if (app_regs.REG_OUTPUT_PULSE_EN & B_DO3) pulse_countdown.do3 = app_regs.REG_PULSE_DO3 + 1; } while(0)
+#define start_DO0 do {set_DO0; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_DO0) pulse_countdown.do0 = app_regs.REG_PULSE_DO0 + 1; } while(0)
+#define start_DO1 do {set_DO1; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_DO1) pulse_countdown.do1 = app_regs.REG_PULSE_DO1 + 1; } while(0)
+#define start_DO2 do {set_DO2; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_DO2) pulse_countdown.do2 = app_regs.REG_PULSE_DO2 + 1; } while(0)
+#define start_DO3 do {set_DO3; if (app_regs.REG_OUTPUT_PULSE_ENABLE & B_DO3) pulse_countdown.do3 = app_regs.REG_PULSE_DO3 + 1; } while(0)
void handle_Rgbs(bool use_rgb0, bool use_rgb1)
{
@@ -295,18 +293,18 @@ void handle_Rgbs(bool use_rgb0, bool use_rgb1)
PMIC_CTRL = PMIC_RREN_bm | PMIC_LOLVLEN_bm | PMIC_MEDLVLEN_bm | PMIC_HILVLEN_bm;
}
-void app_read_REG_OUTPUTS_SET(void) {}
-bool app_write_REG_OUTPUTS_SET(void *a)
+void app_read_REG_OUTPUT_SET(void) {}
+bool app_write_REG_OUTPUT_SET(void *a)
{
uint16_t reg = *((uint16_t*)a);
- if (reg & B_PORT0_DO) start_POKE0_LED;
- if (reg & B_PORT1_DO) start_POKE1_LED;
- if (reg & B_PORT2_DO) start_POKE2_LED;
+ if (reg & B_DO_PORT0) start_POKE0_LED;
+ if (reg & B_DO_PORT1) start_POKE1_LED;
+ if (reg & B_DO_PORT2) start_POKE2_LED;
- if (reg & B_PORT0_12V) start_POKE0_VALVE;
- if (reg & B_PORT1_12V) start_POKE1_VALVE;
- if (reg & B_PORT2_12V) start_POKE2_VALVE;
+ if (reg & B_SUPPLY_PORT0) start_POKE0_VALVE;
+ if (reg & B_SUPPLY_PORT1) start_POKE1_VALVE;
+ if (reg & B_SUPPLY_PORT2) start_POKE2_VALVE;
if (reg & B_LED0) start_LED0;
if (reg & B_LED1) start_LED1;
@@ -323,28 +321,28 @@ bool app_write_REG_OUTPUTS_SET(void *a)
if (reg & B_DO2) start_DO2;
if (reg & B_DO3) start_DO3;
- app_regs.REG_OUTPUTS_OUT |= reg;
- app_regs.REG_OUTPUTS_SET = reg;
+ app_regs.REG_OUTPUT_STATE |= reg;
+ app_regs.REG_OUTPUT_SET = reg;
return true;
}
/************************************************************************/
-/* REG_OUTPUTS_CLEAR */
+/* REG_OUTPUT_CLEAR */
/************************************************************************/
-void app_read_REG_OUTPUTS_CLEAR(void) {}
-bool app_write_REG_OUTPUTS_CLEAR(void *a)
+void app_read_REG_OUTPUT_CLEAR(void) {}
+bool app_write_REG_OUTPUT_CLEAR(void *a)
{
uint16_t reg = *((uint16_t*)a);
- if (reg & B_PORT0_DO) clr_POKE0_LED;
- if (reg & B_PORT1_DO) clr_POKE1_LED;
- if (reg & B_PORT2_DO) clr_POKE2_LED;
+ if (reg & B_DO_PORT0) clr_POKE0_LED;
+ if (reg & B_DO_PORT1) clr_POKE1_LED;
+ if (reg & B_DO_PORT2) clr_POKE2_LED;
- if (reg & B_PORT0_12V) clr_POKE0_VALVE;
- if (reg & B_PORT1_12V) clr_POKE1_VALVE;
- if (reg & B_PORT2_12V) clr_POKE2_VALVE;
+ if (reg & B_SUPPLY_PORT0) clr_POKE0_VALVE;
+ if (reg & B_SUPPLY_PORT1) clr_POKE1_VALVE;
+ if (reg & B_SUPPLY_PORT2) clr_POKE2_VALVE;
if (reg & B_LED0) clr_LED0;
if (reg & B_LED1) clr_LED1;
@@ -361,28 +359,28 @@ bool app_write_REG_OUTPUTS_CLEAR(void *a)
if (reg & B_DO2) clr_DO2;
if (reg & B_DO3) clr_DO3;
- app_regs.REG_OUTPUTS_OUT &= ~reg;
- app_regs.REG_OUTPUTS_CLEAR = reg;
+ app_regs.REG_OUTPUT_STATE &= ~reg;
+ app_regs.REG_OUTPUT_CLEAR = reg;
return true;
}
/************************************************************************/
-/* REG_OUTPUTS_TOGGLE */
+/* REG_OUTPUT_TOGGLE */
/************************************************************************/
-void app_read_REG_OUTPUTS_TOGGLE(void) {}
-bool app_write_REG_OUTPUTS_TOGGLE(void *a)
+void app_read_REG_OUTPUT_TOGGLE(void) {}
+bool app_write_REG_OUTPUT_TOGGLE(void *a)
{
uint16_t reg = *((uint16_t*)a);
- if (reg & B_PORT0_DO) { if (read_POKE0_LED) tgl_POKE0_LED; else start_POKE0_LED;}
- if (reg & B_PORT1_DO) { if (read_POKE1_LED) tgl_POKE1_LED; else start_POKE1_LED;}
- if (reg & B_PORT2_DO) { if (read_POKE2_LED) tgl_POKE2_LED; else start_POKE2_LED;}
+ if (reg & B_DO_PORT0) { if (read_POKE0_LED) tgl_POKE0_LED; else start_POKE0_LED;}
+ if (reg & B_DO_PORT1) { if (read_POKE1_LED) tgl_POKE1_LED; else start_POKE1_LED;}
+ if (reg & B_DO_PORT2) { if (read_POKE2_LED) tgl_POKE2_LED; else start_POKE2_LED;}
- if (reg & B_PORT0_12V) { if (read_POKE0_VALVE) tgl_POKE0_VALVE; else start_POKE0_VALVE;}
- if (reg & B_PORT1_12V) { if (read_POKE1_VALVE) tgl_POKE1_VALVE; else start_POKE1_VALVE;}
- if (reg & B_PORT2_12V) { if (read_POKE2_VALVE) tgl_POKE2_VALVE; else start_POKE2_VALVE;}
+ if (reg & B_SUPPLY_PORT0) { if (read_POKE0_VALVE) tgl_POKE0_VALVE; else start_POKE0_VALVE;}
+ if (reg & B_SUPPLY_PORT1) { if (read_POKE1_VALVE) tgl_POKE1_VALVE; else start_POKE1_VALVE;}
+ if (reg & B_SUPPLY_PORT2) { if (read_POKE2_VALVE) tgl_POKE2_VALVE; else start_POKE2_VALVE;}
if (reg & B_LED0) { if (!read_LED0) tgl_LED0; else start_LED0;}
@@ -412,39 +410,39 @@ bool app_write_REG_OUTPUTS_TOGGLE(void *a)
if (reg & B_DO2) { if (read_DO2) tgl_DO2; else start_DO2;}
if (reg & B_DO3) { if (read_DO3) tgl_DO3; else start_DO3;}
- app_regs.REG_OUTPUTS_OUT ^= reg;
- app_regs.REG_OUTPUTS_TOGGLE = reg;
+ app_regs.REG_OUTPUT_STATE ^= reg;
+ app_regs.REG_OUTPUT_TOGGLE = reg;
return true;
}
/************************************************************************/
-/* REG_OUTPUTS_OUT */
+/* REG_OUTPUT_STATE */
/************************************************************************/
-void app_read_REG_OUTPUTS_OUT(void)
+void app_read_REG_OUTPUT_STATE(void)
{
- app_regs.REG_OUTPUTS_OUT = (read_POKE0_LED) ? B_PORT0_DO : 0;
- app_regs.REG_OUTPUTS_OUT |= (read_POKE1_LED) ? B_PORT1_DO : 0;
- app_regs.REG_OUTPUTS_OUT |= (read_POKE2_LED) ? B_PORT2_DO : 0;
+ app_regs.REG_OUTPUT_STATE = (read_POKE0_LED) ? B_DO_PORT0 : 0;
+ app_regs.REG_OUTPUT_STATE |= (read_POKE1_LED) ? B_DO_PORT1 : 0;
+ app_regs.REG_OUTPUT_STATE |= (read_POKE2_LED) ? B_DO_PORT2 : 0;
- app_regs.REG_OUTPUTS_OUT |= (read_POKE0_VALVE) ? B_PORT0_12V: 0;
- app_regs.REG_OUTPUTS_OUT |= (read_POKE1_VALVE) ? B_PORT1_12V: 0;
- app_regs.REG_OUTPUTS_OUT |= (read_POKE2_VALVE) ? B_PORT2_12V: 0;
+ app_regs.REG_OUTPUT_STATE |= (read_POKE0_VALVE) ? B_SUPPLY_PORT0: 0;
+ app_regs.REG_OUTPUT_STATE |= (read_POKE1_VALVE) ? B_SUPPLY_PORT1: 0;
+ app_regs.REG_OUTPUT_STATE |= (read_POKE2_VALVE) ? B_SUPPLY_PORT2: 0;
- app_regs.REG_OUTPUTS_OUT |= (read_LED0) ? 0 : B_LED0;
- app_regs.REG_OUTPUTS_OUT |= (read_LED1) ? 0 : B_LED1;
+ app_regs.REG_OUTPUT_STATE |= (read_LED0) ? 0 : B_LED0;
+ app_regs.REG_OUTPUT_STATE |= (read_LED1) ? 0 : B_LED1;
- app_regs.REG_OUTPUTS_OUT |= (rgb0_on) ? B_RGB0 : 0;
- app_regs.REG_OUTPUTS_OUT |= (rgb1_on) ? B_RGB1 : 0;
+ app_regs.REG_OUTPUT_STATE |= (rgb0_on) ? B_RGB0 : 0;
+ app_regs.REG_OUTPUT_STATE |= (rgb1_on) ? B_RGB1 : 0;
- app_regs.REG_OUTPUTS_OUT |= (read_DO0) ? B_DO0 : 0;
- app_regs.REG_OUTPUTS_OUT |= (read_DO1) ? B_DO1 : 0;
- app_regs.REG_OUTPUTS_OUT |= (read_DO2) ? B_DO2 : 0;
- app_regs.REG_OUTPUTS_OUT |= (read_DO3) ? B_DO3 : 0;
+ app_regs.REG_OUTPUT_STATE |= (read_DO0) ? B_DO0 : 0;
+ app_regs.REG_OUTPUT_STATE |= (read_DO1) ? B_DO1 : 0;
+ app_regs.REG_OUTPUT_STATE |= (read_DO2) ? B_DO2 : 0;
+ app_regs.REG_OUTPUT_STATE |= (read_DO3) ? B_DO3 : 0;
}
-bool app_write_REG_OUTPUTS_OUT(void *a)
+bool app_write_REG_OUTPUT_STATE(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -452,13 +450,13 @@ bool app_write_REG_OUTPUTS_OUT(void *a)
prev_rgb0_on = rgb0_on;
prev_rgb1_on = rgb1_on;
- if (reg & B_PORT0_DO) start_POKE0_LED; else clr_POKE0_LED;
- if (reg & B_PORT1_DO) start_POKE1_LED; else clr_POKE1_LED;
- if (reg & B_PORT2_DO) start_POKE2_LED; else clr_POKE2_LED;
+ if (reg & B_DO_PORT0) start_POKE0_LED; else clr_POKE0_LED;
+ if (reg & B_DO_PORT1) start_POKE1_LED; else clr_POKE1_LED;
+ if (reg & B_DO_PORT2) start_POKE2_LED; else clr_POKE2_LED;
- if (reg & B_PORT0_12V) start_POKE0_VALVE; else clr_POKE0_VALVE;
- if (reg & B_PORT1_12V) start_POKE1_VALVE; else clr_POKE1_VALVE;
- if (reg & B_PORT2_12V) start_POKE2_VALVE; else clr_POKE2_VALVE;
+ if (reg & B_SUPPLY_PORT0) start_POKE0_VALVE; else clr_POKE0_VALVE;
+ if (reg & B_SUPPLY_PORT1) start_POKE1_VALVE; else clr_POKE1_VALVE;
+ if (reg & B_SUPPLY_PORT2) start_POKE2_VALVE; else clr_POKE2_VALVE;
if (reg & B_LED0) start_LED0; else clr_LED0;
if (reg & B_LED1) start_LED1; else clr_LED1;
@@ -476,134 +474,122 @@ bool app_write_REG_OUTPUTS_OUT(void *a)
if (reg & B_DO2) start_DO2; else clr_DO2;
if (reg & B_DO3) start_DO3; else clr_DO3;
- app_regs.REG_OUTPUTS_OUT = reg;
+ app_regs.REG_OUTPUT_STATE = reg;
return true;
}
/************************************************************************/
-/* REG_PORT_DIOS_SET */
+/* REG_PORT_DIO_SET */
/************************************************************************/
-void app_read_REG_PORT_DIOS_SET(void)
+void app_read_REG_PORT_DIO_SET(void)
{
- //app_regs.REG_PORT_DIOS_SET = 0;
+ //app_regs.REG_PORT_DIO_SET = 0;
}
-bool app_write_REG_PORT_DIOS_SET(void *a)
+bool app_write_REG_PORT_DIO_SET(void *a)
{
uint8_t reg = *((uint8_t*)a);
- app_regs.REG_PORT_DIOS_SET = reg;
+ app_regs.REG_PORT_DIO_SET = reg;
return true;
}
-
/************************************************************************/
-/* REG_PORT_DIOS_CLEAR */
+/* REG_PORT_DIO_CLEAR */
/************************************************************************/
-void app_read_REG_PORT_DIOS_CLEAR(void)
+void app_read_REG_PORT_DIO_CLEAR(void)
{
- //app_regs.REG_PORT_DIOS_CLEAR = 0;
+ //app_regs.REG_PORT_DIO_CLEAR = 0;
}
-bool app_write_REG_PORT_DIOS_CLEAR(void *a)
+bool app_write_REG_PORT_DIO_CLEAR(void *a)
{
uint8_t reg = *((uint8_t*)a);
- app_regs.REG_PORT_DIOS_CLEAR = reg;
+ app_regs.REG_PORT_DIO_CLEAR = reg;
return true;
}
-
/************************************************************************/
-/* REG_PORT_DIOS_TOGGLE */
+/* REG_PORT_DIO_TOGGLE */
/************************************************************************/
-void app_read_REG_PORT_DIOS_TOGGLE(void)
+void app_read_REG_PORT_DIO_TOGGLE(void)
{
- //app_regs.REG_PORT_DIOS_TOGGLE = 0;
+ //app_regs.REG_PORT_DIO_TOGGLE = 0;
}
-bool app_write_REG_PORT_DIOS_TOGGLE(void *a)
+bool app_write_REG_PORT_DIO_TOGGLE(void *a)
{
uint8_t reg = *((uint8_t*)a);
- app_regs.REG_PORT_DIOS_TOGGLE = reg;
+ app_regs.REG_PORT_DIO_TOGGLE = reg;
return true;
}
-
/************************************************************************/
-/* REG_PORT_DIOS_OUT */
+/* REG_PORT_DIO_STATE */
/************************************************************************/
-void app_read_REG_PORT_DIOS_OUT(void)
+void app_read_REG_PORT_DIO_STATE(void)
{
- //app_regs.REG_PORT_DIOS_OUT = 0;
+ //app_regs.REG_PORT_DIO_STATE = 0;
}
-bool app_write_REG_PORT_DIOS_OUT(void *a)
+bool app_write_REG_PORT_DIO_STATE(void *a)
{
uint8_t reg = *((uint8_t*)a);
- app_regs.REG_PORT_DIOS_OUT = reg;
+ app_regs.REG_PORT_DIO_STATE = reg;
return true;
}
-
/************************************************************************/
-/* REG_PORT_DIOS_CONF */
+/* REG_PORT_DIO_DIRECTION */
/************************************************************************/
-void app_read_REG_PORT_DIOS_CONF(void)
+void app_read_REG_PORT_DIO_DIRECTION(void)
{
- //app_regs.REG_PORT_DIOS_CONF = 0;
+ //app_regs.REG_PORT_DIO_DIRECTION = 0;
}
-bool app_write_REG_PORT_DIOS_CONF(void *a)
+bool app_write_REG_PORT_DIO_DIRECTION(void *a)
{
uint8_t reg = *((uint8_t*)a);
- app_regs.REG_PORT_DIOS_CONF = reg;
+ app_regs.REG_PORT_DIO_DIRECTION = reg;
return true;
}
-
/************************************************************************/
-/* REG_PORT_DIOS_IN */
+/* REG_PORT_DIO_STATE_EVENT */
/************************************************************************/
-void app_read_REG_PORT_DIOS_IN(void)
+void app_read_REG_PORT_DIO_STATE_EVENT(void)
{
- //app_regs.REG_PORT_DIOS_IN = 0;
+ //app_regs.REG_PORT_DIO_STATE_EVENT = 0;
- app_regs.REG_PORT_DIOS_IN = (read_POKE0_IO) ? B_DIO0 : 0;
- app_regs.REG_PORT_DIOS_IN |= (read_POKE1_IO) ? B_DIO1 : 0;
- app_regs.REG_PORT_DIOS_IN |= (read_POKE2_IO) ? B_DIO2 : 0;
+ app_regs.REG_PORT_DIO_STATE_EVENT = (read_POKE0_IO) ? B_DIO0 : 0;
+ app_regs.REG_PORT_DIO_STATE_EVENT |= (read_POKE1_IO) ? B_DIO1 : 0;
+ app_regs.REG_PORT_DIO_STATE_EVENT |= (read_POKE2_IO) ? B_DIO2 : 0;
}
-bool app_write_REG_PORT_DIOS_IN(void *a)
-{
- uint8_t reg = *((uint8_t*)a);
-
- app_regs.REG_PORT_DIOS_IN = reg;
- return true;
-}
-
+bool app_write_REG_PORT_DIO_STATE_EVENT(void *a) { return false; }
/************************************************************************/
-/* REG_DATA */
+/* REG_ANALOG_DATA */
/************************************************************************/
-// This register is an array with 2 positions
-void app_read_REG_DATA(void) {} // The register is always updated
-bool app_write_REG_DATA(void *a)
+// This register is an array with 3 positions
+void app_read_REG_ANALOG_DATA(void) {} // The register is always updated
+bool app_write_REG_ANALOG_DATA(void *a)
{
uint16_t *reg = ((uint16_t*)a);
- app_regs.REG_DATA[1] = reg[1]; // Write only to encoder counter
+ app_regs.REG_ANALOG_DATA[1] = reg[1]; // Write only to encoder counter
if (_states_.quad_counter.port2)
{
@@ -615,98 +601,98 @@ bool app_write_REG_DATA(void *a)
/************************************************************************/
-/* REG_MODE_POKE0_LED */
+/* REG_OUTPUT_PULSE_ENABLE */
/************************************************************************/
-void app_read_REG_OUTPUT_PULSE_EN(void) {}
-bool app_write_REG_OUTPUT_PULSE_EN(void *a)
+void app_read_REG_OUTPUT_PULSE_ENABLE(void) {}
+bool app_write_REG_OUTPUT_PULSE_ENABLE(void *a)
{
uint16_t reg = *((uint16_t*)a);
- app_regs.REG_OUTPUT_PULSE_EN = reg;
+ app_regs.REG_OUTPUT_PULSE_ENABLE = reg;
return true;
}
/************************************************************************/
-/* REG_PULSE_PORT0_DO */
+/* REG_PULSE_DO_PORT0 */
/************************************************************************/
-void app_read_REG_PULSE_PORT0_DO(void) {}
-bool app_write_REG_PULSE_PORT0_DO(void *a)
+void app_read_REG_PULSE_DO_PORT0(void) {}
+bool app_write_REG_PULSE_DO_PORT0(void *a)
{
if (*((uint16_t*)a) < 1)
return false;
- app_regs.REG_PULSE_PORT0_DO = *((uint16_t*)a);
+ app_regs.REG_PULSE_DO_PORT0 = *((uint16_t*)a);
return true;
}
/************************************************************************/
-/* REG_PULSE_PORT1_DO */
+/* REG_PULSE_DO_PORT1 */
/************************************************************************/
-void app_read_REG_PULSE_PORT1_DO(void) {}
-bool app_write_REG_PULSE_PORT1_DO(void *a)
+void app_read_REG_PULSE_DO_PORT1(void) {}
+bool app_write_REG_PULSE_DO_PORT1(void *a)
{
if (*((uint16_t*)a) < 1)
return false;
- app_regs.REG_PULSE_PORT1_DO = *((uint16_t*)a);
+ app_regs.REG_PULSE_DO_PORT1 = *((uint16_t*)a);
return true;
}
/************************************************************************/
-/* REG_PULSE_PORT2_DO */
+/* REG_PULSE_DO_PORT2 */
/************************************************************************/
-void app_read_REG_PULSE_PORT2_DO(void) {}
-bool app_write_REG_PULSE_PORT2_DO(void *a)
+void app_read_REG_PULSE_DO_PORT2(void) {}
+bool app_write_REG_PULSE_DO_PORT2(void *a)
{
if (*((uint16_t*)a) < 1)
return false;
- app_regs.REG_PULSE_PORT2_DO = *((uint16_t*)a);
+ app_regs.REG_PULSE_DO_PORT2 = *((uint16_t*)a);
return true;
}
/************************************************************************/
-/* REG_PULSE_PORT0_12V */
+/* REG_PULSE_SUPPLY_PORT0 */
/************************************************************************/
-void app_read_REG_PULSE_PORT0_12V(void) {}
-bool app_write_REG_PULSE_PORT0_12V(void *a)
+void app_read_REG_PULSE_SUPPLY_PORT0(void) {}
+bool app_write_REG_PULSE_SUPPLY_PORT0(void *a)
{
if (*((uint16_t*)a) < 1)
return false;
- app_regs.REG_PULSE_PORT0_12V = *((uint16_t*)a);
+ app_regs.REG_PULSE_SUPPLY_PORT0 = *((uint16_t*)a);
return true;
}
/************************************************************************/
-/* REG_PULSE_PORT1_12V */
+/* REG_PULSE_SUPPLY_PORT1 */
/************************************************************************/
-void app_read_REG_PULSE_PORT1_12V(void) {}
-bool app_write_REG_PULSE_PORT1_12V(void *a)
+void app_read_REG_PULSE_SUPPLY_PORT1(void) {}
+bool app_write_REG_PULSE_SUPPLY_PORT1(void *a)
{
if (*((uint16_t*)a) < 1)
return false;
- app_regs.REG_PULSE_PORT1_12V = *((uint16_t*)a);
+ app_regs.REG_PULSE_SUPPLY_PORT1 = *((uint16_t*)a);
return true;
}
/************************************************************************/
-/* REG_PULSE_PORT2_12V */
+/* REG_PULSE_SUPPLY_PORT2 */
/************************************************************************/
-void app_read_REG_PULSE_PORT2_12V(void) {}
-bool app_write_REG_PULSE_PORT2_12V(void *a)
+void app_read_REG_PULSE_SUPPLY_PORT2(void) {}
+bool app_write_REG_PULSE_SUPPLY_PORT2(void *a)
{
if (*((uint16_t*)a) < 1)
return false;
- app_regs.REG_PULSE_PORT2_12V = *((uint16_t*)a);
+ app_regs.REG_PULSE_SUPPLY_PORT2 = *((uint16_t*)a);
return true;
}
@@ -824,10 +810,10 @@ bool app_write_REG_PULSE_DO3(void *a)
/************************************************************************/
-/* REG_FREQ_DO0 */
+/* REG_PWM_FREQUENCY_DO0 */
/************************************************************************/
-void app_read_REG_FREQ_DO0(void) {}
-bool app_write_REG_FREQ_DO0(void *a)
+void app_read_REG_PWM_FREQUENCY_DO0(void) {}
+bool app_write_REG_PWM_FREQUENCY_DO0(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -835,19 +821,19 @@ bool app_write_REG_FREQ_DO0(void *a)
return false;
calculate_timer_16bits(32000000, reg, &timer_conf.prescaler_do0, &timer_conf.target_do0);
- timer_conf.dcycle_do0 = app_regs.REG_DCYCLE_DO0/100.0 * timer_conf.target_do0 + 0.5;
+ timer_conf.dcycle_do0 = app_regs.REG_PWM_DUTY_CYCLE_DO0/100.0 * timer_conf.target_do0 + 0.5;
is_new_timer_conf.pwm_do0 = true;
- app_regs.REG_FREQ_DO0 = reg;
+ app_regs.REG_PWM_FREQUENCY_DO0 = reg;
return true;
}
/************************************************************************/
-/* REG_FREQ_DO1 */
+/* REG_PWM_FREQUENCY_DO1 */
/************************************************************************/
-void app_read_REG_FREQ_DO1(void) {}
-bool app_write_REG_FREQ_DO1(void *a)
+void app_read_REG_PWM_FREQUENCY_DO1(void) {}
+bool app_write_REG_PWM_FREQUENCY_DO1(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -855,24 +841,24 @@ bool app_write_REG_FREQ_DO1(void *a)
return false;
calculate_timer_16bits(32000000, reg, &timer_conf.prescaler_do1, &timer_conf.target_do1);
- timer_conf.dcycle_do1 = app_regs.REG_DCYCLE_DO1/100.0 * timer_conf.target_do1 + 0.5;
+ timer_conf.dcycle_do1 = app_regs.REG_PWM_DUTY_CYCLE_DO1/100.0 * timer_conf.target_do1 + 0.5;
is_new_timer_conf.pwm_do1 = true;
- app_regs.REG_FREQ_DO1 = reg;
+ app_regs.REG_PWM_FREQUENCY_DO1 = reg;
return true;
}
/************************************************************************/
-/* REG_FREQ_DO2 */
+/* REG_PWM_FREQUENCY_DO2 */
/************************************************************************/
-void app_read_REG_FREQ_DO2(void)
+void app_read_REG_PWM_FREQUENCY_DO2(void)
{
- //app_regs.REG_FREQ_DO2 = 0;
+ //app_regs.REG_PWM_FREQUENCY_DO2 = 0;
}
-bool app_write_REG_FREQ_DO2(void *a)
+bool app_write_REG_PWM_FREQUENCY_DO2(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -880,24 +866,24 @@ bool app_write_REG_FREQ_DO2(void *a)
return false;
calculate_timer_16bits(32000000, reg, &timer_conf.prescaler_do2, &timer_conf.target_do2);
- timer_conf.dcycle_do2 = app_regs.REG_DCYCLE_DO2/100.0 * timer_conf.target_do2 + 0.5;
+ timer_conf.dcycle_do2 = app_regs.REG_PWM_DUTY_CYCLE_DO2/100.0 * timer_conf.target_do2 + 0.5;
is_new_timer_conf.pwm_do2 = true;
- app_regs.REG_FREQ_DO2 = reg;
+ app_regs.REG_PWM_FREQUENCY_DO2 = reg;
return true;
}
/************************************************************************/
-/* REG_FREQ_DO3 */
+/* REG_PWM_FREQUENCY_DO3 */
/************************************************************************/
-void app_read_REG_FREQ_DO3(void)
+void app_read_REG_PWM_FREQUENCY_DO3(void)
{
- //app_regs.REG_FREQ_DO3 = 0;
+ //app_regs.REG_PWM_FREQUENCY_DO3 = 0;
}
-bool app_write_REG_FREQ_DO3(void *a)
+bool app_write_REG_PWM_FREQUENCY_DO3(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -905,105 +891,105 @@ bool app_write_REG_FREQ_DO3(void *a)
return false;
calculate_timer_16bits(32000000, reg, &timer_conf.prescaler_do3, &timer_conf.target_do3);
- timer_conf.dcycle_do3 = app_regs.REG_DCYCLE_DO3/100.0 * timer_conf.target_do3 + 0.5;
+ timer_conf.dcycle_do3 = app_regs.REG_PWM_DUTY_CYCLE_DO3/100.0 * timer_conf.target_do3 + 0.5;
is_new_timer_conf.pwm_do3 = true;
- app_regs.REG_FREQ_DO3 = reg;
+ app_regs.REG_PWM_FREQUENCY_DO3 = reg;
return true;
}
/************************************************************************/
-/* REG_DCYCLE_DO0 */
+/* REG_PWM_DUTY_CYCLE_DO0 */
/************************************************************************/
-void app_read_REG_DCYCLE_DO0(void) {}
-bool app_write_REG_DCYCLE_DO0(void *a)
+void app_read_REG_PWM_DUTY_CYCLE_DO0(void) {}
+bool app_write_REG_PWM_DUTY_CYCLE_DO0(void *a)
{
uint8_t reg = *((uint8_t*)a);
if (reg < 1 || reg > 99)
return false;
- //calculate_timer_16bits(32000000, app_regs.REG_FREQ_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
+ //calculate_timer_16bits(32000000, app_regs.REG_PWM_FREQUENCY_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
timer_conf.dcycle_do0 = reg/100.0 * timer_conf.target_do0 + 0.5;
is_new_timer_conf.pwm_do0 = true;
- app_regs.REG_DCYCLE_DO0 = reg;
+ app_regs.REG_PWM_DUTY_CYCLE_DO0 = reg;
return true;
}
/************************************************************************/
-/* REG_DCYCLE_DO1 */
+/* REG_PWM_DUTY_CYCLE_DO1 */
/************************************************************************/
-void app_read_REG_DCYCLE_DO1(void)
+void app_read_REG_PWM_DUTY_CYCLE_DO1(void)
{
- //app_regs.REG_DCYCLE_DO1 = 0;
+ //app_regs.REG_PWM_DUTY_CYCLE_DO1 = 0;
}
-bool app_write_REG_DCYCLE_DO1(void *a)
+bool app_write_REG_PWM_DUTY_CYCLE_DO1(void *a)
{
uint8_t reg = *((uint8_t*)a);
if (reg < 1 || reg > 99)
return false;
- //calculate_timer_16bits(32000000, app_regs.REG_FREQ_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
+ //calculate_timer_16bits(32000000, app_regs.REG_PWM_FREQUENCY_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
timer_conf.dcycle_do1 = reg/100.0 * timer_conf.target_do1 + 0.5;
is_new_timer_conf.pwm_do1 = true;
- app_regs.REG_DCYCLE_DO1 = reg;
+ app_regs.REG_PWM_DUTY_CYCLE_DO1 = reg;
return true;
}
/************************************************************************/
-/* REG_DCYCLE_DO2 */
+/* REG_PWM_DUTY_CYCLE_DO2 */
/************************************************************************/
-void app_read_REG_DCYCLE_DO2(void)
+void app_read_REG_PWM_DUTY_CYCLE_DO2(void)
{
- //app_regs.REG_DCYCLE_DO2 = 0;
+ //app_regs.REG_PWM_DUTY_CYCLE_DO2 = 0;
}
-bool app_write_REG_DCYCLE_DO2(void *a)
+bool app_write_REG_PWM_DUTY_CYCLE_DO2(void *a)
{
uint8_t reg = *((uint8_t*)a);
if (reg < 1 || reg > 99)
return false;
- //calculate_timer_16bits(32000000, app_regs.REG_FREQ_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
+ //calculate_timer_16bits(32000000, app_regs.REG_PWM_FREQUENCY_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
timer_conf.dcycle_do2 = reg/100.0 * timer_conf.target_do2 + 0.5;
is_new_timer_conf.pwm_do2 = true;
- app_regs.REG_DCYCLE_DO2 = reg;
+ app_regs.REG_PWM_DUTY_CYCLE_DO2 = reg;
return true;
}
/************************************************************************/
-/* REG_DCYCLE_DO3 */
+/* REG_PWM_DUTY_CYCLE_DO3 */
/************************************************************************/
-void app_read_REG_DCYCLE_DO3(void)
+void app_read_REG_PWM_DUTY_CYCLE_DO3(void)
{
- //app_regs.REG_DCYCLE_DO3 = 0;
+ //app_regs.REG_PWM_DUTY_CYCLE_DO3 = 0;
}
-bool app_write_REG_DCYCLE_DO3(void *a)
+bool app_write_REG_PWM_DUTY_CYCLE_DO3(void *a)
{
uint8_t reg = *((uint8_t*)a);
if (reg < 1 || reg > 99)
return false;
- //calculate_timer_16bits(32000000, app_regs.REG_FREQ_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
+ //calculate_timer_16bits(32000000, app_regs.REG_PWM_FREQUENCY_DO0, &timer_conf.prescaler_do0, &timer_conf.target_do0);
timer_conf.dcycle_do3 = reg/100.0 * timer_conf.target_do3 + 0.5;
is_new_timer_conf.pwm_do3 = true;
- app_regs.REG_DCYCLE_DO3 = reg;
+ app_regs.REG_PWM_DUTY_CYCLE_DO3 = reg;
return true;
}
@@ -1121,28 +1107,28 @@ bool app_write_REG_PWM_STOP(void *a)
/************************************************************************/
-/* REG_RGBS */
+/* REG_RGB_ALL */
/************************************************************************/
// This register is an array with 6 positions
-void app_read_REG_RGBS(void) {}
-bool app_write_REG_RGBS(void *a)
+void app_read_REG_RGB_ALL(void) {}
+bool app_write_REG_RGB_ALL(void *a)
{
uint8_t *reg = ((uint8_t*)a);
- app_regs.REG_RGBS[0] = reg[1];
- app_regs.REG_RGBS[1] = reg[0];
- app_regs.REG_RGBS[2] = reg[2];
- app_regs.REG_RGBS[3] = reg[4];
- app_regs.REG_RGBS[4] = reg[3];
- app_regs.REG_RGBS[5] = reg[5];
-
- app_regs.REG_RGB0[0] = reg[1];
- app_regs.REG_RGB0[1] = reg[0];
- app_regs.REG_RGB0[2] = reg[2];
+ app_regs.REG_RGB_ALL[0] = reg[1];
+ app_regs.REG_RGB_ALL[1] = reg[0];
+ app_regs.REG_RGB_ALL[2] = reg[2];
+ app_regs.REG_RGB_ALL[3] = reg[4];
+ app_regs.REG_RGB_ALL[4] = reg[3];
+ app_regs.REG_RGB_ALL[5] = reg[5];
+
+ app_regs.REG_RGB_ALL[0] = reg[1];
+ app_regs.REG_RGB_ALL[1] = reg[0];
+ app_regs.REG_RGB_ALL[2] = reg[2];
- app_regs.REG_RGB1[0] = reg[4];
- app_regs.REG_RGB1[1] = reg[3];
- app_regs.REG_RGB1[2] = reg[5];
+ app_regs.REG_RGB_ALL[0] = reg[4];
+ app_regs.REG_RGB_ALL[1] = reg[3];
+ app_regs.REG_RGB_ALL[2] = reg[5];
handle_Rgbs(rgb0_on, rgb1_on);
@@ -1159,13 +1145,13 @@ bool app_write_REG_RGB0(void *a)
{
uint8_t *reg = ((uint8_t*)a);
- app_regs.REG_RGBS[0] = reg[1];
- app_regs.REG_RGBS[1] = reg[0];
- app_regs.REG_RGBS[2] = reg[2];
+ app_regs.REG_RGB_ALL[0] = reg[1];
+ app_regs.REG_RGB_ALL[1] = reg[0];
+ app_regs.REG_RGB_ALL[2] = reg[2];
- app_regs.REG_RGB0[0] = reg[1];
- app_regs.REG_RGB0[1] = reg[0];
- app_regs.REG_RGB0[2] = reg[2];
+ app_regs.REG_RGB_ALL[0] = reg[1];
+ app_regs.REG_RGB_ALL[1] = reg[0];
+ app_regs.REG_RGB_ALL[2] = reg[2];
handle_Rgbs(rgb0_on, rgb1_on);
@@ -1182,13 +1168,13 @@ bool app_write_REG_RGB1(void *a)
{
uint8_t *reg = ((uint8_t*)a);
- app_regs.REG_RGBS[3] = reg[1];
- app_regs.REG_RGBS[4] = reg[0];
- app_regs.REG_RGBS[5] = reg[2];
+ app_regs.REG_RGB_ALL[3] = reg[1];
+ app_regs.REG_RGB_ALL[4] = reg[0];
+ app_regs.REG_RGB_ALL[5] = reg[2];
- app_regs.REG_RGB1[0] = reg[1];
- app_regs.REG_RGB1[1] = reg[0];
- app_regs.REG_RGB1[2] = reg[2];
+ app_regs.REG_RGB_ALL[0] = reg[1];
+ app_regs.REG_RGB_ALL[1] = reg[0];
+ app_regs.REG_RGB_ALL[2] = reg[2];
handle_Rgbs(rgb0_on, rgb1_on);
@@ -1293,14 +1279,14 @@ bool app_write_REG_LED1_MAX_CURRENT(void *a)
/************************************************************************/
-/* REG_EVNT_ENABLE */
+/* REG_EVENT_ENABLE */
/************************************************************************/
-void app_read_REG_EVNT_ENABLE(void) {}
-bool app_write_REG_EVNT_ENABLE(void *a)
+void app_read_REG_EVENT_ENABLE(void) {}
+bool app_write_REG_EVENT_ENABLE(void *a)
{
uint8_t reg = *((uint8_t*)a);
- app_regs.REG_EVNT_ENABLE = reg;
+ app_regs.REG_EVENT_ENABLE = reg;
return true;
}
@@ -1338,37 +1324,37 @@ void app_read_REG_START_CAMERAS(void)
if(_states_.camera.do0)
{
- app_regs.REG_START_CAMERAS |= B_EN_CAM_OUT0;
+ app_regs.REG_START_CAMERAS |= B_CAMERA_OUTPUT0;
}
if(_states_.camera.do1)
{
- app_regs.REG_START_CAMERAS |= B_EN_CAM_OUT1;
+ app_regs.REG_START_CAMERAS |= B_CAMERA_OUTPUT1;
}
}
bool app_write_REG_START_CAMERAS(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if ((reg & B_EN_CAM_OUT0) && !_states_.camera.do0)
+ if ((reg & B_CAMERA_OUTPUT0) && !_states_.camera.do0)
{
/* Make sure the output pin is equal to 0 for a while before start triggering the camera */
clr_DO0;
_delay_us(16); // Measured, gives around 55us before the the first trigger pulse
/* Start the camera */
- start_cameras(&TCF0, app_regs.REG_CAM_OUT0_FREQ);
+ start_cameras(&TCF0, app_regs.REG_CAMERA0_FREQUENCY);
_states_.camera.do0 = true;
}
- if ((reg & B_EN_CAM_OUT1) && !_states_.camera.do1)
+ if ((reg & B_CAMERA_OUTPUT1) && !_states_.camera.do1)
{
/* Make sure the output pin is equal to 0 for a while before start triggering the camera */
clr_DO1;
_delay_us(16); // Measured, gives around 55us before the the first trigger pulse
/* Start the camera */
- start_cameras(&TCE0, app_regs.REG_CAM_OUT1_FREQ);
+ start_cameras(&TCE0, app_regs.REG_CAMERA1_FREQUENCY);
_states_.camera.do1 = true;
}
@@ -1388,12 +1374,12 @@ bool app_write_REG_STOP_CAMERAS(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if ((reg & B_EN_CAM_OUT0) && _states_.camera.do0)
+ if ((reg & B_CAMERA_OUTPUT0) && _states_.camera.do0)
{
stop_camera_do0 = true;
}
- if ((reg & B_EN_CAM_OUT1) && _states_.camera.do1)
+ if ((reg & B_CAMERA_OUTPUT1) && _states_.camera.do1)
{
stop_camera_do1 = true;
}
@@ -1404,89 +1390,89 @@ bool app_write_REG_STOP_CAMERAS(void *a)
/************************************************************************/
-/* REG_EN_SERVOS */
+/* REG_ENABLE_SERVOS */
/************************************************************************/
-void app_read_REG_EN_SERVOS(void)
+void app_read_REG_ENABLE_SERVOS(void)
{
- app_regs.REG_EN_SERVOS = 0;
+ app_regs.REG_ENABLE_SERVOS = 0;
if (_states_.servo.do2)
{
- app_regs.REG_EN_SERVOS |= B_EN_SERVO_OUT2;
+ app_regs.REG_ENABLE_SERVOS |= B_SERVO_OUTPUT2;
}
if (_states_.servo.do3)
{
- app_regs.REG_EN_SERVOS |= B_EN_SERVO_OUT3;
+ app_regs.REG_ENABLE_SERVOS |= B_SERVO_OUTPUT3;
}
}
-bool app_write_REG_EN_SERVOS(void *a)
+bool app_write_REG_ENABLE_SERVOS(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if ((reg & B_EN_SERVO_OUT2) && !_states_.servo.do2)
+ if ((reg & B_SERVO_OUTPUT2) && !_states_.servo.do2)
{
_states_.servo.do2 = true;
- timer_type0_pwm(&TCD0, TIMER_PRESCALER_DIV64, (app_regs.REG_MOTOR_OUT2_PERIOD >> 1), (app_regs.REG_MOTOR_OUT2_PULSE >> 1), INT_LEVEL_OFF, INT_LEVEL_OFF);
+ timer_type0_pwm(&TCD0, TIMER_PRESCALER_DIV64, (app_regs.REG_SERVO_MOTOR2_PERIOD >> 1), (app_regs.REG_SERVO_MOTOR2_PULSE >> 1), INT_LEVEL_OFF, INT_LEVEL_OFF);
}
- if ((reg & B_EN_SERVO_OUT3) && !_states_.servo.do3)
+ if ((reg & B_SERVO_OUTPUT3) && !_states_.servo.do3)
{
_states_.servo.do3 = true;
- timer_type0_pwm(&TCC0, TIMER_PRESCALER_DIV64, (app_regs.REG_MOTOR_OUT3_PERIOD >> 1), (app_regs.REG_MOTOR_OUT3_PULSE >> 1), INT_LEVEL_OFF, INT_LEVEL_OFF);
+ timer_type0_pwm(&TCC0, TIMER_PRESCALER_DIV64, (app_regs.REG_SERVO_MOTOR3_PERIOD >> 1), (app_regs.REG_SERVO_MOTOR3_PULSE >> 1), INT_LEVEL_OFF, INT_LEVEL_OFF);
}
- app_regs.REG_EN_SERVOS = reg;
+ app_regs.REG_ENABLE_SERVOS = reg;
return true;
}
/************************************************************************/
-/* REG_DIS_SERVOS */
+/* REG_DISABLE_SERVOS */
/************************************************************************/
-void app_read_REG_DIS_SERVOS(void) {}
-bool app_write_REG_DIS_SERVOS(void *a)
+void app_read_REG_DISABLE_SERVOS(void) {}
+bool app_write_REG_DISABLE_SERVOS(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if ((reg & B_EN_SERVO_OUT2) && _states_.servo.do2)
+ if ((reg & B_SERVO_OUTPUT2) && _states_.servo.do2)
{
_states_.servo.do2 = false;
timer_type0_stop(&TCD0);
}
- if ((reg & B_EN_SERVO_OUT3) && _states_.servo.do3)
+ if ((reg & B_SERVO_OUTPUT3) && _states_.servo.do3)
{
_states_.servo.do3 = false;
timer_type0_stop(&TCC0);
}
- app_regs.REG_DIS_SERVOS = reg;
+ app_regs.REG_DISABLE_SERVOS = reg;
return true;
}
/************************************************************************/
-/* REG_EN_ENCODERS */
+/* REG_ENABLE_ENCODERS */
/************************************************************************/
extern int16_t previous_encoder_poke2;
-void app_read_REG_EN_ENCODERS(void)
+void app_read_REG_ENABLE_ENCODERS(void)
{
- app_regs.REG_EN_ENCODERS = 0;
+ app_regs.REG_ENABLE_ENCODERS = 0;
if(_states_.quad_counter.port2)
{
- app_regs.REG_EN_ENCODERS |= B_EN_ENCODER_PORT2;
+ app_regs.REG_ENABLE_ENCODERS |= B_ENCODER_PORT2;
}
}
-bool app_write_REG_EN_ENCODERS(void *a)
+bool app_write_REG_ENABLE_ENCODERS(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if ((reg & B_EN_ENCODER_PORT2) && !_states_.quad_counter.port2)
+ if ((reg & B_ENCODER_PORT2) && !_states_.quad_counter.port2)
{
_states_.quad_counter.port2 = true;
@@ -1514,7 +1500,7 @@ bool app_write_REG_EN_ENCODERS(void *a)
TCD1_CTRLA=TC_CLKSEL_DIV1_gc;
}
- if (!(reg & B_EN_ENCODER_PORT2) && _states_.quad_counter.port2)
+ if (!(reg & B_ENCODER_PORT2) && _states_.quad_counter.port2)
{
if (_states_.quad_counter.port2)
{
@@ -1529,26 +1515,26 @@ bool app_write_REG_EN_ENCODERS(void *a)
io_set_int(&PORTF, INT_LEVEL_LOW, 0, (3<<4), false); // POKE2_IR & IO IN
/* Reset register */
- app_regs.REG_DATA[1] = 0;
+ app_regs.REG_ANALOG_DATA[1] = 0;
}
}
- app_regs.REG_EN_ENCODERS = reg;
+ app_regs.REG_ENABLE_ENCODERS = reg;
return true;
}
/************************************************************************/
-/* REG_CONF_ENCODERS */
+/* REG_ENCODER_MODE */
/************************************************************************/
-void app_read_REG_CONF_ENCODERS(void) {}
-bool app_write_REG_CONF_ENCODERS(void *a)
+void app_read_REG_ENCODER_MODE(void) {}
+bool app_write_REG_ENCODER_MODE(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if (reg & ~MSK_ENCODERS_MODE) return false;
+ if (reg & ~MSK_ENCODER_MODE) return false;
- app_regs.REG_CONF_ENCODERS = reg;
+ app_regs.REG_ENCODER_MODE = reg;
return true;
}
/************************************************************************/
@@ -1594,43 +1580,43 @@ void app_read_REG_RESERVED9(void) {}
bool app_write_REG_RESERVED9(void *a) {return true;}
/************************************************************************/
-/* REG_CAM_OUT0_FRAME_ACQUIRED */
+/* REG_CAMERA0_FRAME */
/************************************************************************/
-void app_read_REG_CAM_OUT0_FRAME_ACQUIRED(void) {}
-bool app_write_REG_CAM_OUT0_FRAME_ACQUIRED(void *a) {return false;}
+void app_read_REG_CAMERA0_FRAME(void) {}
+bool app_write_REG_CAMERA0_FRAME(void *a) { return false; }
/************************************************************************/
-/* REG_CAM_OUT0_FREQ */
+/* REG_CAMERA0_FREQUENCY */
/************************************************************************/
-void app_read_REG_CAM_OUT0_FREQ(void) {}
-bool app_write_REG_CAM_OUT0_FREQ(void *a)
+void app_read_REG_CAMERA0_FREQUENCY(void) {}
+bool app_write_REG_CAMERA0_FREQUENCY(void *a)
{
uint16_t reg = *((uint16_t*)a);
if (reg < 2 || reg > 600)
return false;
- app_regs.REG_CAM_OUT0_FREQ = reg;
+ app_regs.REG_CAMERA0_FREQUENCY = reg;
return true;
}
/************************************************************************/
-/* REG_CAM_OUT1_FRAME_ACQUIRED */
+/* REG_CAMERA1_FRAME */
/************************************************************************/
-void app_read_REG_CAM_OUT1_FRAME_ACQUIRED(void) {}
-bool app_write_REG_CAM_OUT1_FRAME_ACQUIRED(void *a) {return false;}
+void app_read_REG_CAMERA1_FRAME(void) {}
+bool app_write_REG_CAMERA1_FRAME(void *a) { return false; }
/************************************************************************/
-/* REG_CAM_OUT2_FREQ */
+/* REG_CAMERA1_FREQUENCY */
/************************************************************************/
-void app_read_REG_CAM_OUT1_FREQ(void) {}
-bool app_write_REG_CAM_OUT1_FREQ(void *a)
+void app_read_REG_CAMERA1_FREQUENCY(void) {}
+bool app_write_REG_CAMERA1_FREQUENCY(void *a)
{
uint16_t reg = *((uint16_t*)a);
if (reg < 2 || reg > 600)
return false;
- app_regs.REG_CAM_OUT1_FREQ = reg;
+ app_regs.REG_CAMERA1_FREQUENCY = reg;
return true;
}
@@ -1658,10 +1644,10 @@ bool app_write_REG_RESERVED13(void *a) {return true;}
/************************************************************************/
-/* REG_MOTOR_OUT2_PERIOD */
+/* REG_SERVO_MOTOR2_PERIOD */
/************************************************************************/
-void app_read_REG_MOTOR_OUT2_PERIOD(void) {}
-bool app_write_REG_MOTOR_OUT2_PERIOD(void *a)
+void app_read_REG_SERVO_MOTOR2_PERIOD(void) {}
+bool app_write_REG_SERVO_MOTOR2_PERIOD(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -1673,14 +1659,15 @@ bool app_write_REG_MOTOR_OUT2_PERIOD(void *a)
TCD0_PER = (reg >> 1) - 1;
}
- app_regs.REG_MOTOR_OUT2_PERIOD = reg;
+ app_regs.REG_SERVO_MOTOR2_PERIOD = reg;
return true;
}
+
/************************************************************************/
-/* REG_MOTOR_OUT2_PULSE */
+/* REG_SERVO_MOTOR2_PULSE */
/************************************************************************/
-void app_read_REG_MOTOR_OUT2_PULSE(void) {}
-bool app_write_REG_MOTOR_OUT2_PULSE(void *a)
+void app_read_REG_SERVO_MOTOR2_PULSE(void) {}
+bool app_write_REG_SERVO_MOTOR2_PULSE(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -1692,16 +1679,16 @@ bool app_write_REG_MOTOR_OUT2_PULSE(void *a)
TCD0_CCA = (reg >> 1) - 1;
}
- app_regs.REG_MOTOR_OUT2_PULSE = reg;
+ app_regs.REG_SERVO_MOTOR2_PULSE = reg;
return true;
}
/************************************************************************/
-/* REG_MOTOR_OUT3_PERIOD */
+/* REG_SERVO_MOTOR3_PERIOD */
/************************************************************************/
-void app_read_REG_MOTOR_OUT3_PERIOD(void) {}
-bool app_write_REG_MOTOR_OUT3_PERIOD(void *a)
+void app_read_REG_SERVO_MOTOR3_PERIOD(void) {}
+bool app_write_REG_SERVO_MOTOR3_PERIOD(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -1713,14 +1700,14 @@ bool app_write_REG_MOTOR_OUT3_PERIOD(void *a)
TCC0_PER = (reg >> 1) - 1;
}
- app_regs.REG_MOTOR_OUT3_PERIOD = reg;
+ app_regs.REG_SERVO_MOTOR3_PERIOD = reg;
return true;
}
/************************************************************************/
-/* REG_MOTOR_OUT3_PULSE */
+/* REG_SERVO_MOTOR3_PULSE */
/************************************************************************/
-void app_read_REG_MOTOR_OUT3_PULSE(void) {}
-bool app_write_REG_MOTOR_OUT3_PULSE(void *a)
+void app_read_REG_SERVO_MOTOR3_PULSE(void) {}
+bool app_write_REG_SERVO_MOTOR3_PULSE(void *a)
{
uint16_t reg = *((uint16_t*)a);
@@ -1732,7 +1719,7 @@ bool app_write_REG_MOTOR_OUT3_PULSE(void *a)
TCC0_CCA = (reg >> 1) - 1;
}
- app_regs.REG_MOTOR_OUT3_PULSE = reg;
+ app_regs.REG_SERVO_MOTOR3_PULSE = reg;
return true;
}
@@ -1760,14 +1747,14 @@ bool app_write_REG_RESERVED17(void *a) {return true;}
/************************************************************************/
-/* REG_ENCODER_PORT2_RESET */
+/* REG_ENCODER_RESET */
/************************************************************************/
-void app_read_REG_ENCODERS_RESET(void) {}
-bool app_write_REG_ENCODERS_RESET(void *a)
+void app_read_REG_ENCODER_RESET(void) {}
+bool app_write_REG_ENCODER_RESET(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if (reg & B_RST_ENCODER_PORT2)
+ if (reg & B_ENCODER_PORT2)
{
if (_states_.quad_counter.port2)
{
@@ -1776,7 +1763,7 @@ bool app_write_REG_ENCODERS_RESET(void *a)
}
}
- app_regs.REG_ENCODERS_RESET = reg;
+ app_regs.REG_ENCODER_RESET = reg;
return true;
}
@@ -1796,7 +1783,7 @@ bool app_write_REG_ENABLE_SERIAL_TIMESTAMP(void *a)
{
uint8_t reg = *((uint8_t*)a);
- if ((reg & B_EN_SRL_TSTAMP_PORT2) && !_states_.timestamp_tx.port2)
+ if ((reg & B_TIMESTAMP_PORT2) && !_states_.timestamp_tx.port2)
{
_states_.timestamp_tx.port2 = true;
@@ -1815,7 +1802,7 @@ bool app_write_REG_ENABLE_SERIAL_TIMESTAMP(void *a)
}
- if (!(reg & B_EN_ENCODER_PORT2) && _states_.timestamp_tx.port2)
+ if (!(reg & B_ENCODER_PORT2) && _states_.timestamp_tx.port2)
{
_states_.timestamp_tx.port2 = false;
@@ -1862,11 +1849,11 @@ ISR(USARTF1_DRE_vect, ISR_NAKED)
/************************************************************************/
void update_DIO_to_mimic (unsigned char reg)
{
- if (reg & GM_MIMIC_DIO0)
+ if (reg & GM_MIMIC_OUTPUT_DIO0)
io_pin2out(&PORTD, 4, OUT_IO_DIGITAL, IN_EN_IO_EN); // DIO0 to output
- if (reg & GM_MIMIC_DIO0)
+ if (reg & GM_MIMIC_OUTPUT_DIO0)
io_pin2out(&PORTE, 4, OUT_IO_DIGITAL, IN_EN_IO_EN); // DIO1 to output
- if (reg & GM_MIMIC_DIO0)
+ if (reg & GM_MIMIC_OUTPUT_DIO0)
io_pin2out(&PORTF, 4, OUT_IO_DIGITAL, IN_EN_IO_EN); // DIO2 to output
}
@@ -1966,12 +1953,12 @@ bool app_write_REG_RESERVED23(void *a) {return true;}
void app_read_REG_RESERVED24(void) {}
bool app_write_REG_RESERVED24(void *a) {return true;}
/************************************************************************/
-/* REG_RESERVED25 */
+/* REG_POKE_INPUT_FILTER */
/************************************************************************/
-void app_read_REG_POKE_INPUT_FILTER_MS(void) {}
-bool app_write_REG_POKE_INPUT_FILTER_MS(void *a)
+void app_read_REG_POKE_INPUT_FILTER(void) {}
+bool app_write_REG_POKE_INPUT_FILTER(void *a)
{
uint8_t reg = *((uint8_t*)a);
- app_regs.REG_POKE_INPUT_FILTER_MS = reg;
+ app_regs.REG_POKE_INPUT_FILTER = reg;
return true;
}
\ No newline at end of file
diff --git a/Firmware/Behavior/app_funcs.h b/Firmware/Behavior/app_funcs.h
index 5d57c95..4b65154 100644
--- a/Firmware/Behavior/app_funcs.h
+++ b/Firmware/Behavior/app_funcs.h
@@ -20,26 +20,26 @@
/************************************************************************/
/* Prototypes */
/************************************************************************/
-void app_read_REG_PORT_DIS(void);
+void app_read_REG_DIGITAL_INPUT_STATE(void);
void app_read_REG_RESERVED0(void);
-void app_read_REG_OUTPUTS_SET(void);
-void app_read_REG_OUTPUTS_CLEAR(void);
-void app_read_REG_OUTPUTS_TOGGLE(void);
-void app_read_REG_OUTPUTS_OUT(void);
-void app_read_REG_PORT_DIOS_SET(void);
-void app_read_REG_PORT_DIOS_CLEAR(void);
-void app_read_REG_PORT_DIOS_TOGGLE(void);
-void app_read_REG_PORT_DIOS_OUT(void);
-void app_read_REG_PORT_DIOS_CONF(void);
-void app_read_REG_PORT_DIOS_IN(void);
-void app_read_REG_DATA(void);
-void app_read_REG_OUTPUT_PULSE_EN(void);
-void app_read_REG_PULSE_PORT0_DO(void);
-void app_read_REG_PULSE_PORT1_DO(void);
-void app_read_REG_PULSE_PORT2_DO(void);
-void app_read_REG_PULSE_PORT0_12V(void);
-void app_read_REG_PULSE_PORT1_12V(void);
-void app_read_REG_PULSE_PORT2_12V(void);
+void app_read_REG_OUTPUT_SET(void);
+void app_read_REG_OUTPUT_CLEAR(void);
+void app_read_REG_OUTPUT_TOGGLE(void);
+void app_read_REG_OUTPUT_STATE(void);
+void app_read_REG_PORT_DIO_SET(void);
+void app_read_REG_PORT_DIO_CLEAR(void);
+void app_read_REG_PORT_DIO_TOGGLE(void);
+void app_read_REG_PORT_DIO_STATE(void);
+void app_read_REG_PORT_DIO_DIRECTION(void);
+void app_read_REG_PORT_DIO_STATE_EVENT(void);
+void app_read_REG_ANALOG_DATA(void);
+void app_read_REG_OUTPUT_PULSE_ENABLE(void);
+void app_read_REG_PULSE_DO_PORT0(void);
+void app_read_REG_PULSE_DO_PORT1(void);
+void app_read_REG_PULSE_DO_PORT2(void);
+void app_read_REG_PULSE_SUPPLY_PORT0(void);
+void app_read_REG_PULSE_SUPPLY_PORT1(void);
+void app_read_REG_PULSE_SUPPLY_PORT2(void);
void app_read_REG_PULSE_LED0(void);
void app_read_REG_PULSE_LED1(void);
void app_read_REG_PULSE_RGB0(void);
@@ -48,30 +48,30 @@ void app_read_REG_PULSE_DO0(void);
void app_read_REG_PULSE_DO1(void);
void app_read_REG_PULSE_DO2(void);
void app_read_REG_PULSE_DO3(void);
-void app_read_REG_FREQ_DO0(void);
-void app_read_REG_FREQ_DO1(void);
-void app_read_REG_FREQ_DO2(void);
-void app_read_REG_FREQ_DO3(void);
-void app_read_REG_DCYCLE_DO0(void);
-void app_read_REG_DCYCLE_DO1(void);
-void app_read_REG_DCYCLE_DO2(void);
-void app_read_REG_DCYCLE_DO3(void);
+void app_read_REG_PWM_FREQUENCY_DO0(void);
+void app_read_REG_PWM_FREQUENCY_DO1(void);
+void app_read_REG_PWM_FREQUENCY_DO2(void);
+void app_read_REG_PWM_FREQUENCY_DO3(void);
+void app_read_REG_PWM_DUTY_CYCLE_DO0(void);
+void app_read_REG_PWM_DUTY_CYCLE_DO1(void);
+void app_read_REG_PWM_DUTY_CYCLE_DO2(void);
+void app_read_REG_PWM_DUTY_CYCLE_DO3(void);
void app_read_REG_PWM_START(void);
void app_read_REG_PWM_STOP(void);
-void app_read_REG_RGBS(void);
+void app_read_REG_RGB_ALL(void);
void app_read_REG_RGB0(void);
void app_read_REG_RGB1(void);
void app_read_REG_LED0_CURRENT(void);
void app_read_REG_LED1_CURRENT(void);
void app_read_REG_LED0_MAX_CURRENT(void);
void app_read_REG_LED1_MAX_CURRENT(void);
-void app_read_REG_EVNT_ENABLE(void);
+void app_read_REG_EVENT_ENABLE(void);
void app_read_REG_START_CAMERAS(void);
void app_read_REG_STOP_CAMERAS(void);
-void app_read_REG_EN_SERVOS(void);
-void app_read_REG_DIS_SERVOS(void);
-void app_read_REG_EN_ENCODERS(void);
-void app_read_REG_CONF_ENCODERS(void);
+void app_read_REG_ENABLE_SERVOS(void);
+void app_read_REG_DISABLE_SERVOS(void);
+void app_read_REG_ENABLE_ENCODERS(void);
+void app_read_REG_ENCODER_MODE(void);
void app_read_REG_RESERVED2(void);
void app_read_REG_RESERVED3(void);
void app_read_REG_RESERVED4(void);
@@ -80,23 +80,23 @@ void app_read_REG_RESERVED6(void);
void app_read_REG_RESERVED7(void);
void app_read_REG_RESERVED8(void);
void app_read_REG_RESERVED9(void);
-void app_read_REG_CAM_OUT0_FRAME_ACQUIRED(void);
-void app_read_REG_CAM_OUT0_FREQ(void);
-void app_read_REG_CAM_OUT1_FRAME_ACQUIRED(void);
-void app_read_REG_CAM_OUT1_FREQ(void);
+void app_read_REG_CAMERA0_FRAME(void);
+void app_read_REG_CAMERA0_FREQUENCY(void);
+void app_read_REG_CAMERA1_FRAME(void);
+void app_read_REG_CAMERA1_FREQUENCY(void);
void app_read_REG_RESERVED10(void);
void app_read_REG_RESERVED11(void);
void app_read_REG_RESERVED12(void);
void app_read_REG_RESERVED13(void);
-void app_read_REG_MOTOR_OUT2_PERIOD(void);
-void app_read_REG_MOTOR_OUT2_PULSE(void);
-void app_read_REG_MOTOR_OUT3_PERIOD(void);
-void app_read_REG_MOTOR_OUT3_PULSE(void);
+void app_read_REG_SERVO_MOTOR2_PERIOD(void);
+void app_read_REG_SERVO_MOTOR2_PULSE(void);
+void app_read_REG_SERVO_MOTOR3_PERIOD(void);
+void app_read_REG_SERVO_MOTOR3_PULSE(void);
void app_read_REG_RESERVED14(void);
void app_read_REG_RESERVED15(void);
void app_read_REG_RESERVED16(void);
void app_read_REG_RESERVED17(void);
-void app_read_REG_ENCODERS_RESET(void);
+void app_read_REG_ENCODER_RESET(void);
void app_read_REG_RESERVED18(void);
void app_read_REG_ENABLE_SERIAL_TIMESTAMP(void);
void app_read_REG_MIMIC_PORT0_IR(void);
@@ -110,29 +110,28 @@ void app_read_REG_MIMIC_PORT1_VALVE(void);
void app_read_REG_MIMIC_PORT2_VALVE(void);
void app_read_REG_RESERVED23(void);
void app_read_REG_RESERVED24(void);
-void app_read_REG_POKE_INPUT_FILTER_MS(void);
+void app_read_REG_POKE_INPUT_FILTER(void);
-
-bool app_write_REG_PORT_DIS(void *a);
+bool app_write_REG_DIGITAL_INPUT_STATE(void *a);
bool app_write_REG_RESERVED0(void *a);
-bool app_write_REG_OUTPUTS_SET(void *a);
-bool app_write_REG_OUTPUTS_CLEAR(void *a);
-bool app_write_REG_OUTPUTS_TOGGLE(void *a);
-bool app_write_REG_OUTPUTS_OUT(void *a);
-bool app_write_REG_PORT_DIOS_SET(void *a);
-bool app_write_REG_PORT_DIOS_CLEAR(void *a);
-bool app_write_REG_PORT_DIOS_TOGGLE(void *a);
-bool app_write_REG_PORT_DIOS_OUT(void *a);
-bool app_write_REG_PORT_DIOS_CONF(void *a);
-bool app_write_REG_PORT_DIOS_IN(void *a);
-bool app_write_REG_DATA(void *a);
-bool app_write_REG_OUTPUT_PULSE_EN(void *a);
-bool app_write_REG_PULSE_PORT0_DO(void *a);
-bool app_write_REG_PULSE_PORT1_DO(void *a);
-bool app_write_REG_PULSE_PORT2_DO(void *a);
-bool app_write_REG_PULSE_PORT0_12V(void *a);
-bool app_write_REG_PULSE_PORT1_12V(void *a);
-bool app_write_REG_PULSE_PORT2_12V(void *a);
+bool app_write_REG_OUTPUT_SET(void *a);
+bool app_write_REG_OUTPUT_CLEAR(void *a);
+bool app_write_REG_OUTPUT_TOGGLE(void *a);
+bool app_write_REG_OUTPUT_STATE(void *a);
+bool app_write_REG_PORT_DIO_SET(void *a);
+bool app_write_REG_PORT_DIO_CLEAR(void *a);
+bool app_write_REG_PORT_DIO_TOGGLE(void *a);
+bool app_write_REG_PORT_DIO_STATE(void *a);
+bool app_write_REG_PORT_DIO_DIRECTION(void *a);
+bool app_write_REG_PORT_DIO_STATE_EVENT(void *a);
+bool app_write_REG_ANALOG_DATA(void *a);
+bool app_write_REG_OUTPUT_PULSE_ENABLE(void *a);
+bool app_write_REG_PULSE_DO_PORT0(void *a);
+bool app_write_REG_PULSE_DO_PORT1(void *a);
+bool app_write_REG_PULSE_DO_PORT2(void *a);
+bool app_write_REG_PULSE_SUPPLY_PORT0(void *a);
+bool app_write_REG_PULSE_SUPPLY_PORT1(void *a);
+bool app_write_REG_PULSE_SUPPLY_PORT2(void *a);
bool app_write_REG_PULSE_LED0(void *a);
bool app_write_REG_PULSE_LED1(void *a);
bool app_write_REG_PULSE_RGB0(void *a);
@@ -141,30 +140,30 @@ bool app_write_REG_PULSE_DO0(void *a);
bool app_write_REG_PULSE_DO1(void *a);
bool app_write_REG_PULSE_DO2(void *a);
bool app_write_REG_PULSE_DO3(void *a);
-bool app_write_REG_FREQ_DO0(void *a);
-bool app_write_REG_FREQ_DO1(void *a);
-bool app_write_REG_FREQ_DO2(void *a);
-bool app_write_REG_FREQ_DO3(void *a);
-bool app_write_REG_DCYCLE_DO0(void *a);
-bool app_write_REG_DCYCLE_DO1(void *a);
-bool app_write_REG_DCYCLE_DO2(void *a);
-bool app_write_REG_DCYCLE_DO3(void *a);
+bool app_write_REG_PWM_FREQUENCY_DO0(void *a);
+bool app_write_REG_PWM_FREQUENCY_DO1(void *a);
+bool app_write_REG_PWM_FREQUENCY_DO2(void *a);
+bool app_write_REG_PWM_FREQUENCY_DO3(void *a);
+bool app_write_REG_PWM_DUTY_CYCLE_DO0(void *a);
+bool app_write_REG_PWM_DUTY_CYCLE_DO1(void *a);
+bool app_write_REG_PWM_DUTY_CYCLE_DO2(void *a);
+bool app_write_REG_PWM_DUTY_CYCLE_DO3(void *a);
bool app_write_REG_PWM_START(void *a);
bool app_write_REG_PWM_STOP(void *a);
-bool app_write_REG_RGBS(void *a);
+bool app_write_REG_RGB_ALL(void *a);
bool app_write_REG_RGB0(void *a);
bool app_write_REG_RGB1(void *a);
bool app_write_REG_LED0_CURRENT(void *a);
bool app_write_REG_LED1_CURRENT(void *a);
bool app_write_REG_LED0_MAX_CURRENT(void *a);
bool app_write_REG_LED1_MAX_CURRENT(void *a);
-bool app_write_REG_EVNT_ENABLE(void *a);
+bool app_write_REG_EVENT_ENABLE(void *a);
bool app_write_REG_START_CAMERAS(void *a);
bool app_write_REG_STOP_CAMERAS(void *a);
-bool app_write_REG_EN_SERVOS(void *a);
-bool app_write_REG_DIS_SERVOS(void *a);
-bool app_write_REG_EN_ENCODERS(void *a);
-bool app_write_REG_CONF_ENCODERS(void *a);
+bool app_write_REG_ENABLE_SERVOS(void *a);
+bool app_write_REG_DISABLE_SERVOS(void *a);
+bool app_write_REG_ENABLE_ENCODERS(void *a);
+bool app_write_REG_ENCODER_MODE(void *a);
bool app_write_REG_RESERVED2(void *a);
bool app_write_REG_RESERVED3(void *a);
bool app_write_REG_RESERVED4(void *a);
@@ -173,23 +172,23 @@ bool app_write_REG_RESERVED6(void *a);
bool app_write_REG_RESERVED7(void *a);
bool app_write_REG_RESERVED8(void *a);
bool app_write_REG_RESERVED9(void *a);
-bool app_write_REG_CAM_OUT0_FRAME_ACQUIRED(void *a);
-bool app_write_REG_CAM_OUT0_FREQ(void *a);
-bool app_write_REG_CAM_OUT1_FRAME_ACQUIRED(void *a);
-bool app_write_REG_CAM_OUT1_FREQ(void *a);
+bool app_write_REG_CAMERA0_FRAME(void *a);
+bool app_write_REG_CAMERA0_FREQUENCY(void *a);
+bool app_write_REG_CAMERA1_FRAME(void *a);
+bool app_write_REG_CAMERA1_FREQUENCY(void *a);
bool app_write_REG_RESERVED10(void *a);
bool app_write_REG_RESERVED11(void *a);
bool app_write_REG_RESERVED12(void *a);
bool app_write_REG_RESERVED13(void *a);
-bool app_write_REG_MOTOR_OUT2_PERIOD(void *a);
-bool app_write_REG_MOTOR_OUT2_PULSE(void *a);
-bool app_write_REG_MOTOR_OUT3_PERIOD(void *a);
-bool app_write_REG_MOTOR_OUT3_PULSE(void *a);
+bool app_write_REG_SERVO_MOTOR2_PERIOD(void *a);
+bool app_write_REG_SERVO_MOTOR2_PULSE(void *a);
+bool app_write_REG_SERVO_MOTOR3_PERIOD(void *a);
+bool app_write_REG_SERVO_MOTOR3_PULSE(void *a);
bool app_write_REG_RESERVED14(void *a);
bool app_write_REG_RESERVED15(void *a);
bool app_write_REG_RESERVED16(void *a);
bool app_write_REG_RESERVED17(void *a);
-bool app_write_REG_ENCODERS_RESET(void *a);
+bool app_write_REG_ENCODER_RESET(void *a);
bool app_write_REG_RESERVED18(void *a);
bool app_write_REG_ENABLE_SERIAL_TIMESTAMP(void *a);
bool app_write_REG_MIMIC_PORT0_IR(void *a);
@@ -203,7 +202,7 @@ bool app_write_REG_MIMIC_PORT1_VALVE(void *a);
bool app_write_REG_MIMIC_PORT2_VALVE(void *a);
bool app_write_REG_RESERVED23(void *a);
bool app_write_REG_RESERVED24(void *a);
-bool app_write_REG_POKE_INPUT_FILTER_MS(void *a);
+bool app_write_REG_POKE_INPUT_FILTER(void *a);
#endif /* _APP_FUNCTIONS_H_ */
\ No newline at end of file
diff --git a/Firmware/Behavior/app_ios_and_regs.c b/Firmware/Behavior/app_ios_and_regs.c
index 559c824..29869bb 100644
--- a/Firmware/Behavior/app_ios_and_regs.c
+++ b/Firmware/Behavior/app_ios_and_regs.c
@@ -6,17 +6,17 @@ extern AppRegs app_regs;
void mimic_ir_or_valve (uint8_t reg, uint8_t what_to_do)
{
- if (reg & MSK_MIMIC)
+ if (reg & MSK_MIMIC_OUTPUT)
{
switch (reg)
{
- case GM_MIMIC_DO0: if (what_to_do == _SET_IO_) set_DO0; if (what_to_do == _CLR_IO_) clr_DO0; if (what_to_do == _TGL_IO_) tgl_DO0; break;
- case GM_MIMIC_DO1: if (what_to_do == _SET_IO_) set_DO1; if (what_to_do == _CLR_IO_) clr_DO1; if (what_to_do == _TGL_IO_) tgl_DO1; break;
- case GM_MIMIC_DO2: if (what_to_do == _SET_IO_) set_DO2; if (what_to_do == _CLR_IO_) clr_DO2; if (what_to_do == _TGL_IO_) tgl_DO2; break;
- case GM_MIMIC_DO3: if (what_to_do == _SET_IO_) set_DO3; if (what_to_do == _CLR_IO_) clr_DO3; if (what_to_do == _TGL_IO_) tgl_DO3; break;
- case GM_MIMIC_DIO0: if (what_to_do == _SET_IO_) set_io(PORTD, 5); if (what_to_do == _CLR_IO_) clear_io(PORTD, 5); if (what_to_do == _TGL_IO_) toggle_io(PORTD, 5); break;
- case GM_MIMIC_DIO1: if (what_to_do == _SET_IO_) set_io(PORTE, 5); if (what_to_do == _CLR_IO_) clear_io(PORTE, 5); if (what_to_do == _TGL_IO_) toggle_io(PORTE, 5); break;
- case GM_MIMIC_DIO2: if (what_to_do == _SET_IO_) set_io(PORTF, 5); if (what_to_do == _CLR_IO_) clear_io(PORTF, 5); if (what_to_do == _TGL_IO_) toggle_io(PORTF, 5); break;
+ case GM_MIMIC_OUTPUT_DO0: if (what_to_do == _SET_IO_) set_DO0; if (what_to_do == _CLR_IO_) clr_DO0; if (what_to_do == _TGL_IO_) tgl_DO0; break;
+ case GM_MIMIC_OUTPUT_DO1: if (what_to_do == _SET_IO_) set_DO1; if (what_to_do == _CLR_IO_) clr_DO1; if (what_to_do == _TGL_IO_) tgl_DO1; break;
+ case GM_MIMIC_OUTPUT_DO2: if (what_to_do == _SET_IO_) set_DO2; if (what_to_do == _CLR_IO_) clr_DO2; if (what_to_do == _TGL_IO_) tgl_DO2; break;
+ case GM_MIMIC_OUTPUT_DO3: if (what_to_do == _SET_IO_) set_DO3; if (what_to_do == _CLR_IO_) clr_DO3; if (what_to_do == _TGL_IO_) tgl_DO3; break;
+ case GM_MIMIC_OUTPUT_DIO0: if (what_to_do == _SET_IO_) set_io(PORTD, 5); if (what_to_do == _CLR_IO_) clear_io(PORTD, 5); if (what_to_do == _TGL_IO_) toggle_io(PORTD, 5); break;
+ case GM_MIMIC_OUTPUT_DIO1: if (what_to_do == _SET_IO_) set_io(PORTE, 5); if (what_to_do == _CLR_IO_) clear_io(PORTE, 5); if (what_to_do == _TGL_IO_) toggle_io(PORTE, 5); break;
+ case GM_MIMIC_OUTPUT_DIO2: if (what_to_do == _SET_IO_) set_io(PORTF, 5); if (what_to_do == _CLR_IO_) clear_io(PORTF, 5); if (what_to_do == _TGL_IO_) toggle_io(PORTF, 5); break;
}
}
}
@@ -26,7 +26,8 @@ void mimic_ir_or_valve (uint8_t reg, uint8_t what_to_do)
/* Configure and initialize IOs */
/************************************************************************/
void init_ios(void)
-{ /* Configure input pins */
+{
+ /* Configure input pins */
io_pin2in(&PORTD, 4, PULL_IO_UP, SENSE_IO_EDGES_BOTH); // POKE0_IR
io_pin2in(&PORTD, 5, PULL_IO_UP, SENSE_IO_EDGES_BOTH); // POKE0_IO
io_pin2in(&PORTE, 4, PULL_IO_UP, SENSE_IO_EDGES_BOTH); // POKE1_IR
@@ -269,26 +270,26 @@ uint16_t app_regs_n_elements[] = {
};
uint8_t *app_regs_pointer[] = {
- (uint8_t*)(&app_regs.REG_PORT_DIS),
+ (uint8_t*)(&app_regs.REG_DIGITAL_INPUT_STATE),
(uint8_t*)(&app_regs.REG_RESERVED0),
- (uint8_t*)(&app_regs.REG_OUTPUTS_SET),
- (uint8_t*)(&app_regs.REG_OUTPUTS_CLEAR),
- (uint8_t*)(&app_regs.REG_OUTPUTS_TOGGLE),
- (uint8_t*)(&app_regs.REG_OUTPUTS_OUT),
- (uint8_t*)(&app_regs.REG_PORT_DIOS_SET),
- (uint8_t*)(&app_regs.REG_PORT_DIOS_CLEAR),
- (uint8_t*)(&app_regs.REG_PORT_DIOS_TOGGLE),
- (uint8_t*)(&app_regs.REG_PORT_DIOS_OUT),
- (uint8_t*)(&app_regs.REG_PORT_DIOS_CONF),
- (uint8_t*)(&app_regs.REG_PORT_DIOS_IN),
- (uint8_t*)(app_regs.REG_DATA),
- (uint8_t*)(&app_regs.REG_OUTPUT_PULSE_EN),
- (uint8_t*)(&app_regs.REG_PULSE_PORT0_DO),
- (uint8_t*)(&app_regs.REG_PULSE_PORT1_DO),
- (uint8_t*)(&app_regs.REG_PULSE_PORT2_DO),
- (uint8_t*)(&app_regs.REG_PULSE_PORT0_12V),
- (uint8_t*)(&app_regs.REG_PULSE_PORT1_12V),
- (uint8_t*)(&app_regs.REG_PULSE_PORT2_12V),
+ (uint8_t*)(&app_regs.REG_OUTPUT_SET),
+ (uint8_t*)(&app_regs.REG_OUTPUT_CLEAR),
+ (uint8_t*)(&app_regs.REG_OUTPUT_TOGGLE),
+ (uint8_t*)(&app_regs.REG_OUTPUT_STATE),
+ (uint8_t*)(&app_regs.REG_PORT_DIO_SET),
+ (uint8_t*)(&app_regs.REG_PORT_DIO_CLEAR),
+ (uint8_t*)(&app_regs.REG_PORT_DIO_TOGGLE),
+ (uint8_t*)(&app_regs.REG_PORT_DIO_STATE),
+ (uint8_t*)(&app_regs.REG_PORT_DIO_DIRECTION),
+ (uint8_t*)(&app_regs.REG_PORT_DIO_STATE_EVENT),
+ (uint8_t*)(&app_regs.REG_ANALOG_DATA),
+ (uint8_t*)(&app_regs.REG_OUTPUT_PULSE_ENABLE),
+ (uint8_t*)(&app_regs.REG_PULSE_DO_PORT0),
+ (uint8_t*)(&app_regs.REG_PULSE_DO_PORT1),
+ (uint8_t*)(&app_regs.REG_PULSE_DO_PORT2),
+ (uint8_t*)(&app_regs.REG_PULSE_SUPPLY_PORT0),
+ (uint8_t*)(&app_regs.REG_PULSE_SUPPLY_PORT1),
+ (uint8_t*)(&app_regs.REG_PULSE_SUPPLY_PORT2),
(uint8_t*)(&app_regs.REG_PULSE_LED0),
(uint8_t*)(&app_regs.REG_PULSE_LED1),
(uint8_t*)(&app_regs.REG_PULSE_RGB0),
@@ -297,30 +298,30 @@ uint8_t *app_regs_pointer[] = {
(uint8_t*)(&app_regs.REG_PULSE_DO1),
(uint8_t*)(&app_regs.REG_PULSE_DO2),
(uint8_t*)(&app_regs.REG_PULSE_DO3),
- (uint8_t*)(&app_regs.REG_FREQ_DO0),
- (uint8_t*)(&app_regs.REG_FREQ_DO1),
- (uint8_t*)(&app_regs.REG_FREQ_DO2),
- (uint8_t*)(&app_regs.REG_FREQ_DO3),
- (uint8_t*)(&app_regs.REG_DCYCLE_DO0),
- (uint8_t*)(&app_regs.REG_DCYCLE_DO1),
- (uint8_t*)(&app_regs.REG_DCYCLE_DO2),
- (uint8_t*)(&app_regs.REG_DCYCLE_DO3),
+ (uint8_t*)(&app_regs.REG_PWM_FREQUENCY_DO0),
+ (uint8_t*)(&app_regs.REG_PWM_FREQUENCY_DO1),
+ (uint8_t*)(&app_regs.REG_PWM_FREQUENCY_DO2),
+ (uint8_t*)(&app_regs.REG_PWM_FREQUENCY_DO3),
+ (uint8_t*)(&app_regs.REG_PWM_DUTY_CYCLE_DO0),
+ (uint8_t*)(&app_regs.REG_PWM_DUTY_CYCLE_DO1),
+ (uint8_t*)(&app_regs.REG_PWM_DUTY_CYCLE_DO2),
+ (uint8_t*)(&app_regs.REG_PWM_DUTY_CYCLE_DO3),
(uint8_t*)(&app_regs.REG_PWM_START),
(uint8_t*)(&app_regs.REG_PWM_STOP),
- (uint8_t*)(app_regs.REG_RGBS),
- (uint8_t*)(app_regs.REG_RGB0),
- (uint8_t*)(app_regs.REG_RGB1),
+ (uint8_t*)(&app_regs.REG_RGB_ALL),
+ (uint8_t*)(&app_regs.REG_RGB0),
+ (uint8_t*)(&app_regs.REG_RGB1),
(uint8_t*)(&app_regs.REG_LED0_CURRENT),
(uint8_t*)(&app_regs.REG_LED1_CURRENT),
(uint8_t*)(&app_regs.REG_LED0_MAX_CURRENT),
(uint8_t*)(&app_regs.REG_LED1_MAX_CURRENT),
- (uint8_t*)(&app_regs.REG_EVNT_ENABLE),
+ (uint8_t*)(&app_regs.REG_EVENT_ENABLE),
(uint8_t*)(&app_regs.REG_START_CAMERAS),
(uint8_t*)(&app_regs.REG_STOP_CAMERAS),
- (uint8_t*)(&app_regs.REG_EN_SERVOS),
- (uint8_t*)(&app_regs.REG_DIS_SERVOS),
- (uint8_t*)(&app_regs.REG_EN_ENCODERS),
- (uint8_t*)(&app_regs.REG_CONF_ENCODERS),
+ (uint8_t*)(&app_regs.REG_ENABLE_SERVOS),
+ (uint8_t*)(&app_regs.REG_DISABLE_SERVOS),
+ (uint8_t*)(&app_regs.REG_ENABLE_ENCODERS),
+ (uint8_t*)(&app_regs.REG_ENCODER_MODE),
(uint8_t*)(&app_regs.REG_RESERVED2),
(uint8_t*)(&app_regs.REG_RESERVED3),
(uint8_t*)(&app_regs.REG_RESERVED4),
@@ -329,23 +330,23 @@ uint8_t *app_regs_pointer[] = {
(uint8_t*)(&app_regs.REG_RESERVED7),
(uint8_t*)(&app_regs.REG_RESERVED8),
(uint8_t*)(&app_regs.REG_RESERVED9),
- (uint8_t*)(&app_regs.REG_CAM_OUT0_FRAME_ACQUIRED),
- (uint8_t*)(&app_regs.REG_CAM_OUT0_FREQ),
- (uint8_t*)(&app_regs.REG_CAM_OUT1_FRAME_ACQUIRED),
- (uint8_t*)(&app_regs.REG_CAM_OUT1_FREQ),
+ (uint8_t*)(&app_regs.REG_CAMERA0_FRAME),
+ (uint8_t*)(&app_regs.REG_CAMERA0_FREQUENCY),
+ (uint8_t*)(&app_regs.REG_CAMERA1_FRAME),
+ (uint8_t*)(&app_regs.REG_CAMERA1_FREQUENCY),
(uint8_t*)(&app_regs.REG_RESERVED10),
(uint8_t*)(&app_regs.REG_RESERVED11),
(uint8_t*)(&app_regs.REG_RESERVED12),
(uint8_t*)(&app_regs.REG_RESERVED13),
- (uint8_t*)(&app_regs.REG_MOTOR_OUT2_PERIOD),
- (uint8_t*)(&app_regs.REG_MOTOR_OUT2_PULSE),
- (uint8_t*)(&app_regs.REG_MOTOR_OUT3_PERIOD),
- (uint8_t*)(&app_regs.REG_MOTOR_OUT3_PULSE),
+ (uint8_t*)(&app_regs.REG_SERVO_MOTOR2_PERIOD),
+ (uint8_t*)(&app_regs.REG_SERVO_MOTOR2_PULSE),
+ (uint8_t*)(&app_regs.REG_SERVO_MOTOR3_PERIOD),
+ (uint8_t*)(&app_regs.REG_SERVO_MOTOR3_PULSE),
(uint8_t*)(&app_regs.REG_RESERVED14),
(uint8_t*)(&app_regs.REG_RESERVED15),
(uint8_t*)(&app_regs.REG_RESERVED16),
(uint8_t*)(&app_regs.REG_RESERVED17),
- (uint8_t*)(&app_regs.REG_ENCODERS_RESET),
+ (uint8_t*)(&app_regs.REG_ENCODER_RESET),
(uint8_t*)(&app_regs.REG_RESERVED18),
(uint8_t*)(&app_regs.REG_ENABLE_SERIAL_TIMESTAMP),
(uint8_t*)(&app_regs.REG_MIMIC_PORT0_IR),
@@ -359,5 +360,5 @@ uint8_t *app_regs_pointer[] = {
(uint8_t*)(&app_regs.REG_MIMIC_PORT2_VALVE),
(uint8_t*)(&app_regs.REG_RESERVED23),
(uint8_t*)(&app_regs.REG_RESERVED24),
- (uint8_t*)(&app_regs.REG_POKE_INPUT_FILTER_MS)
+ (uint8_t*)(&app_regs.REG_POKE_INPUT_FILTER)
};
\ No newline at end of file
diff --git a/Firmware/Behavior/app_ios_and_regs.h b/Firmware/Behavior/app_ios_and_regs.h
index 2fcd64c..7119555 100644
--- a/Firmware/Behavior/app_ios_and_regs.h
+++ b/Firmware/Behavior/app_ios_and_regs.h
@@ -12,38 +12,40 @@ void mimic_ir_or_valve (uint8_t reg, uint8_t what_t_do);
/************************************************************************/
/* Definition of input pins */
/************************************************************************/
-// POKE0_IR Description: Poke 0 infrared
-// POKE0_IO Description: Poke 0 DIO
-// POKE1_IR Description: Poke 1 infrared
-// POKE1_IO Description: Poke 1 DIO
-// POKE2_IR Description: Poke 2 infrared
-// POKE2_IO Description: Poke 2 DIO
+// POKE0_IR Description: Poke 0 infrared
+// POKE0_IO Description: Poke 0 DIO
+// POKE1_IR Description: Poke 1 infrared
+// POKE1_IO Description: Poke 1 DIO
+// POKE2_IR Description: Poke 2 infrared
+// POKE2_IO Description: Poke 2 DIO
+// ADC1_AVAILABLE Description: ADC1 is available on hardware
+// DI3 Description: Input DI3
-#define read_POKE0_IR read_io(PORTD, 4) // POKE0_IR
-#define read_POKE0_IO read_io(PORTD, 5) // POKE0_IO
-#define read_POKE1_IR read_io(PORTE, 4) // POKE1_IR
-#define read_POKE1_IO read_io(PORTE, 5) // POKE1_IO
-#define read_POKE2_IR read_io(PORTF, 4) // POKE2_IR
-#define read_POKE2_IO read_io(PORTF, 5) // POKE2_IO
-#define read_ADC1_AVAILABLE read_io(PORTJ, 0) // ADC1_AVAILABLE
-#define read_DI3 read_io(PORTH, 0) // DI3
+#define read_POKE0_IR read_io(PORTD, 4) // POKE0_IR
+#define read_POKE0_IO read_io(PORTD, 5) // POKE0_IO
+#define read_POKE1_IR read_io(PORTE, 4) // POKE1_IR
+#define read_POKE1_IO read_io(PORTE, 5) // POKE1_IO
+#define read_POKE2_IR read_io(PORTF, 4) // POKE2_IR
+#define read_POKE2_IO read_io(PORTF, 5) // POKE2_IO
+#define read_ADC1_AVAILABLE read_io(PORTJ, 0) // ADC1_AVAILABLE
+#define read_DI3 read_io(PORTH, 0) // DI3
/************************************************************************/
/* Definition of output pins */
/************************************************************************/
-// DO3 Description: Output DO0
-// DO2 Description: Output DO1
-// DO1 Description: Output DO2
-// DO0 Description: Output DO3
-// LED0 Description: Output LED0
-// LED1 Description: Output LED1
-// RGBS Description: One wire LEDs
-// POKE0_LED Description: Poke 0 digital output
-// POKE0_VALVE Description: Poke 0 Valve
-// POKE1_LED Description: Poke 1 digital output
-// POKE1_VALVE Description: Poke 1 Valve
-// POKE2_LED Description: Poke 2 digital output
-// POKE2_VALVE Description: Poke 2 Valve
+// DO3 Description: Output DO0
+// DO2 Description: Output DO1
+// DO1 Description: Output DO2
+// DO0 Description: Output DO3
+// LED0 Description: Output LED0
+// LED1 Description: Output LED1
+// RGBS Description: One wire LEDs
+// POKE0_LED Description: Poke 0 digital output
+// POKE0_VALVE Description: Poke 0 Valve
+// POKE1_LED Description: Poke 1 digital output
+// POKE1_VALVE Description: Poke 1 Valve
+// POKE2_LED Description: Poke 2 digital output
+// POKE2_VALVE Description: Poke 2 Valve
/* DO3 */
#define set_DO3 set_io(PORTC, 0)
@@ -129,26 +131,26 @@ void mimic_ir_or_valve (uint8_t reg, uint8_t what_t_do);
/************************************************************************/
typedef struct
{
- uint8_t REG_PORT_DIS;
+ uint8_t REG_DIGITAL_INPUT_STATE;
uint8_t REG_RESERVED0;
- uint16_t REG_OUTPUTS_SET;
- uint16_t REG_OUTPUTS_CLEAR;
- uint16_t REG_OUTPUTS_TOGGLE;
- uint16_t REG_OUTPUTS_OUT;
- uint8_t REG_PORT_DIOS_SET;
- uint8_t REG_PORT_DIOS_CLEAR;
- uint8_t REG_PORT_DIOS_TOGGLE;
- uint8_t REG_PORT_DIOS_OUT;
- uint8_t REG_PORT_DIOS_CONF;
- uint8_t REG_PORT_DIOS_IN;
- int16_t REG_DATA[3];
- uint16_t REG_OUTPUT_PULSE_EN;
- uint16_t REG_PULSE_PORT0_DO;
- uint16_t REG_PULSE_PORT1_DO;
- uint16_t REG_PULSE_PORT2_DO;
- uint16_t REG_PULSE_PORT0_12V;
- uint16_t REG_PULSE_PORT1_12V;
- uint16_t REG_PULSE_PORT2_12V;
+ uint16_t REG_OUTPUT_SET;
+ uint16_t REG_OUTPUT_CLEAR;
+ uint16_t REG_OUTPUT_TOGGLE;
+ uint16_t REG_OUTPUT_STATE;
+ uint8_t REG_PORT_DIO_SET;
+ uint8_t REG_PORT_DIO_CLEAR;
+ uint8_t REG_PORT_DIO_TOGGLE;
+ uint8_t REG_PORT_DIO_STATE;
+ uint8_t REG_PORT_DIO_DIRECTION;
+ uint8_t REG_PORT_DIO_STATE_EVENT;
+ int16_t REG_ANALOG_DATA[3];
+ uint16_t REG_OUTPUT_PULSE_ENABLE;
+ uint16_t REG_PULSE_DO_PORT0;
+ uint16_t REG_PULSE_DO_PORT1;
+ uint16_t REG_PULSE_DO_PORT2;
+ uint16_t REG_PULSE_SUPPLY_PORT0;
+ uint16_t REG_PULSE_SUPPLY_PORT1;
+ uint16_t REG_PULSE_SUPPLY_PORT2;
uint16_t REG_PULSE_LED0;
uint16_t REG_PULSE_LED1;
uint16_t REG_PULSE_RGB0;
@@ -157,30 +159,30 @@ typedef struct
uint16_t REG_PULSE_DO1;
uint16_t REG_PULSE_DO2;
uint16_t REG_PULSE_DO3;
- uint16_t REG_FREQ_DO0;
- uint16_t REG_FREQ_DO1;
- uint16_t REG_FREQ_DO2;
- uint16_t REG_FREQ_DO3;
- uint8_t REG_DCYCLE_DO0;
- uint8_t REG_DCYCLE_DO1;
- uint8_t REG_DCYCLE_DO2;
- uint8_t REG_DCYCLE_DO3;
+ uint16_t REG_PWM_FREQUENCY_DO0;
+ uint16_t REG_PWM_FREQUENCY_DO1;
+ uint16_t REG_PWM_FREQUENCY_DO2;
+ uint16_t REG_PWM_FREQUENCY_DO3;
+ uint8_t REG_PWM_DUTY_CYCLE_DO0;
+ uint8_t REG_PWM_DUTY_CYCLE_DO1;
+ uint8_t REG_PWM_DUTY_CYCLE_DO2;
+ uint8_t REG_PWM_DUTY_CYCLE_DO3;
uint8_t REG_PWM_START;
uint8_t REG_PWM_STOP;
- uint8_t REG_RGBS[6];
+ uint8_t REG_RGB_ALL[6];
uint8_t REG_RGB0[3];
uint8_t REG_RGB1[3];
uint8_t REG_LED0_CURRENT;
uint8_t REG_LED1_CURRENT;
uint8_t REG_LED0_MAX_CURRENT;
uint8_t REG_LED1_MAX_CURRENT;
- uint8_t REG_EVNT_ENABLE;
+ uint8_t REG_EVENT_ENABLE;
uint8_t REG_START_CAMERAS;
uint8_t REG_STOP_CAMERAS;
- uint8_t REG_EN_SERVOS;
- uint8_t REG_DIS_SERVOS;
- uint8_t REG_EN_ENCODERS;
- uint8_t REG_CONF_ENCODERS;
+ uint8_t REG_ENABLE_SERVOS;
+ uint8_t REG_DISABLE_SERVOS;
+ uint8_t REG_ENABLE_ENCODERS;
+ uint8_t REG_ENCODER_MODE;
uint8_t REG_RESERVED2;
uint8_t REG_RESERVED3;
uint8_t REG_RESERVED4;
@@ -189,23 +191,23 @@ typedef struct
uint8_t REG_RESERVED7;
uint8_t REG_RESERVED8;
uint8_t REG_RESERVED9;
- uint8_t REG_CAM_OUT0_FRAME_ACQUIRED;
- uint16_t REG_CAM_OUT0_FREQ;
- uint8_t REG_CAM_OUT1_FRAME_ACQUIRED;
- uint16_t REG_CAM_OUT1_FREQ;
+ uint8_t REG_CAMERA0_FRAME;
+ uint16_t REG_CAMERA0_FREQUENCY;
+ uint8_t REG_CAMERA1_FRAME;
+ uint16_t REG_CAMERA1_FREQUENCY;
uint8_t REG_RESERVED10;
uint8_t REG_RESERVED11;
uint8_t REG_RESERVED12;
uint8_t REG_RESERVED13;
- uint16_t REG_MOTOR_OUT2_PERIOD;
- uint16_t REG_MOTOR_OUT2_PULSE;
- uint16_t REG_MOTOR_OUT3_PERIOD;
- uint16_t REG_MOTOR_OUT3_PULSE;
+ uint16_t REG_SERVO_MOTOR2_PERIOD;
+ uint16_t REG_SERVO_MOTOR2_PULSE;
+ uint16_t REG_SERVO_MOTOR3_PERIOD;
+ uint16_t REG_SERVO_MOTOR3_PULSE;
uint8_t REG_RESERVED14;
uint8_t REG_RESERVED15;
uint8_t REG_RESERVED16;
uint8_t REG_RESERVED17;
- uint8_t REG_ENCODERS_RESET;
+ uint8_t REG_ENCODER_RESET;
uint8_t REG_RESERVED18;
uint8_t REG_ENABLE_SERIAL_TIMESTAMP;
uint8_t REG_MIMIC_PORT0_IR;
@@ -219,107 +221,107 @@ typedef struct
uint8_t REG_MIMIC_PORT2_VALVE;
uint8_t REG_RESERVED23;
uint8_t REG_RESERVED24;
- uint8_t REG_POKE_INPUT_FILTER_MS;
+ uint8_t REG_POKE_INPUT_FILTER;
} AppRegs;
/************************************************************************/
/* Registers' address */
/************************************************************************/
/* Registers */
-#define ADD_REG_PORT_DIS 32 // U8 Reflects the state of DI digital lines of each Port
-#define ADD_REG_RESERVED0 33 // U8 Reserved for future use
-#define ADD_REG_OUTPUTS_SET 34 // U16 Set the correspondent output
-#define ADD_REG_OUTPUTS_CLEAR 35 // U16 Clear the correspondent output
-#define ADD_REG_OUTPUTS_TOGGLE 36 // U16 Toggle the correspondent output
-#define ADD_REG_OUTPUTS_OUT 37 // U16 Control the correspondent output
-#define ADD_REG_PORT_DIOS_SET 38 // U8 Set the correspondent DIO
-#define ADD_REG_PORT_DIOS_CLEAR 39 // U8 Clear the correspondent DIO
-#define ADD_REG_PORT_DIOS_TOGGLE 40 // U8 Toggle the correspondent DIO
-#define ADD_REG_PORT_DIOS_OUT 41 // U8 Control the correspondent DIO
-#define ADD_REG_PORT_DIOS_CONF 42 // U8 Set the DIOs direction (1 is output)
-#define ADD_REG_PORT_DIOS_IN 43 // U8 State of the DIOs
-#define ADD_REG_DATA 44 // I16 Voltage at ADC input and decoder (poke 2) value
-#define ADD_REG_OUTPUT_PULSE_EN 45 // U16 Enable the output pulse for the selected output
-#define ADD_REG_PULSE_PORT0_DO 46 // U16 Configuration of the output pulse [1 : 65535]
-#define ADD_REG_PULSE_PORT1_DO 47 // U16
-#define ADD_REG_PULSE_PORT2_DO 48 // U16
-#define ADD_REG_PULSE_PORT0_12V 49 // U16
-#define ADD_REG_PULSE_PORT1_12V 50 // U16
-#define ADD_REG_PULSE_PORT2_12V 51 // U16
-#define ADD_REG_PULSE_LED0 52 // U16
-#define ADD_REG_PULSE_LED1 53 // U16
-#define ADD_REG_PULSE_RGB0 54 // U16
-#define ADD_REG_PULSE_RGB1 55 // U16
-#define ADD_REG_PULSE_DO0 56 // U16
-#define ADD_REG_PULSE_DO1 57 // U16
-#define ADD_REG_PULSE_DO2 58 // U16
-#define ADD_REG_PULSE_DO3 59 // U16
-#define ADD_REG_FREQ_DO0 60 // U16 Frequency of the output [1 : TBD]
-#define ADD_REG_FREQ_DO1 61 // U16
-#define ADD_REG_FREQ_DO2 62 // U16
-#define ADD_REG_FREQ_DO3 63 // U16
-#define ADD_REG_DCYCLE_DO0 64 // U8 Dutycycle of the output [1 : 99]
-#define ADD_REG_DCYCLE_DO1 65 // U8
-#define ADD_REG_DCYCLE_DO2 66 // U8
-#define ADD_REG_DCYCLE_DO3 67 // U8
-#define ADD_REG_PWM_START 68 // U8 Start the PWM output on the selected output
-#define ADD_REG_PWM_STOP 69 // U8 Stop the PWM output on the selected output
-#define ADD_REG_RGBS 70 // U8 [RGB0 Green] [RGB0 Red] [RGB0 Blue] [RGB1 Green] [RGB1 Red] [RGB1 Blue]
-#define ADD_REG_RGB0 71 // U8 [RGB0 Green] [RGB0 Red] [RGB0 Blue]
-#define ADD_REG_RGB1 72 // U8 [RGB1 Green] [RGB1 Red] [RGB1 Blue]
-#define ADD_REG_LED0_CURRENT 73 // U8 Configuration of current to drive LED 0 [2:100]
-#define ADD_REG_LED1_CURRENT 74 // U8 Configuration of current to drive LED 1 [2:100]
-#define ADD_REG_LED0_MAX_CURRENT 75 // U8 Configuration of current to drive LED 0 [5:100]
-#define ADD_REG_LED1_MAX_CURRENT 76 // U8 Configuration of current to drive LED 1 [5:100]
-#define ADD_REG_EVNT_ENABLE 77 // U8 Enable the Events
-#define ADD_REG_START_CAMERAS 78 // U8 Enable cameras
-#define ADD_REG_STOP_CAMERAS 79 // U8 Disable cameras
-#define ADD_REG_EN_SERVOS 80 // U8 Enable servo motors control
-#define ADD_REG_DIS_SERVOS 81 // U8 Disable servo motors control
-#define ADD_REG_EN_ENCODERS 82 // U8 Enable encoders
-#define ADD_REG_CONF_ENCODERS 83 // U8 Configure the operation mode of the quadrature encoders
-#define ADD_REG_RESERVED2 84 // U8 Reserved for future use
-#define ADD_REG_RESERVED3 85 // U8 Reserved for future use
-#define ADD_REG_RESERVED4 86 // U8 Reserved for future use
-#define ADD_REG_RESERVED5 87 // U8 Reserved for future use
-#define ADD_REG_RESERVED6 88 // U8 Reserved for future use
-#define ADD_REG_RESERVED7 89 // U8 Reserved for future use
-#define ADD_REG_RESERVED8 90 // U8 Reserved for future use
-#define ADD_REG_RESERVED9 91 // U8 Reserved for future use
-#define ADD_REG_CAM_OUT0_FRAME_ACQUIRED 92 // U8
-#define ADD_REG_CAM_OUT0_FREQ 93 // U16 Configures the camera's sample frequency [1;600]
-#define ADD_REG_CAM_OUT1_FRAME_ACQUIRED 94 // U8
-#define ADD_REG_CAM_OUT1_FREQ 95 // U16 Configures the camera's sample frequency [1;600]
-#define ADD_REG_RESERVED10 96 // U8 Reserved for future use
-#define ADD_REG_RESERVED11 97 // U8 Reserved for future use
-#define ADD_REG_RESERVED12 98 // U8 Reserved for future use
-#define ADD_REG_RESERVED13 99 // U8 Reserved for future use
-#define ADD_REG_MOTOR_OUT2_PERIOD 100 // U16 Configures the servo motor period (us) (sensitive to 2 us)
-#define ADD_REG_MOTOR_OUT2_PULSE 101 // U16 Configures the servo motor pulse (us) (sensitive to 2 us)
-#define ADD_REG_MOTOR_OUT3_PERIOD 102 // U16 Configures the servo motor period (us) (sensitive to 2 us)
-#define ADD_REG_MOTOR_OUT3_PULSE 103 // U16 Configures the servo motor pulse (us) (sensitive to 2 us)
-#define ADD_REG_RESERVED14 104 // U8 Reserved for future use
-#define ADD_REG_RESERVED15 105 // U8 Reserved for future use
-#define ADD_REG_RESERVED16 106 // U8 Reserved for future use
-#define ADD_REG_RESERVED17 107 // U8 Reserved for future use
-#define ADD_REG_ENCODERS_RESET 108 // U8 Resets the encoders counter to ZERO
-#define ADD_REG_RESERVED18 109 // U8 Reserved for future use
-#define ADD_REG_ENABLE_SERIAL_TIMESTAMP 110 // U8 Enables the timestamp TX
-#define ADD_REG_MIMIC_PORT0_IR 111 // U8
-#define ADD_REG_MIMIC_PORT1_IR 112 // U8
-#define ADD_REG_MIMIC_PORT2_IR 113 // U8
-#define ADD_REG_RESERVED20 114 // U8
-#define ADD_REG_RESERVED21 115 // U8
-#define ADD_REG_RESERVED22 116 // U8
-#define ADD_REG_MIMIC_PORT0_VALVE 117 // U8
-#define ADD_REG_MIMIC_PORT1_VALVE 118 // U8
-#define ADD_REG_MIMIC_PORT2_VALVE 119 // U8
-#define ADD_REG_RESERVED23 120 // U8
-#define ADD_REG_RESERVED24 121 // U8
-#define ADD_REG_POKE_INPUT_FILTER_MS 122 // U8 Set the low pass filter time value for the pokes inputs (ms)
+#define ADD_REG_DIGITAL_INPUT_STATE 32 // U8 Reflects the state of DI digital lines of each Port
+#define ADD_REG_RESERVED0 33 // U8 Reserved for future use
+#define ADD_REG_OUTPUT_SET 34 // U16 Set the specified digital output lines.
+#define ADD_REG_OUTPUT_CLEAR 35 // U16 Clear the specified digital output lines
+#define ADD_REG_OUTPUT_TOGGLE 36 // U16 Toggle the specified digital output lines
+#define ADD_REG_OUTPUT_STATE 37 // U16 Write the state of all digital output lines
+#define ADD_REG_PORT_DIO_SET 38 // U8 Set the specified port DIO lines
+#define ADD_REG_PORT_DIO_CLEAR 39 // U8 Clear the specified port DIO lines
+#define ADD_REG_PORT_DIO_TOGGLE 40 // U8 Toggle the specified port DIO lines
+#define ADD_REG_PORT_DIO_STATE 41 // U8 Write the state of all port DIO lines
+#define ADD_REG_PORT_DIO_DIRECTION 42 // U8 Specifies which of the port DIO lines are outputs
+#define ADD_REG_PORT_DIO_STATE_EVENT 43 // U8 Specifies the state of the port DIO lines on a line change
+#define ADD_REG_ANALOG_DATA 44 // I16 Voltage at the ADC input and encoder value on Port 2
+#define ADD_REG_OUTPUT_PULSE_ENABLE 45 // U16 Enables the pulse function for the specified output lines
+#define ADD_REG_PULSE_DO_PORT0 46 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_DO_PORT1 47 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_DO_PORT2 48 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_SUPPLY_PORT0 49 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_SUPPLY_PORT1 50 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_SUPPLY_PORT2 51 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_LED0 52 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_LED1 53 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_RGB0 54 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_RGB1 55 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_DO0 56 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_DO1 57 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_DO2 58 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PULSE_DO3 59 // U16 Specifies the duration of the output pulse in milliseconds.
+#define ADD_REG_PWM_FREQUENCY_DO0 60 // U16 Specifies the frequency of the PWM at DO0.
+#define ADD_REG_PWM_FREQUENCY_DO1 61 // U16 Specifies the frequency of the PWM at DO1.
+#define ADD_REG_PWM_FREQUENCY_DO2 62 // U16 Specifies the frequency of the PWM at DO2.
+#define ADD_REG_PWM_FREQUENCY_DO3 63 // U16 Specifies the frequency of the PWM at DO3.
+#define ADD_REG_PWM_DUTY_CYCLE_DO0 64 // U8 Specifies the duty cycle of the PWM at DO0.
+#define ADD_REG_PWM_DUTY_CYCLE_DO1 65 // U8 Specifies the duty cycle of the PWM at DO1.
+#define ADD_REG_PWM_DUTY_CYCLE_DO2 66 // U8 Specifies the duty cycle of the PWM at DO2.
+#define ADD_REG_PWM_DUTY_CYCLE_DO3 67 // U8 Specifies the duty cycle of the PWM at DO3.
+#define ADD_REG_PWM_START 68 // U8 Starts the PWM on the selected output lines.
+#define ADD_REG_PWM_STOP 69 // U8 Stops the PWM on the selected output lines.
+#define ADD_REG_RGB_ALL 70 // U8 Specifies the state of all RGB LED channels.
+#define ADD_REG_RGB0 71 // U8 Specifies the state of the RGB0 LED channels.
+#define ADD_REG_RGB1 72 // U8 Specifies the state of the RGB1 LED channels.
+#define ADD_REG_LED0_CURRENT 73 // U8 Specifies the configuration of current to drive LED 0.
+#define ADD_REG_LED1_CURRENT 74 // U8 Specifies the configuration of current to drive LED 1.
+#define ADD_REG_LED0_MAX_CURRENT 75 // U8 Specifies the configuration of current to drive LED 0.
+#define ADD_REG_LED1_MAX_CURRENT 76 // U8 Specifies the configuration of current to drive LED 1.
+#define ADD_REG_EVENT_ENABLE 77 // U8 Specifies the active events in the device.
+#define ADD_REG_START_CAMERAS 78 // U8 Specifies the camera outputs to enable in the device.
+#define ADD_REG_STOP_CAMERAS 79 // U8 Specifies the camera outputs to disable in the device. An event will be issued when the trigger signal is actually stopped being generated.
+#define ADD_REG_ENABLE_SERVOS 80 // U8 Specifies the servo outputs to enable in the device.
+#define ADD_REG_DISABLE_SERVOS 81 // U8 Specifies the servo outputs to disable in the device.
+#define ADD_REG_ENABLE_ENCODERS 82 // U8 Specifies the port quadrature counters to enable in the device.
+#define ADD_REG_ENCODER_MODE 83 // U8 Configures the operation mode of the quadrature encoders.
+#define ADD_REG_RESERVED2 84 // U8 Reserved for future use
+#define ADD_REG_RESERVED3 85 // U8 Reserved for future use
+#define ADD_REG_RESERVED4 86 // U8 Reserved for future use
+#define ADD_REG_RESERVED5 87 // U8 Reserved for future use
+#define ADD_REG_RESERVED6 88 // U8 Reserved for future use
+#define ADD_REG_RESERVED7 89 // U8 Reserved for future use
+#define ADD_REG_RESERVED8 90 // U8 Reserved for future use
+#define ADD_REG_RESERVED9 91 // U8 Reserved for future use
+#define ADD_REG_CAMERA0_FRAME 92 // U8 Specifies that a frame was acquired on camera 0.
+#define ADD_REG_CAMERA0_FREQUENCY 93 // U16 Specifies the trigger frequency for camera 0.
+#define ADD_REG_CAMERA1_FRAME 94 // U8 Specifies that a frame was acquired on camera 1.
+#define ADD_REG_CAMERA1_FREQUENCY 95 // U16 Specifies the trigger frequency for camera 1.
+#define ADD_REG_RESERVED10 96 // U8 Reserved for future use
+#define ADD_REG_RESERVED11 97 // U8 Reserved for future use
+#define ADD_REG_RESERVED12 98 // U8 Reserved for future use
+#define ADD_REG_RESERVED13 99 // U8 Reserved for future use
+#define ADD_REG_SERVO_MOTOR2_PERIOD 100 // U16 Specifies the period of the servo motor in DO2, in microseconds.
+#define ADD_REG_SERVO_MOTOR2_PULSE 101 // U16 Specifies the pulse of the servo motor in DO2, in microseconds.
+#define ADD_REG_SERVO_MOTOR3_PERIOD 102 // U16 Specifies the period of the servo motor in DO3, in microseconds.
+#define ADD_REG_SERVO_MOTOR3_PULSE 103 // U16 Specifies the pulse of the servo motor in DO3, in microseconds.
+#define ADD_REG_RESERVED14 104 // U8 Reserved for future use
+#define ADD_REG_RESERVED15 105 // U8 Reserved for future use
+#define ADD_REG_RESERVED16 106 // U8 Reserved for future use
+#define ADD_REG_RESERVED17 107 // U8 Reserved for future use
+#define ADD_REG_ENCODER_RESET 108 // U8 Reset the counter of the specified encoders to zero.
+#define ADD_REG_RESERVED18 109 // U8 Reserved for future use
+#define ADD_REG_ENABLE_SERIAL_TIMESTAMP 110 // U8 Enables the timestamp for serial TX.
+#define ADD_REG_MIMIC_PORT0_IR 111 // U8 Specifies the digital output to mimic the Port 0 IR state.
+#define ADD_REG_MIMIC_PORT1_IR 112 // U8 Specifies the digital output to mimic the Port 1 IR state.
+#define ADD_REG_MIMIC_PORT2_IR 113 // U8 Specifies the digital output to mimic the Port 2 IR state.
+#define ADD_REG_RESERVED20 114 // U8 Reserved for future use
+#define ADD_REG_RESERVED21 115 // U8 Reserved for future use
+#define ADD_REG_RESERVED22 116 // U8 Reserved for future use
+#define ADD_REG_MIMIC_PORT0_VALVE 117 // U8 Specifies the digital output to mimic the Port 0 valve state.
+#define ADD_REG_MIMIC_PORT1_VALVE 118 // U8 Specifies the digital output to mimic the Port 1 valve state.
+#define ADD_REG_MIMIC_PORT2_VALVE 119 // U8 Specifies the digital output to mimic the Port 2 valve state.
+#define ADD_REG_RESERVED23 120 // U8 Reserved for future use
+#define ADD_REG_RESERVED24 121 // U8 Reserved for future use
+#define ADD_REG_POKE_INPUT_FILTER 122 // U8 Specifies the low pass filter time value for poke inputs, in ms.
/************************************************************************/
-/* PWM Generator registers' memory limits */
+/* Behavior registers' memory limits */
/* */
/* DON'T change the APP_REGS_ADD_MIN value !!! */
/* DON'T change these names !!! */
@@ -332,55 +334,54 @@ typedef struct
/************************************************************************/
/* Registers' bits */
/************************************************************************/
-#define B_DI0 (1<<0) // Port 0 digital input
-#define B_DI1 (1<<1) // Port 1 digital input
-#define B_DI2 (1<<2) // Port 2 digital input
-#define B_DI3 (1<<3) // Digital input DI3
-#define B_PORT0_DO (1<<0) //
-#define B_PORT1_DO (1<<1) //
-#define B_PORT2_DO (1<<2) //
-#define B_PORT0_12V (1<<3) //
-#define B_PORT1_12V (1<<4) //
-#define B_PORT2_12V (1<<5) //
-#define B_LED0 (1<<6) //
-#define B_LED1 (1<<7) //
-#define B_RGB0 (1<<8) //
-#define B_RGB1 (1<<9) //
-#define B_DO0 (1<<10) //
-#define B_DO1 (1<<11) //
-#define B_DO2 (1<<12) //
-#define B_DO3 (1<<13) //
-#define B_DIO0 (1<<0) //
-#define B_DIO1 (1<<1) //
-#define B_DIO2 (1<<2) //
-#define B_PWM_DO0 (1<<0) //
-#define B_PWM_DO1 (1<<1) //
-#define B_PWM_DO2 (1<<2) //
-#define B_PWM_DO3 (1<<3) //
-#define B_EVT_PORT_DIS (1<<0) // Event of register POKE_IN
-#define B_EVT_PORT_DIOS_IN (1<<1) // Event of register POKE_DIOS_IN
-#define B_EVT_DATA (1<<2) // Event of register ADC
-#define B_EVT_CAM0 (1<<3) // Event of CAM_OUT0_FRAME_ACQUIRED
-#define B_EVT_CAM1 (1<<4) // Event of CAM_OUT1_FRAME_ACQUIRED
-#define B_EN_CAM_OUT0 (1<<0) // Camera on digital output 0
-#define B_EN_CAM_OUT1 (1<<1) // Camera on digital output 1
-#define B_EN_SERVO_OUT2 (1<<2) // Servo on digital output 2
-#define B_EN_SERVO_OUT3 (1<<3) // Servo on digital output 3
-#define B_EN_ENCODER_PORT2 (1<<2) // Encoder on port 2
-#define MSK_ENCODERS_MODE 0x01 //
-#define GM_POSITION 0x00 //
-#define GM_DISPLACEMENT 0x01 //
-#define B_CAM_ACQ (1<<0) // Camera frame was triggered
-#define B_RST_ENCODER_PORT2 (1<<2) // Reset the encoder counter on Port 2
-#define B_EN_SRL_TSTAMP_PORT2 (1<<2) // Enable the serial timestamp TX on Port 2
-#define MSK_MIMIC 0x0F //
-#define GM_MIMIC_NONE 0x00 //
-#define GM_MIMIC_DIO0 0x01 // Is reflected on DIO0
-#define GM_MIMIC_DIO1 0x02 // Is reflected on DIO1
-#define GM_MIMIC_DIO2 0x03 // Is reflected on DIO2
-#define GM_MIMIC_DO0 0x04 // Is reflected on DO0
-#define GM_MIMIC_DO1 0x05 // Is reflected on DO1
-#define GM_MIMIC_DO2 0x06 // Is reflected on DO2
-#define GM_MIMIC_DO3 0x07 // Is reflected on DO3
+#define B_DI_PORT0 (1<<0) // Port 0 digital input
+#define B_DI_PORT1 (1<<1) // Port 1 digital input
+#define B_DI_PORT2 (1<<2) // Port 2 digital input
+#define B_DI3 (1<<3) // Digital input DI3
+#define B_DO_PORT0 (1<<0) //
+#define B_DO_PORT1 (1<<1) //
+#define B_DO_PORT2 (1<<2) //
+#define B_SUPPLY_PORT0 (1<<3) //
+#define B_SUPPLY_PORT1 (1<<4) //
+#define B_SUPPLY_PORT2 (1<<5) //
+#define B_LED0 (1<<6) //
+#define B_LED1 (1<<7) //
+#define B_RGB0 (1<<8) //
+#define B_RGB1 (1<<9) //
+#define B_DO0 (1<<10) //
+#define B_DO1 (1<<11) //
+#define B_DO2 (1<<12) //
+#define B_DO3 (1<<13) //
+#define B_DIO0 (1<<0) //
+#define B_DIO1 (1<<1) //
+#define B_DIO2 (1<<2) //
+#define B_PWM_DO0 (1<<0) //
+#define B_PWM_DO1 (1<<1) //
+#define B_PWM_DO2 (1<<2) //
+#define B_PWM_DO3 (1<<3) //
+#define B_PORT_DI (1<<0) // Event from register DigitalInputState
+#define B_PORT_DIO (1<<1) // Event from register PortDIOStateEvent
+#define B_ANALOG_DATA (1<<2) // Event from register AnalogData
+#define B_CAMERA0 (1<<3) // Event from register Camera0Frame
+#define B_CAMERA1 (1<<4) // Event from register Camera1Frame
+#define B_CAMERA_OUTPUT0 (1<<0) // Camera on digital output 0
+#define B_CAMERA_OUTPUT1 (1<<1) // Camera on digital output 1
+#define B_SERVO_OUTPUT2 (1<<2) // Servo on digital output 2
+#define B_SERVO_OUTPUT3 (1<<3) // Servo on digital output 3
+#define B_ENCODER_PORT2 (1<<2) // Encoder on port 2
+#define B_FRAME_ACQUIRED (1<<0) // Camera frame was triggered
+#define B_TIMESTAMP_PORT2 (1<<2) // Enable the serial timestamp TX on Port 2
+#define MSK_MIMIC_OUTPUT 0x07 //
+#define GM_MIMIC_OUTPUT_NONE 0x00 //
+#define GM_MIMIC_OUTPUT_DIO0 0x01 // Is reflected on DIO0
+#define GM_MIMIC_OUTPUT_DIO1 0x02 // Is reflected on DIO1
+#define GM_MIMIC_OUTPUT_DIO2 0x03 // Is reflected on DIO2
+#define GM_MIMIC_OUTPUT_DO0 0x04 // Is reflected on DO0
+#define GM_MIMIC_OUTPUT_DO1 0x05 // Is reflected on DO1
+#define GM_MIMIC_OUTPUT_DO2 0x06 // Is reflected on DO2
+#define GM_MIMIC_OUTPUT_DO3 0x07 // Is reflected on DO3
+#define MSK_ENCODER_MODE 0x01 //
+#define GM_ENCODER_MODE_POSITION 0x00 //
+#define GM_ENCODER_MODE_DISPLACEMENT 0x01 //
#endif /* _APP_REGS_H_ */
\ No newline at end of file
diff --git a/Firmware/Behavior/interrupts.c b/Firmware/Behavior/interrupts.c
index ff83cc1..5a2c663 100644
--- a/Firmware/Behavior/interrupts.c
+++ b/Firmware/Behavior/interrupts.c
@@ -35,14 +35,14 @@ extern uint8_t int0_enable_counter;
ISR(PORTD_INT0_vect, ISR_NAKED)
{
- uint8_t reg_port_dis = app_regs.REG_PORT_DIS;
- uint8_t reg_port_dios_in = app_regs.REG_PORT_DIOS_IN;
+ uint8_t reg_port_dis = app_regs.REG_DIGITAL_INPUT_STATE;
+ uint8_t reg_port_dios_in = app_regs.REG_PORT_DIO_STATE_EVENT;
- app_regs.REG_PORT_DIS &= ~B_DI0;
- app_regs.REG_PORT_DIS |= (read_POKE0_IR) ? B_DI0 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE &= ~B_DI_PORT0;
+ app_regs.REG_DIGITAL_INPUT_STATE |= (read_POKE0_IR) ? B_DI_PORT0 : 0;
- app_regs.REG_PORT_DIOS_IN &= ~B_DIO0;
- app_regs.REG_PORT_DIOS_IN |= (read_POKE0_IO) ? B_DIO0 : 0;
+ app_regs.REG_PORT_DIO_STATE_EVENT &= ~B_DIO0;
+ app_regs.REG_PORT_DIO_STATE_EVENT |= (read_POKE0_IO) ? B_DIO0 : 0;
if(read_POKE0_IR)
@@ -50,22 +50,22 @@ ISR(PORTD_INT0_vect, ISR_NAKED)
else
mimic_ir_or_valve(app_regs.REG_MIMIC_PORT0_IR, _CLR_IO_);
- if (app_regs.REG_EVNT_ENABLE & B_EVT_PORT_DIS)
+ if (app_regs.REG_EVENT_ENABLE & B_PORT_DI)
{
- if (reg_port_dis != app_regs.REG_PORT_DIS)
+ if (reg_port_dis != app_regs.REG_DIGITAL_INPUT_STATE)
{
- core_func_send_event(ADD_REG_PORT_DIS, true);
+ core_func_send_event(ADD_REG_DIGITAL_INPUT_STATE, true);
- if (app_regs.REG_POKE_INPUT_FILTER_MS)
+ if (app_regs.REG_POKE_INPUT_FILTER)
{
PORTD_INTCTRL &= 0xFC; // Disable interrupt
- int0_enable_counter = app_regs.REG_POKE_INPUT_FILTER_MS;
+ int0_enable_counter = app_regs.REG_POKE_INPUT_FILTER;
}
}
- if (reg_port_dios_in != app_regs.REG_PORT_DIOS_IN)
+ if (reg_port_dios_in != app_regs.REG_PORT_DIO_STATE_EVENT)
{
- core_func_send_event(ADD_REG_PORT_DIOS_IN, true);
+ core_func_send_event(ADD_REG_PORT_DIO_STATE_EVENT, true);
}
}
@@ -79,36 +79,36 @@ extern uint8_t int1_enable_counter;
ISR(PORTE_INT0_vect, ISR_NAKED)
{
- uint8_t reg_port_dis = app_regs.REG_PORT_DIS;
- uint8_t reg_port_dios_in = app_regs.REG_PORT_DIOS_IN;
+ uint8_t reg_port_dis = app_regs.REG_DIGITAL_INPUT_STATE;
+ uint8_t reg_port_dios_in = app_regs.REG_PORT_DIO_STATE_EVENT;
- app_regs.REG_PORT_DIS &= ~B_DI1;
- app_regs.REG_PORT_DIS |= (read_POKE1_IR) ? B_DI1 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE &= ~B_DI_PORT1;
+ app_regs.REG_DIGITAL_INPUT_STATE |= (read_POKE1_IR) ? B_DI_PORT1 : 0;
- app_regs.REG_PORT_DIOS_IN &= ~B_DIO1;
- app_regs.REG_PORT_DIOS_IN |= (read_POKE1_IO) ? B_DIO1 : 0;
+ app_regs.REG_PORT_DIO_STATE_EVENT &= ~B_DIO1;
+ app_regs.REG_PORT_DIO_STATE_EVENT |= (read_POKE1_IO) ? B_DIO1 : 0;
if(read_POKE1_IR)
mimic_ir_or_valve(app_regs.REG_MIMIC_PORT1_IR, _SET_IO_);
else
mimic_ir_or_valve(app_regs.REG_MIMIC_PORT1_IR, _CLR_IO_);
- if (app_regs.REG_EVNT_ENABLE & B_EVT_PORT_DIS)
+ if (app_regs.REG_EVENT_ENABLE & B_PORT_DI)
{
- if (reg_port_dis != app_regs.REG_PORT_DIS)
+ if (reg_port_dis != app_regs.REG_DIGITAL_INPUT_STATE)
{
- core_func_send_event(ADD_REG_PORT_DIS, true);
+ core_func_send_event(ADD_REG_DIGITAL_INPUT_STATE, true);
- if (app_regs.REG_POKE_INPUT_FILTER_MS)
+ if (app_regs.REG_POKE_INPUT_FILTER)
{
PORTE_INTCTRL &= 0xFC; // Disable interrupt
- int1_enable_counter = app_regs.REG_POKE_INPUT_FILTER_MS;
+ int1_enable_counter = app_regs.REG_POKE_INPUT_FILTER;
}
}
- if (reg_port_dios_in != app_regs.REG_PORT_DIOS_IN)
+ if (reg_port_dios_in != app_regs.REG_PORT_DIO_STATE_EVENT)
{
- core_func_send_event(ADD_REG_PORT_DIOS_IN, true);
+ core_func_send_event(ADD_REG_PORT_DIO_STATE_EVENT, true);
}
}
@@ -122,35 +122,35 @@ extern uint8_t int2_enable_counter;
ISR(PORTF_INT0_vect, ISR_NAKED)
{
- uint8_t reg_port_dis = app_regs.REG_PORT_DIS;
- uint8_t reg_port_dios_in = app_regs.REG_PORT_DIOS_IN;
+ uint8_t reg_port_dis = app_regs.REG_DIGITAL_INPUT_STATE;
+ uint8_t reg_port_dios_in = app_regs.REG_PORT_DIO_STATE_EVENT;
- app_regs.REG_PORT_DIS &= ~B_DI2;
- app_regs.REG_PORT_DIS |= (read_POKE2_IR) ? B_DI2 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE &= ~B_DI_PORT2;
+ app_regs.REG_DIGITAL_INPUT_STATE |= (read_POKE2_IR) ? B_DI_PORT2 : 0;
- app_regs.REG_PORT_DIOS_IN &= ~B_DIO2;
- app_regs.REG_PORT_DIOS_IN |= (read_POKE2_IO) ? B_DIO2 : 0;
+ app_regs.REG_PORT_DIO_STATE_EVENT &= ~B_DIO2;
+ app_regs.REG_PORT_DIO_STATE_EVENT |= (read_POKE2_IO) ? B_DIO2 : 0;
if(read_POKE2_IR)
mimic_ir_or_valve(app_regs.REG_MIMIC_PORT2_IR, _SET_IO_);
else
mimic_ir_or_valve(app_regs.REG_MIMIC_PORT2_IR, _CLR_IO_);
- if (app_regs.REG_EVNT_ENABLE & B_EVT_PORT_DIS)
+ if (app_regs.REG_EVENT_ENABLE & B_PORT_DI)
{
- if (reg_port_dis != app_regs.REG_PORT_DIS)
+ if (reg_port_dis != app_regs.REG_DIGITAL_INPUT_STATE)
{
- core_func_send_event(ADD_REG_PORT_DIS, true);
+ core_func_send_event(ADD_REG_DIGITAL_INPUT_STATE, true);
- if (app_regs.REG_POKE_INPUT_FILTER_MS)
+ if (app_regs.REG_POKE_INPUT_FILTER)
{
PORTF_INTCTRL &= 0xFC; // Disable interrupt
- int2_enable_counter = app_regs.REG_POKE_INPUT_FILTER_MS;
+ int2_enable_counter = app_regs.REG_POKE_INPUT_FILTER;
}
}
- if (reg_port_dios_in != app_regs.REG_PORT_DIOS_IN)
+ if (reg_port_dios_in != app_regs.REG_PORT_DIO_STATE_EVENT)
{
- core_func_send_event(ADD_REG_PORT_DIOS_IN, true);
+ core_func_send_event(ADD_REG_PORT_DIO_STATE_EVENT, true);
}
}
@@ -162,16 +162,16 @@ ISR(PORTF_INT0_vect, ISR_NAKED)
/************************************************************************/
ISR(PORTH_INT0_vect, ISR_NAKED)
{
- uint8_t reg_port_dis = app_regs.REG_PORT_DIS;
+ uint8_t reg_port_dis = app_regs.REG_DIGITAL_INPUT_STATE;
- app_regs.REG_PORT_DIS &= ~B_DI3;
- app_regs.REG_PORT_DIS |= (read_DI3) ? B_DI3 : 0;
+ app_regs.REG_DIGITAL_INPUT_STATE &= ~B_DI3;
+ app_regs.REG_DIGITAL_INPUT_STATE |= (read_DI3) ? B_DI3 : 0;
- if (app_regs.REG_EVNT_ENABLE & B_EVT_PORT_DIS)
+ if (app_regs.REG_EVENT_ENABLE & B_PORT_DI)
{
- if (reg_port_dis != app_regs.REG_PORT_DIS)
+ if (reg_port_dis != app_regs.REG_DIGITAL_INPUT_STATE)
{
- core_func_send_event(ADD_REG_PORT_DIS, true);
+ core_func_send_event(ADD_REG_DIGITAL_INPUT_STATE, true);
}
}
@@ -204,10 +204,10 @@ ISR(TCF0_OVF_vect, ISR_NAKED)
if (_states_.camera.do0)
{
- if (app_regs.REG_EVNT_ENABLE & B_EVT_CAM0)
+ if (app_regs.REG_EVENT_ENABLE & B_CAMERA0)
{
- app_regs.REG_CAM_OUT0_FRAME_ACQUIRED = 1;
- core_func_send_event(ADD_REG_CAM_OUT0_FRAME_ACQUIRED, true);
+ app_regs.REG_CAMERA0_FRAME = 1;
+ core_func_send_event(ADD_REG_CAMERA0_FRAME, true);
}
}
@@ -226,7 +226,7 @@ ISR(TCF0_CCA_vect, ISR_NAKED)
timer_type0_stop(&TCF0);
_states_.camera.do0 = false;
- app_regs.REG_STOP_CAMERAS = B_EN_CAM_OUT0;
+ app_regs.REG_STOP_CAMERAS = B_CAMERA_OUTPUT0;
core_func_send_event(ADD_REG_STOP_CAMERAS, true);
}
}
@@ -249,10 +249,10 @@ ISR(TCE0_OVF_vect, ISR_NAKED)
if (_states_.camera.do1)
{
- if (app_regs.REG_EVNT_ENABLE & B_EVT_CAM1)
+ if (app_regs.REG_EVENT_ENABLE & B_CAMERA1)
{
- app_regs.REG_CAM_OUT1_FRAME_ACQUIRED = 1;
- core_func_send_event(ADD_REG_CAM_OUT1_FRAME_ACQUIRED, true);
+ app_regs.REG_CAMERA1_FRAME = 1;
+ core_func_send_event(ADD_REG_CAMERA1_FRAME, true);
}
}
@@ -271,7 +271,7 @@ ISR(TCE0_CCA_vect, ISR_NAKED)
timer_type0_stop(&TCE0);
_states_.camera.do1 = false;
- app_regs.REG_STOP_CAMERAS = B_EN_CAM_OUT1;
+ app_regs.REG_STOP_CAMERAS = B_CAMERA_OUTPUT1;
core_func_send_event(ADD_REG_STOP_CAMERAS, true);
}
}
@@ -327,7 +327,7 @@ ISR(ADCA_CH0_vect, ISR_NAKED)
first_adc_channel = false;
/* Read ADC0 Channel 0 */
- app_regs.REG_DATA[0] = ((int16_t)(ADCA_CH0_RES & 0x0FFF)) - AdcOffset;
+ app_regs.REG_ANALOG_DATA[0] = ((int16_t)(ADCA_CH0_RES & 0x0FFF)) - AdcOffset;
if (read_ADC1_AVAILABLE)
{
@@ -343,22 +343,22 @@ ISR(ADCA_CH0_vect, ISR_NAKED)
else
{
/* Read ADC0 Channel 2 */
- app_regs.REG_DATA[2] = ((int16_t)(ADCA_CH0_RES & 0x0FFF)) - AdcOffset;
+ app_regs.REG_ANALOG_DATA[2] = ((int16_t)(ADCA_CH0_RES & 0x0FFF)) - AdcOffset;
/* Validate readings */
- if (app_regs.REG_DATA[0] < 0)
- app_regs.REG_DATA[0] = 0;
- if (app_regs.REG_DATA[2] < 0)
- app_regs.REG_DATA[2] = 0;
+ if (app_regs.REG_ANALOG_DATA[0] < 0)
+ app_regs.REG_ANALOG_DATA[0] = 0;
+ if (app_regs.REG_ANALOG_DATA[2] < 0)
+ app_regs.REG_ANALOG_DATA[2] = 0;
send_event = true;
}
if (send_event)
{
- if (app_regs.REG_EVNT_ENABLE & B_EVT_DATA)
+ if (app_regs.REG_EVENT_ENABLE & B_ANALOG_DATA)
{
- core_func_send_event(ADD_REG_DATA, false);
+ core_func_send_event(ADD_REG_ANALOG_DATA, false);
}
}
diff --git a/Firmware/Behavior/ios.yml b/Firmware/Behavior/ios.yml
new file mode 100644
index 0000000..0eab945
--- /dev/null
+++ b/Firmware/Behavior/ios.yml
@@ -0,0 +1,165 @@
+DO3:
+ port: PORTC
+ pinNumber: 0
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Output DO0
+DO2:
+ port: PORTD
+ pinNumber: 0
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Output DO1
+DO1:
+ port: PORTE
+ pinNumber: 0
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Output DO2
+DO0:
+ port: PORTF
+ pinNumber: 0
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Output DO3
+LED0:
+ port: PORTB
+ pinNumber: 6
+ direction: output
+ allowRead: true
+ initialState: low
+ invert: true
+ description: Output LED0
+LED1:
+ port: PORTB
+ pinNumber: 5
+ direction: output
+ allowRead: true
+ initialState: low
+ invert: true
+ description: Output LED1
+RGBS:
+ port: PORTC
+ pinNumber: 5
+ direction: output
+ allowRead: false
+ initialState: low
+ description: One wire LEDs
+POKE0_IR:
+ port: PORTD
+ pinNumber: 4
+ direction: input
+ pinMode: pullup
+ triggerMode: toggle
+ interruptPriority: low
+ interruptNumber: 0
+ description: Poke 0 infrared
+POKE0_IO:
+ port: PORTD
+ pinNumber: 5
+ direction: input
+ pinMode: pullup
+ triggerMode: toggle
+ interruptPriority: "off"
+ interruptNumber: 0
+ description: Poke 0 DIO
+POKE0_LED:
+ port: PORTD
+ pinNumber: 6
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Poke 0 digital output
+POKE0_VALVE:
+ port: PORTD
+ pinNumber: 7
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Poke 0 Valve
+POKE1_IR:
+ port: PORTE
+ pinNumber: 4
+ direction: input
+ pinMode: pullup
+ triggerMode: toggle
+ interruptPriority: low
+ interruptNumber: 0
+ description: Poke 1 infrared
+POKE1_IO:
+ port: PORTE
+ pinNumber: 5
+ direction: input
+ pinMode: pullup
+ triggerMode: toggle
+ interruptPriority: "off"
+ interruptNumber: 0
+ description: Poke 1 DIO
+POKE1_LED:
+ port: PORTE
+ pinNumber: 6
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Poke 1 digital output
+POKE1_VALVE:
+ port: PORTE
+ pinNumber: 7
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Poke 1 Valve
+POKE2_IR:
+ port: PORTF
+ pinNumber: 4
+ direction: input
+ pinMode: pullup
+ triggerMode: toggle
+ interruptPriority: low
+ interruptNumber: 0
+ description: Poke 2 infrared
+POKE2_IO:
+ port: PORTF
+ pinNumber: 5
+ direction: input
+ pinMode: pullup
+ triggerMode: toggle
+ interruptPriority: "off"
+ interruptNumber: 0
+ description: Poke 2 DIO
+POKE2_LED:
+ port: PORTF
+ pinNumber: 6
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Poke 2 digital output
+POKE2_VALVE:
+ port: PORTF
+ pinNumber: 7
+ direction: output
+ allowRead: true
+ initialState: low
+ description: Poke 2 Valve
+ADC1_AVAILABLE:
+ port: PORTJ
+ pinNumber: 0
+ direction: input
+ pinMode: pulldown
+ triggerMode: toggle
+ interruptPriority: "off"
+ interruptNumber: 0
+ description: ADC1 is available on hardware
+DI3:
+ port: PORTH
+ pinNumber: 0
+ direction: input
+ pinMode: tristate
+ triggerMode: toggle
+ interruptPriority: low
+ interruptNumber: 0
+ description: Input DI3
diff --git a/Generators/Generators.csproj b/Generators/Generators.csproj
deleted file mode 100644
index b215cbb..0000000
--- a/Generators/Generators.csproj
+++ /dev/null
@@ -1,32 +0,0 @@
-
-
- true
- Harp.Behavior
- net6.0
- latest
- bin
-
-
- ..\device.yml
- ..\ios.yml
-
-
- ..\Interface\Harp.Behavior
- ..\Firmware\Harp.Behavior
-
-
-
-
-
-
- -p:MetadataPath=$(DeviceMetadata) -p:Namespace=$(RootNamespace) -P=$(TargetDir)
- -p:RegisterMetadataPath=$(DeviceMetadata) -p:IOMetadataPath=$(IOMetadata) -P=$(TargetDir)
-
-
-
-
-
\ No newline at end of file
diff --git a/Interface/Harp.Behavior/AsyncDevice.Generated.cs b/Interface/Harp.Behavior/AsyncDevice.Generated.cs
index 0b5ee7c..14306ac 100644
--- a/Interface/Harp.Behavior/AsyncDevice.Generated.cs
+++ b/Interface/Harp.Behavior/AsyncDevice.Generated.cs
@@ -49,14 +49,14 @@ internal AsyncDevice(string portName)
}
///
- /// Asynchronously reads the contents of the DigitalInputState register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadDigitalInputStateAsync(CancellationToken cancellationToken = default)
{
@@ -65,14 +65,14 @@ public async Task ReadDigitalInputStateAsync(CancellationToken ca
}
///
- /// Asynchronously reads the timestamped contents of the DigitalInputState register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedDigitalInputStateAsync(CancellationToken cancellationToken = default)
{
@@ -81,14 +81,14 @@ public async Task> ReadTimestampedDigitalInputStateAs
}
///
- /// Asynchronously reads the contents of the OutputSet register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadOutputSetAsync(CancellationToken cancellationToken = default)
{
@@ -97,14 +97,14 @@ public async Task ReadOutputSetAsync(CancellationToken cancellat
}
///
- /// Asynchronously reads the timestamped contents of the OutputSet register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedOutputSetAsync(CancellationToken cancellationToken = default)
{
@@ -113,9 +113,9 @@ public async Task> ReadTimestampedOutputSetAsync(Can
}
///
- /// Asynchronously writes a value to the OutputSet register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -127,14 +127,14 @@ public async Task WriteOutputSetAsync(DigitalOutputs value, CancellationToken ca
}
///
- /// Asynchronously reads the contents of the OutputClear register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadOutputClearAsync(CancellationToken cancellationToken = default)
{
@@ -143,14 +143,14 @@ public async Task ReadOutputClearAsync(CancellationToken cancell
}
///
- /// Asynchronously reads the timestamped contents of the OutputClear register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedOutputClearAsync(CancellationToken cancellationToken = default)
{
@@ -159,9 +159,9 @@ public async Task> ReadTimestampedOutputClearAsync(C
}
///
- /// Asynchronously writes a value to the OutputClear register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -173,14 +173,14 @@ public async Task WriteOutputClearAsync(DigitalOutputs value, CancellationToken
}
///
- /// Asynchronously reads the contents of the OutputToggle register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadOutputToggleAsync(CancellationToken cancellationToken = default)
{
@@ -189,14 +189,14 @@ public async Task ReadOutputToggleAsync(CancellationToken cancel
}
///
- /// Asynchronously reads the timestamped contents of the OutputToggle register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedOutputToggleAsync(CancellationToken cancellationToken = default)
{
@@ -205,9 +205,9 @@ public async Task> ReadTimestampedOutputToggleAsync(
}
///
- /// Asynchronously writes a value to the OutputToggle register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -219,14 +219,14 @@ public async Task WriteOutputToggleAsync(DigitalOutputs value, CancellationToken
}
///
- /// Asynchronously reads the contents of the OutputState register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadOutputStateAsync(CancellationToken cancellationToken = default)
{
@@ -235,14 +235,14 @@ public async Task ReadOutputStateAsync(CancellationToken cancell
}
///
- /// Asynchronously reads the timestamped contents of the OutputState register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedOutputStateAsync(CancellationToken cancellationToken = default)
{
@@ -251,9 +251,9 @@ public async Task> ReadTimestampedOutputStateAsync(C
}
///
- /// Asynchronously writes a value to the OutputState register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -265,14 +265,14 @@ public async Task WriteOutputStateAsync(DigitalOutputs value, CancellationToken
}
///
- /// Asynchronously reads the contents of the PortDIOSet register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPortDIOSetAsync(CancellationToken cancellationToken = default)
{
@@ -281,14 +281,14 @@ public async Task ReadPortDIOSetAsync(CancellationToken cancella
}
///
- /// Asynchronously reads the timestamped contents of the PortDIOSet register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPortDIOSetAsync(CancellationToken cancellationToken = default)
{
@@ -297,9 +297,9 @@ public async Task> ReadTimestampedPortDIOSetAsync(Ca
}
///
- /// Asynchronously writes a value to the PortDIOSet register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -311,14 +311,14 @@ public async Task WritePortDIOSetAsync(PortDigitalIOS value, CancellationToken c
}
///
- /// Asynchronously reads the contents of the PortDIOClear register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPortDIOClearAsync(CancellationToken cancellationToken = default)
{
@@ -327,14 +327,14 @@ public async Task ReadPortDIOClearAsync(CancellationToken cancel
}
///
- /// Asynchronously reads the timestamped contents of the PortDIOClear register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPortDIOClearAsync(CancellationToken cancellationToken = default)
{
@@ -343,9 +343,9 @@ public async Task> ReadTimestampedPortDIOClearAsync(
}
///
- /// Asynchronously writes a value to the PortDIOClear register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -357,14 +357,14 @@ public async Task WritePortDIOClearAsync(PortDigitalIOS value, CancellationToken
}
///
- /// Asynchronously reads the contents of the PortDIOToggle register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPortDIOToggleAsync(CancellationToken cancellationToken = default)
{
@@ -373,14 +373,14 @@ public async Task ReadPortDIOToggleAsync(CancellationToken cance
}
///
- /// Asynchronously reads the timestamped contents of the PortDIOToggle register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPortDIOToggleAsync(CancellationToken cancellationToken = default)
{
@@ -389,9 +389,9 @@ public async Task> ReadTimestampedPortDIOToggleAsync
}
///
- /// Asynchronously writes a value to the PortDIOToggle register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -403,14 +403,14 @@ public async Task WritePortDIOToggleAsync(PortDigitalIOS value, CancellationToke
}
///
- /// Asynchronously reads the contents of the PortDIOState register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPortDIOStateAsync(CancellationToken cancellationToken = default)
{
@@ -419,14 +419,14 @@ public async Task ReadPortDIOStateAsync(CancellationToken cancel
}
///
- /// Asynchronously reads the timestamped contents of the PortDIOState register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPortDIOStateAsync(CancellationToken cancellationToken = default)
{
@@ -435,9 +435,9 @@ public async Task> ReadTimestampedPortDIOStateAsync(
}
///
- /// Asynchronously writes a value to the PortDIOState register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -449,14 +449,14 @@ public async Task WritePortDIOStateAsync(PortDigitalIOS value, CancellationToken
}
///
- /// Asynchronously reads the contents of the PortDIODirection register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPortDIODirectionAsync(CancellationToken cancellationToken = default)
{
@@ -465,14 +465,14 @@ public async Task ReadPortDIODirectionAsync(CancellationToken ca
}
///
- /// Asynchronously reads the timestamped contents of the PortDIODirection register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPortDIODirectionAsync(CancellationToken cancellationToken = default)
{
@@ -481,9 +481,9 @@ public async Task> ReadTimestampedPortDIODirectionAs
}
///
- /// Asynchronously writes a value to the PortDIODirection register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -495,14 +495,14 @@ public async Task WritePortDIODirectionAsync(PortDigitalIOS value, CancellationT
}
///
- /// Asynchronously reads the contents of the PortDIOStateEvent register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPortDIOStateEventAsync(CancellationToken cancellationToken = default)
{
@@ -511,14 +511,14 @@ public async Task ReadPortDIOStateEventAsync(CancellationToken c
}
///
- /// Asynchronously reads the timestamped contents of the PortDIOStateEvent register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPortDIOStateEventAsync(CancellationToken cancellationToken = default)
{
@@ -527,14 +527,14 @@ public async Task> ReadTimestampedPortDIOStateEventA
}
///
- /// Asynchronously reads the contents of the AnalogData register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadAnalogDataAsync(CancellationToken cancellationToken = default)
{
@@ -543,14 +543,14 @@ public async Task ReadAnalogDataAsync(CancellationToken cance
}
///
- /// Asynchronously reads the timestamped contents of the AnalogData register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedAnalogDataAsync(CancellationToken cancellationToken = default)
{
@@ -559,14 +559,14 @@ public async Task> ReadTimestampedAnalogDataAsync
}
///
- /// Asynchronously reads the contents of the OutputPulseEnable register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadOutputPulseEnableAsync(CancellationToken cancellationToken = default)
{
@@ -575,14 +575,14 @@ public async Task ReadOutputPulseEnableAsync(CancellationToken c
}
///
- /// Asynchronously reads the timestamped contents of the OutputPulseEnable register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedOutputPulseEnableAsync(CancellationToken cancellationToken = default)
{
@@ -591,9 +591,9 @@ public async Task> ReadTimestampedOutputPulseEnableA
}
///
- /// Asynchronously writes a value to the OutputPulseEnable register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -605,14 +605,14 @@ public async Task WriteOutputPulseEnableAsync(DigitalOutputs value, Cancellation
}
///
- /// Asynchronously reads the contents of the PulseDOPort0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseDOPort0Async(CancellationToken cancellationToken = default)
{
@@ -621,14 +621,14 @@ public async Task ReadPulseDOPort0Async(CancellationToken cancellationTo
}
///
- /// Asynchronously reads the timestamped contents of the PulseDOPort0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseDOPort0Async(CancellationToken cancellationToken = default)
{
@@ -637,9 +637,9 @@ public async Task> ReadTimestampedPulseDOPort0Async(Cancella
}
///
- /// Asynchronously writes a value to the PulseDOPort0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -651,14 +651,14 @@ public async Task WritePulseDOPort0Async(ushort value, CancellationToken cancell
}
///
- /// Asynchronously reads the contents of the PulseDOPort1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseDOPort1Async(CancellationToken cancellationToken = default)
{
@@ -667,14 +667,14 @@ public async Task ReadPulseDOPort1Async(CancellationToken cancellationTo
}
///
- /// Asynchronously reads the timestamped contents of the PulseDOPort1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseDOPort1Async(CancellationToken cancellationToken = default)
{
@@ -683,9 +683,9 @@ public async Task> ReadTimestampedPulseDOPort1Async(Cancella
}
///
- /// Asynchronously writes a value to the PulseDOPort1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -697,14 +697,14 @@ public async Task WritePulseDOPort1Async(ushort value, CancellationToken cancell
}
///
- /// Asynchronously reads the contents of the PulseDOPort2 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseDOPort2Async(CancellationToken cancellationToken = default)
{
@@ -713,14 +713,14 @@ public async Task ReadPulseDOPort2Async(CancellationToken cancellationTo
}
///
- /// Asynchronously reads the timestamped contents of the PulseDOPort2 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseDOPort2Async(CancellationToken cancellationToken = default)
{
@@ -729,9 +729,9 @@ public async Task> ReadTimestampedPulseDOPort2Async(Cancella
}
///
- /// Asynchronously writes a value to the PulseDOPort2 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -743,14 +743,14 @@ public async Task WritePulseDOPort2Async(ushort value, CancellationToken cancell
}
///
- /// Asynchronously reads the contents of the PulseSupplyPort0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseSupplyPort0Async(CancellationToken cancellationToken = default)
{
@@ -759,14 +759,14 @@ public async Task ReadPulseSupplyPort0Async(CancellationToken cancellati
}
///
- /// Asynchronously reads the timestamped contents of the PulseSupplyPort0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseSupplyPort0Async(CancellationToken cancellationToken = default)
{
@@ -775,9 +775,9 @@ public async Task> ReadTimestampedPulseSupplyPort0Async(Canc
}
///
- /// Asynchronously writes a value to the PulseSupplyPort0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -789,14 +789,14 @@ public async Task WritePulseSupplyPort0Async(ushort value, CancellationToken can
}
///
- /// Asynchronously reads the contents of the PulseSupplyPort1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseSupplyPort1Async(CancellationToken cancellationToken = default)
{
@@ -805,14 +805,14 @@ public async Task ReadPulseSupplyPort1Async(CancellationToken cancellati
}
///
- /// Asynchronously reads the timestamped contents of the PulseSupplyPort1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseSupplyPort1Async(CancellationToken cancellationToken = default)
{
@@ -821,9 +821,9 @@ public async Task> ReadTimestampedPulseSupplyPort1Async(Canc
}
///
- /// Asynchronously writes a value to the PulseSupplyPort1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -835,14 +835,14 @@ public async Task WritePulseSupplyPort1Async(ushort value, CancellationToken can
}
///
- /// Asynchronously reads the contents of the PulseSupplyPort2 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseSupplyPort2Async(CancellationToken cancellationToken = default)
{
@@ -851,14 +851,14 @@ public async Task ReadPulseSupplyPort2Async(CancellationToken cancellati
}
///
- /// Asynchronously reads the timestamped contents of the PulseSupplyPort2 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseSupplyPort2Async(CancellationToken cancellationToken = default)
{
@@ -867,9 +867,9 @@ public async Task> ReadTimestampedPulseSupplyPort2Async(Canc
}
///
- /// Asynchronously writes a value to the PulseSupplyPort2 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -881,14 +881,14 @@ public async Task WritePulseSupplyPort2Async(ushort value, CancellationToken can
}
///
- /// Asynchronously reads the contents of the PulseLed0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseLed0Async(CancellationToken cancellationToken = default)
{
@@ -897,14 +897,14 @@ public async Task ReadPulseLed0Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseLed0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseLed0Async(CancellationToken cancellationToken = default)
{
@@ -913,9 +913,9 @@ public async Task> ReadTimestampedPulseLed0Async(Cancellatio
}
///
- /// Asynchronously writes a value to the PulseLed0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -927,14 +927,14 @@ public async Task WritePulseLed0Async(ushort value, CancellationToken cancellati
}
///
- /// Asynchronously reads the contents of the PulseLed1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseLed1Async(CancellationToken cancellationToken = default)
{
@@ -943,14 +943,14 @@ public async Task ReadPulseLed1Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseLed1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseLed1Async(CancellationToken cancellationToken = default)
{
@@ -959,9 +959,9 @@ public async Task> ReadTimestampedPulseLed1Async(Cancellatio
}
///
- /// Asynchronously writes a value to the PulseLed1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -973,14 +973,14 @@ public async Task WritePulseLed1Async(ushort value, CancellationToken cancellati
}
///
- /// Asynchronously reads the contents of the PulseRgb0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseRgb0Async(CancellationToken cancellationToken = default)
{
@@ -989,14 +989,14 @@ public async Task ReadPulseRgb0Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseRgb0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseRgb0Async(CancellationToken cancellationToken = default)
{
@@ -1005,9 +1005,9 @@ public async Task> ReadTimestampedPulseRgb0Async(Cancellatio
}
///
- /// Asynchronously writes a value to the PulseRgb0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1019,14 +1019,14 @@ public async Task WritePulseRgb0Async(ushort value, CancellationToken cancellati
}
///
- /// Asynchronously reads the contents of the PulseRgb1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseRgb1Async(CancellationToken cancellationToken = default)
{
@@ -1035,14 +1035,14 @@ public async Task ReadPulseRgb1Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseRgb1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseRgb1Async(CancellationToken cancellationToken = default)
{
@@ -1051,9 +1051,9 @@ public async Task> ReadTimestampedPulseRgb1Async(Cancellatio
}
///
- /// Asynchronously writes a value to the PulseRgb1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1065,14 +1065,14 @@ public async Task WritePulseRgb1Async(ushort value, CancellationToken cancellati
}
///
- /// Asynchronously reads the contents of the PulseDO0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseDO0Async(CancellationToken cancellationToken = default)
{
@@ -1081,14 +1081,14 @@ public async Task ReadPulseDO0Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseDO0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseDO0Async(CancellationToken cancellationToken = default)
{
@@ -1097,9 +1097,9 @@ public async Task> ReadTimestampedPulseDO0Async(Cancellation
}
///
- /// Asynchronously writes a value to the PulseDO0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1111,14 +1111,14 @@ public async Task WritePulseDO0Async(ushort value, CancellationToken cancellatio
}
///
- /// Asynchronously reads the contents of the PulseDO1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseDO1Async(CancellationToken cancellationToken = default)
{
@@ -1127,14 +1127,14 @@ public async Task ReadPulseDO1Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseDO1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseDO1Async(CancellationToken cancellationToken = default)
{
@@ -1143,9 +1143,9 @@ public async Task> ReadTimestampedPulseDO1Async(Cancellation
}
///
- /// Asynchronously writes a value to the PulseDO1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1157,14 +1157,14 @@ public async Task WritePulseDO1Async(ushort value, CancellationToken cancellatio
}
///
- /// Asynchronously reads the contents of the PulseDO2 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseDO2Async(CancellationToken cancellationToken = default)
{
@@ -1173,14 +1173,14 @@ public async Task ReadPulseDO2Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseDO2 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseDO2Async(CancellationToken cancellationToken = default)
{
@@ -1189,9 +1189,9 @@ public async Task> ReadTimestampedPulseDO2Async(Cancellation
}
///
- /// Asynchronously writes a value to the PulseDO2 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1203,14 +1203,14 @@ public async Task WritePulseDO2Async(ushort value, CancellationToken cancellatio
}
///
- /// Asynchronously reads the contents of the PulseDO3 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPulseDO3Async(CancellationToken cancellationToken = default)
{
@@ -1219,14 +1219,14 @@ public async Task ReadPulseDO3Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the PulseDO3 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPulseDO3Async(CancellationToken cancellationToken = default)
{
@@ -1235,9 +1235,9 @@ public async Task> ReadTimestampedPulseDO3Async(Cancellation
}
///
- /// Asynchronously writes a value to the PulseDO3 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1249,14 +1249,14 @@ public async Task WritePulseDO3Async(ushort value, CancellationToken cancellatio
}
///
- /// Asynchronously reads the contents of the PwmFrequencyDO0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmFrequencyDO0Async(CancellationToken cancellationToken = default)
{
@@ -1265,14 +1265,14 @@ public async Task ReadPwmFrequencyDO0Async(CancellationToken cancellatio
}
///
- /// Asynchronously reads the timestamped contents of the PwmFrequencyDO0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmFrequencyDO0Async(CancellationToken cancellationToken = default)
{
@@ -1281,9 +1281,9 @@ public async Task> ReadTimestampedPwmFrequencyDO0Async(Cance
}
///
- /// Asynchronously writes a value to the PwmFrequencyDO0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1295,14 +1295,14 @@ public async Task WritePwmFrequencyDO0Async(ushort value, CancellationToken canc
}
///
- /// Asynchronously reads the contents of the PwmFrequencyDO1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmFrequencyDO1Async(CancellationToken cancellationToken = default)
{
@@ -1311,14 +1311,14 @@ public async Task ReadPwmFrequencyDO1Async(CancellationToken cancellatio
}
///
- /// Asynchronously reads the timestamped contents of the PwmFrequencyDO1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmFrequencyDO1Async(CancellationToken cancellationToken = default)
{
@@ -1327,9 +1327,9 @@ public async Task> ReadTimestampedPwmFrequencyDO1Async(Cance
}
///
- /// Asynchronously writes a value to the PwmFrequencyDO1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1341,14 +1341,14 @@ public async Task WritePwmFrequencyDO1Async(ushort value, CancellationToken canc
}
///
- /// Asynchronously reads the contents of the PwmFrequencyDO2 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmFrequencyDO2Async(CancellationToken cancellationToken = default)
{
@@ -1357,14 +1357,14 @@ public async Task ReadPwmFrequencyDO2Async(CancellationToken cancellatio
}
///
- /// Asynchronously reads the timestamped contents of the PwmFrequencyDO2 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmFrequencyDO2Async(CancellationToken cancellationToken = default)
{
@@ -1373,9 +1373,9 @@ public async Task> ReadTimestampedPwmFrequencyDO2Async(Cance
}
///
- /// Asynchronously writes a value to the PwmFrequencyDO2 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1387,14 +1387,14 @@ public async Task WritePwmFrequencyDO2Async(ushort value, CancellationToken canc
}
///
- /// Asynchronously reads the contents of the PwmFrequencyDO3 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmFrequencyDO3Async(CancellationToken cancellationToken = default)
{
@@ -1403,14 +1403,14 @@ public async Task ReadPwmFrequencyDO3Async(CancellationToken cancellatio
}
///
- /// Asynchronously reads the timestamped contents of the PwmFrequencyDO3 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmFrequencyDO3Async(CancellationToken cancellationToken = default)
{
@@ -1419,9 +1419,9 @@ public async Task> ReadTimestampedPwmFrequencyDO3Async(Cance
}
///
- /// Asynchronously writes a value to the PwmFrequencyDO3 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1433,14 +1433,14 @@ public async Task WritePwmFrequencyDO3Async(ushort value, CancellationToken canc
}
///
- /// Asynchronously reads the contents of the PwmDutyCycleDO0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmDutyCycleDO0Async(CancellationToken cancellationToken = default)
{
@@ -1449,14 +1449,14 @@ public async Task ReadPwmDutyCycleDO0Async(CancellationToken cancellationT
}
///
- /// Asynchronously reads the timestamped contents of the PwmDutyCycleDO0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmDutyCycleDO0Async(CancellationToken cancellationToken = default)
{
@@ -1465,9 +1465,9 @@ public async Task> ReadTimestampedPwmDutyCycleDO0Async(Cancell
}
///
- /// Asynchronously writes a value to the PwmDutyCycleDO0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1479,14 +1479,14 @@ public async Task WritePwmDutyCycleDO0Async(byte value, CancellationToken cancel
}
///
- /// Asynchronously reads the contents of the PwmDutyCycleDO1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmDutyCycleDO1Async(CancellationToken cancellationToken = default)
{
@@ -1495,14 +1495,14 @@ public async Task ReadPwmDutyCycleDO1Async(CancellationToken cancellationT
}
///
- /// Asynchronously reads the timestamped contents of the PwmDutyCycleDO1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmDutyCycleDO1Async(CancellationToken cancellationToken = default)
{
@@ -1511,9 +1511,9 @@ public async Task> ReadTimestampedPwmDutyCycleDO1Async(Cancell
}
///
- /// Asynchronously writes a value to the PwmDutyCycleDO1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1525,14 +1525,14 @@ public async Task WritePwmDutyCycleDO1Async(byte value, CancellationToken cancel
}
///
- /// Asynchronously reads the contents of the PwmDutyCycleDO2 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmDutyCycleDO2Async(CancellationToken cancellationToken = default)
{
@@ -1541,14 +1541,14 @@ public async Task ReadPwmDutyCycleDO2Async(CancellationToken cancellationT
}
///
- /// Asynchronously reads the timestamped contents of the PwmDutyCycleDO2 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmDutyCycleDO2Async(CancellationToken cancellationToken = default)
{
@@ -1557,9 +1557,9 @@ public async Task> ReadTimestampedPwmDutyCycleDO2Async(Cancell
}
///
- /// Asynchronously writes a value to the PwmDutyCycleDO2 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1571,14 +1571,14 @@ public async Task WritePwmDutyCycleDO2Async(byte value, CancellationToken cancel
}
///
- /// Asynchronously reads the contents of the PwmDutyCycleDO3 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmDutyCycleDO3Async(CancellationToken cancellationToken = default)
{
@@ -1587,14 +1587,14 @@ public async Task ReadPwmDutyCycleDO3Async(CancellationToken cancellationT
}
///
- /// Asynchronously reads the timestamped contents of the PwmDutyCycleDO3 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmDutyCycleDO3Async(CancellationToken cancellationToken = default)
{
@@ -1603,9 +1603,9 @@ public async Task> ReadTimestampedPwmDutyCycleDO3Async(Cancell
}
///
- /// Asynchronously writes a value to the PwmDutyCycleDO3 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1617,14 +1617,14 @@ public async Task WritePwmDutyCycleDO3Async(byte value, CancellationToken cancel
}
///
- /// Asynchronously reads the contents of the PwmStart register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmStartAsync(CancellationToken cancellationToken = default)
{
@@ -1633,14 +1633,14 @@ public async Task ReadPwmStartAsync(CancellationToken cancellationTo
}
///
- /// Asynchronously reads the timestamped contents of the PwmStart register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmStartAsync(CancellationToken cancellationToken = default)
{
@@ -1649,9 +1649,9 @@ public async Task> ReadTimestampedPwmStartAsync(Cancella
}
///
- /// Asynchronously writes a value to the PwmStart register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1663,14 +1663,14 @@ public async Task WritePwmStartAsync(PwmOutputs value, CancellationToken cancell
}
///
- /// Asynchronously reads the contents of the PwmStop register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadPwmStopAsync(CancellationToken cancellationToken = default)
{
@@ -1679,14 +1679,14 @@ public async Task ReadPwmStopAsync(CancellationToken cancellationTok
}
///
- /// Asynchronously reads the timestamped contents of the PwmStop register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedPwmStopAsync(CancellationToken cancellationToken = default)
{
@@ -1695,9 +1695,9 @@ public async Task> ReadTimestampedPwmStopAsync(Cancellat
}
///
- /// Asynchronously writes a value to the PwmStop register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1709,14 +1709,14 @@ public async Task WritePwmStopAsync(PwmOutputs value, CancellationToken cancella
}
///
- /// Asynchronously reads the contents of the RgbAll register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadRgbAllAsync(CancellationToken cancellationToken = default)
{
@@ -1725,14 +1725,14 @@ public async Task ReadRgbAllAsync(CancellationToken cancellationT
}
///
- /// Asynchronously reads the timestamped contents of the RgbAll register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedRgbAllAsync(CancellationToken cancellationToken = default)
{
@@ -1741,9 +1741,9 @@ public async Task> ReadTimestampedRgbAllAsync(Cancell
}
///
- /// Asynchronously writes a value to the RgbAll register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1755,14 +1755,14 @@ public async Task WriteRgbAllAsync(RgbAllPayload value, CancellationToken cancel
}
///
- /// Asynchronously reads the contents of the Rgb0 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadRgb0Async(CancellationToken cancellationToken = default)
{
@@ -1771,14 +1771,14 @@ public async Task ReadRgb0Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the Rgb0 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedRgb0Async(CancellationToken cancellationToken = default)
{
@@ -1787,9 +1787,9 @@ public async Task> ReadTimestampedRgb0Async(Cancellation
}
///
- /// Asynchronously writes a value to the Rgb0 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1801,14 +1801,14 @@ public async Task WriteRgb0Async(RgbPayload value, CancellationToken cancellatio
}
///
- /// Asynchronously reads the contents of the Rgb1 register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadRgb1Async(CancellationToken cancellationToken = default)
{
@@ -1817,14 +1817,14 @@ public async Task ReadRgb1Async(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the Rgb1 register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedRgb1Async(CancellationToken cancellationToken = default)
{
@@ -1833,9 +1833,9 @@ public async Task> ReadTimestampedRgb1Async(Cancellation
}
///
- /// Asynchronously writes a value to the Rgb1 register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1847,14 +1847,14 @@ public async Task WriteRgb1Async(RgbPayload value, CancellationToken cancellatio
}
///
- /// Asynchronously reads the contents of the Led0Current register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadLed0CurrentAsync(CancellationToken cancellationToken = default)
{
@@ -1863,14 +1863,14 @@ public async Task ReadLed0CurrentAsync(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the Led0Current register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedLed0CurrentAsync(CancellationToken cancellationToken = default)
{
@@ -1879,9 +1879,9 @@ public async Task> ReadTimestampedLed0CurrentAsync(Cancellatio
}
///
- /// Asynchronously writes a value to the Led0Current register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1893,14 +1893,14 @@ public async Task WriteLed0CurrentAsync(byte value, CancellationToken cancellati
}
///
- /// Asynchronously reads the contents of the Led1Current register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadLed1CurrentAsync(CancellationToken cancellationToken = default)
{
@@ -1909,14 +1909,14 @@ public async Task ReadLed1CurrentAsync(CancellationToken cancellationToken
}
///
- /// Asynchronously reads the timestamped contents of the Led1Current register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedLed1CurrentAsync(CancellationToken cancellationToken = default)
{
@@ -1925,9 +1925,9 @@ public async Task> ReadTimestampedLed1CurrentAsync(Cancellatio
}
///
- /// Asynchronously writes a value to the Led1Current register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1939,14 +1939,14 @@ public async Task WriteLed1CurrentAsync(byte value, CancellationToken cancellati
}
///
- /// Asynchronously reads the contents of the Led0MaxCurrent register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadLed0MaxCurrentAsync(CancellationToken cancellationToken = default)
{
@@ -1955,14 +1955,14 @@ public async Task ReadLed0MaxCurrentAsync(CancellationToken cancellationTo
}
///
- /// Asynchronously reads the timestamped contents of the Led0MaxCurrent register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedLed0MaxCurrentAsync(CancellationToken cancellationToken = default)
{
@@ -1971,9 +1971,9 @@ public async Task> ReadTimestampedLed0MaxCurrentAsync(Cancella
}
///
- /// Asynchronously writes a value to the Led0MaxCurrent register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -1985,14 +1985,14 @@ public async Task WriteLed0MaxCurrentAsync(byte value, CancellationToken cancell
}
///
- /// Asynchronously reads the contents of the Led1MaxCurrent register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadLed1MaxCurrentAsync(CancellationToken cancellationToken = default)
{
@@ -2001,14 +2001,14 @@ public async Task ReadLed1MaxCurrentAsync(CancellationToken cancellationTo
}
///
- /// Asynchronously reads the timestamped contents of the Led1MaxCurrent register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedLed1MaxCurrentAsync(CancellationToken cancellationToken = default)
{
@@ -2017,9 +2017,9 @@ public async Task> ReadTimestampedLed1MaxCurrentAsync(Cancella
}
///
- /// Asynchronously writes a value to the Led1MaxCurrent register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2031,14 +2031,14 @@ public async Task WriteLed1MaxCurrentAsync(byte value, CancellationToken cancell
}
///
- /// Asynchronously reads the contents of the EventEnable register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadEventEnableAsync(CancellationToken cancellationToken = default)
{
@@ -2047,14 +2047,14 @@ public async Task ReadEventEnableAsync(CancellationToken cancellationTok
}
///
- /// Asynchronously reads the timestamped contents of the EventEnable register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedEventEnableAsync(CancellationToken cancellationToken = default)
{
@@ -2063,9 +2063,9 @@ public async Task> ReadTimestampedEventEnableAsync(Cancellat
}
///
- /// Asynchronously writes a value to the EventEnable register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2077,14 +2077,14 @@ public async Task WriteEventEnableAsync(Events value, CancellationToken cancella
}
///
- /// Asynchronously reads the contents of the StartCameras register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadStartCamerasAsync(CancellationToken cancellationToken = default)
{
@@ -2093,14 +2093,14 @@ public async Task ReadStartCamerasAsync(CancellationToken cancell
}
///
- /// Asynchronously reads the timestamped contents of the StartCameras register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedStartCamerasAsync(CancellationToken cancellationToken = default)
{
@@ -2109,9 +2109,9 @@ public async Task> ReadTimestampedStartCamerasAsync(C
}
///
- /// Asynchronously writes a value to the StartCameras register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2123,14 +2123,14 @@ public async Task WriteStartCamerasAsync(CameraOutputs value, CancellationToken
}
///
- /// Asynchronously reads the contents of the StopCameras register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadStopCamerasAsync(CancellationToken cancellationToken = default)
{
@@ -2139,14 +2139,14 @@ public async Task ReadStopCamerasAsync(CancellationToken cancella
}
///
- /// Asynchronously reads the timestamped contents of the StopCameras register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedStopCamerasAsync(CancellationToken cancellationToken = default)
{
@@ -2155,9 +2155,9 @@ public async Task> ReadTimestampedStopCamerasAsync(Ca
}
///
- /// Asynchronously writes a value to the StopCameras register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2169,14 +2169,14 @@ public async Task WriteStopCamerasAsync(CameraOutputs value, CancellationToken c
}
///
- /// Asynchronously reads the contents of the EnableServos register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadEnableServosAsync(CancellationToken cancellationToken = default)
{
@@ -2185,14 +2185,14 @@ public async Task ReadEnableServosAsync(CancellationToken cancella
}
///
- /// Asynchronously reads the timestamped contents of the EnableServos register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedEnableServosAsync(CancellationToken cancellationToken = default)
{
@@ -2201,9 +2201,9 @@ public async Task> ReadTimestampedEnableServosAsync(Ca
}
///
- /// Asynchronously writes a value to the EnableServos register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2215,14 +2215,14 @@ public async Task WriteEnableServosAsync(ServoOutputs value, CancellationToken c
}
///
- /// Asynchronously reads the contents of the DisableServos register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadDisableServosAsync(CancellationToken cancellationToken = default)
{
@@ -2231,14 +2231,14 @@ public async Task ReadDisableServosAsync(CancellationToken cancell
}
///
- /// Asynchronously reads the timestamped contents of the DisableServos register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedDisableServosAsync(CancellationToken cancellationToken = default)
{
@@ -2247,9 +2247,9 @@ public async Task> ReadTimestampedDisableServosAsync(C
}
///
- /// Asynchronously writes a value to the DisableServos register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2261,14 +2261,14 @@ public async Task WriteDisableServosAsync(ServoOutputs value, CancellationToken
}
///
- /// Asynchronously reads the contents of the EnableEncoders register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadEnableEncodersAsync(CancellationToken cancellationToken = default)
{
@@ -2277,14 +2277,14 @@ public async Task ReadEnableEncodersAsync(CancellationToken cance
}
///
- /// Asynchronously reads the timestamped contents of the EnableEncoders register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedEnableEncodersAsync(CancellationToken cancellationToken = default)
{
@@ -2293,9 +2293,9 @@ public async Task> ReadTimestampedEnableEncodersAsync
}
///
- /// Asynchronously writes a value to the EnableEncoders register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2307,60 +2307,60 @@ public async Task WriteEnableEncodersAsync(EncoderInputs value, CancellationToke
}
///
- /// Asynchronously reads the contents of the EncoderMode register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
- public async Task ReadEncoderModeAsync(CancellationToken cancellationToken = default)
+ public async Task ReadEncoderModeAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadByte(EncoderMode.Address), cancellationToken);
return EncoderMode.GetPayload(reply);
}
///
- /// Asynchronously reads the timestamped contents of the EncoderMode register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
- public async Task> ReadTimestampedEncoderModeAsync(CancellationToken cancellationToken = default)
+ public async Task> ReadTimestampedEncoderModeAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadByte(EncoderMode.Address), cancellationToken);
return EncoderMode.GetTimestampedPayload(reply);
}
///
- /// Asynchronously writes a value to the EncoderMode register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
/// The task object representing the asynchronous write operation.
- public async Task WriteEncoderModeAsync(EncoderModeConfig value, CancellationToken cancellationToken = default)
+ public async Task WriteEncoderModeAsync(EncoderModeMask value, CancellationToken cancellationToken = default)
{
var request = EncoderMode.FromPayload(MessageType.Write, value);
await CommandAsync(request, cancellationToken);
}
///
- /// Asynchronously reads the contents of the Camera0Frame register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadCamera0FrameAsync(CancellationToken cancellationToken = default)
{
@@ -2369,14 +2369,14 @@ public async Task ReadCamera0FrameAsync(CancellationToken cancell
}
///
- /// Asynchronously reads the timestamped contents of the Camera0Frame register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedCamera0FrameAsync(CancellationToken cancellationToken = default)
{
@@ -2385,14 +2385,14 @@ public async Task> ReadTimestampedCamera0FrameAsync(C
}
///
- /// Asynchronously reads the contents of the Camera0Frequency register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadCamera0FrequencyAsync(CancellationToken cancellationToken = default)
{
@@ -2401,14 +2401,14 @@ public async Task ReadCamera0FrequencyAsync(CancellationToken cancellati
}
///
- /// Asynchronously reads the timestamped contents of the Camera0Frequency register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedCamera0FrequencyAsync(CancellationToken cancellationToken = default)
{
@@ -2417,9 +2417,9 @@ public async Task> ReadTimestampedCamera0FrequencyAsync(Canc
}
///
- /// Asynchronously writes a value to the Camera0Frequency register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2431,14 +2431,14 @@ public async Task WriteCamera0FrequencyAsync(ushort value, CancellationToken can
}
///
- /// Asynchronously reads the contents of the Camera1Frame register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadCamera1FrameAsync(CancellationToken cancellationToken = default)
{
@@ -2447,14 +2447,14 @@ public async Task ReadCamera1FrameAsync(CancellationToken cancell
}
///
- /// Asynchronously reads the timestamped contents of the Camera1Frame register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedCamera1FrameAsync(CancellationToken cancellationToken = default)
{
@@ -2463,14 +2463,14 @@ public async Task> ReadTimestampedCamera1FrameAsync(C
}
///
- /// Asynchronously reads the contents of the Camera1Frequency register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadCamera1FrequencyAsync(CancellationToken cancellationToken = default)
{
@@ -2479,14 +2479,14 @@ public async Task ReadCamera1FrequencyAsync(CancellationToken cancellati
}
///
- /// Asynchronously reads the timestamped contents of the Camera1Frequency register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedCamera1FrequencyAsync(CancellationToken cancellationToken = default)
{
@@ -2495,9 +2495,9 @@ public async Task> ReadTimestampedCamera1FrequencyAsync(Canc
}
///
- /// Asynchronously writes a value to the Camera1Frequency register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2509,14 +2509,14 @@ public async Task WriteCamera1FrequencyAsync(ushort value, CancellationToken can
}
///
- /// Asynchronously reads the contents of the ServoMotor2Period register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadServoMotor2PeriodAsync(CancellationToken cancellationToken = default)
{
@@ -2525,14 +2525,14 @@ public async Task ReadServoMotor2PeriodAsync(CancellationToken cancellat
}
///
- /// Asynchronously reads the timestamped contents of the ServoMotor2Period register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedServoMotor2PeriodAsync(CancellationToken cancellationToken = default)
{
@@ -2541,9 +2541,9 @@ public async Task> ReadTimestampedServoMotor2PeriodAsync(Can
}
///
- /// Asynchronously writes a value to the ServoMotor2Period register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2555,14 +2555,14 @@ public async Task WriteServoMotor2PeriodAsync(ushort value, CancellationToken ca
}
///
- /// Asynchronously reads the contents of the ServoMotor2Pulse register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadServoMotor2PulseAsync(CancellationToken cancellationToken = default)
{
@@ -2571,14 +2571,14 @@ public async Task ReadServoMotor2PulseAsync(CancellationToken cancellati
}
///
- /// Asynchronously reads the timestamped contents of the ServoMotor2Pulse register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedServoMotor2PulseAsync(CancellationToken cancellationToken = default)
{
@@ -2587,9 +2587,9 @@ public async Task> ReadTimestampedServoMotor2PulseAsync(Canc
}
///
- /// Asynchronously writes a value to the ServoMotor2Pulse register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2601,14 +2601,14 @@ public async Task WriteServoMotor2PulseAsync(ushort value, CancellationToken can
}
///
- /// Asynchronously reads the contents of the ServoMotor3Period register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadServoMotor3PeriodAsync(CancellationToken cancellationToken = default)
{
@@ -2617,14 +2617,14 @@ public async Task ReadServoMotor3PeriodAsync(CancellationToken cancellat
}
///
- /// Asynchronously reads the timestamped contents of the ServoMotor3Period register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedServoMotor3PeriodAsync(CancellationToken cancellationToken = default)
{
@@ -2633,9 +2633,9 @@ public async Task> ReadTimestampedServoMotor3PeriodAsync(Can
}
///
- /// Asynchronously writes a value to the ServoMotor3Period register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2647,14 +2647,14 @@ public async Task WriteServoMotor3PeriodAsync(ushort value, CancellationToken ca
}
///
- /// Asynchronously reads the contents of the ServoMotor3Pulse register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadServoMotor3PulseAsync(CancellationToken cancellationToken = default)
{
@@ -2663,14 +2663,14 @@ public async Task ReadServoMotor3PulseAsync(CancellationToken cancellati
}
///
- /// Asynchronously reads the timestamped contents of the ServoMotor3Pulse register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedServoMotor3PulseAsync(CancellationToken cancellationToken = default)
{
@@ -2679,9 +2679,9 @@ public async Task> ReadTimestampedServoMotor3PulseAsync(Canc
}
///
- /// Asynchronously writes a value to the ServoMotor3Pulse register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2693,14 +2693,14 @@ public async Task WriteServoMotor3PulseAsync(ushort value, CancellationToken can
}
///
- /// Asynchronously reads the contents of the EncoderReset register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadEncoderResetAsync(CancellationToken cancellationToken = default)
{
@@ -2709,14 +2709,14 @@ public async Task ReadEncoderResetAsync(CancellationToken cancell
}
///
- /// Asynchronously reads the timestamped contents of the EncoderReset register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedEncoderResetAsync(CancellationToken cancellationToken = default)
{
@@ -2725,9 +2725,9 @@ public async Task> ReadTimestampedEncoderResetAsync(C
}
///
- /// Asynchronously writes a value to the EncoderReset register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2739,60 +2739,60 @@ public async Task WriteEncoderResetAsync(EncoderInputs value, CancellationToken
}
///
- /// Asynchronously reads the contents of the EnableSerialTimestamp register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
- public async Task ReadEnableSerialTimestampAsync(CancellationToken cancellationToken = default)
+ public async Task ReadEnableSerialTimestampAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadByte(EnableSerialTimestamp.Address), cancellationToken);
return EnableSerialTimestamp.GetPayload(reply);
}
///
- /// Asynchronously reads the timestamped contents of the EnableSerialTimestamp register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
- public async Task> ReadTimestampedEnableSerialTimestampAsync(CancellationToken cancellationToken = default)
+ public async Task> ReadTimestampedEnableSerialTimestampAsync(CancellationToken cancellationToken = default)
{
var reply = await CommandAsync(HarpCommand.ReadByte(EnableSerialTimestamp.Address), cancellationToken);
return EnableSerialTimestamp.GetTimestampedPayload(reply);
}
///
- /// Asynchronously writes a value to the EnableSerialTimestamp register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
/// The task object representing the asynchronous write operation.
- public async Task WriteEnableSerialTimestampAsync(byte value, CancellationToken cancellationToken = default)
+ public async Task WriteEnableSerialTimestampAsync(SerialTimestampPorts value, CancellationToken cancellationToken = default)
{
var request = EnableSerialTimestamp.FromPayload(MessageType.Write, value);
await CommandAsync(request, cancellationToken);
}
///
- /// Asynchronously reads the contents of the MimicPort0IR register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadMimicPort0IRAsync(CancellationToken cancellationToken = default)
{
@@ -2801,14 +2801,14 @@ public async Task ReadMimicPort0IRAsync(CancellationToken cancellat
}
///
- /// Asynchronously reads the timestamped contents of the MimicPort0IR register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedMimicPort0IRAsync(CancellationToken cancellationToken = default)
{
@@ -2817,9 +2817,9 @@ public async Task> ReadTimestampedMimicPort0IRAsync(Can
}
///
- /// Asynchronously writes a value to the MimicPort0IR register.
+ /// Asynchronously writes a value to the register.
///
- /// The value to be stored in the register.
+ /// The value to write in the register.
///
/// A which can be used to cancel the operation.
///
@@ -2831,14 +2831,14 @@ public async Task WriteMimicPort0IRAsync(MimicOutput value, CancellationToken ca
}
///
- /// Asynchronously reads the contents of the MimicPort1IR register.
+ /// Asynchronously reads the contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the register payload.
///
public async Task ReadMimicPort1IRAsync(CancellationToken cancellationToken = default)
{
@@ -2847,14 +2847,14 @@ public async Task ReadMimicPort1IRAsync(CancellationToken cancellat
}
///
- /// Asynchronously reads the timestamped contents of the MimicPort1IR register.
+ /// Asynchronously reads the timestamped contents of the register.
///
///
/// A which can be used to cancel the operation.
///
///
- /// A task that represents the asynchronous read operation. The
- /// property contains the timestamped register payload.
+ /// A task that represents the asynchronous read operation. The task result contains
+ /// the timestamped register payload.
///
public async Task> ReadTimestampedMimicPort1IRAsync(CancellationToken cancellationToken = default)
{
@@ -2863,9 +2863,9 @@ public async Task> ReadTimestampedMimicPort1IRAsync(Can
}
///
- /// Asynchronously writes a value to the MimicPort1IR register.
+ /// Asynchronously writes a value to the