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Align firmware and interface naming conventions #38

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Merged
glopesdev merged 7 commits into from
Mar 22, 2026
Merged

Align firmware and interface naming conventions #38

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209fbe3
Add missing mask type to device metadata
glopesdev Mar 11, 2026
f2151c7
Align firmware and interface naming conventions
glopesdev Mar 12, 2026
685434b
Regenerate bit mask names
glopesdev Mar 12, 2026
1eb092a
Add missing descriptions from device masks
glopesdev Mar 12, 2026
80092a9
Ensure address alignment
glopesdev Mar 12, 2026
344577e
Regenerate interface using harp toolkit
glopesdev Mar 17, 2026
ab778e3
Adopt naming convention for mask suffix
glopesdev Mar 22, 2026
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13 changes: 13 additions & 0 deletions .config/dotnet-tools.json
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@@ -0,0 +1,13 @@
{
"version": 1,
"isRoot": true,
"tools": {
"harp.toolkit": {
"version": "0.2.2",
"commands": [
"harp.toolkit"
],
"rollForward": false
}
}
}
9 changes: 3 additions & 6 deletions .github/workflows/Harp.Behavior.yml
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Expand Up @@ -82,20 +82,17 @@ 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
id: configure-build
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
Expand Down
130 changes: 65 additions & 65 deletions Firmware/Behavior/app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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
Expand All @@ -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_;
Expand All @@ -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);
Expand All @@ -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;
}

/************************************************************************/
Expand All @@ -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;
Expand Down Expand Up @@ -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;
}
Expand Down Expand Up @@ -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) {}
Expand Down
2 changes: 1 addition & 1 deletion Firmware/Behavior/app.h
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Expand Up @@ -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
Expand Down
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