Additional PIC features

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The PIC platform needs multi-servo control and encoder support for robotics 
applications

Original issue reported on code.google.com by bjones460@gmail.com on 1 Oct 2010 at 10:08

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r622:
- Created branch for work

Original comment by bjones460@gmail.com on 1 Oct 2010 at 10:13

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r626:
- Merged trunk to this branch

Original comment by bjones460@gmail.com on 4 Oct 2010 at 4:13

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r627:
- Added crude multi-servo code

Original comment by bjones460@gmail.com on 4 Oct 2010 at 4:55

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r630:
- Fixes identical to Issue #153 included
- main.py now only imports ipm to save memory
- Debug info turned off to save memory

Original comment by bjones460@gmail.com on 4 Oct 2010 at 9:41

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r631:
- Synced with branch (no changse)

Original comment by bjones460@gmail.com on 4 Oct 2010 at 9:42

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r634:
- Eliminated C heap, reduced stack by 100 bytes; removed debug info
- Increased VM heap
- Changed TX/RX mapping for Microstik per updated pinout
- Updates to multi-servo
- Slimmed down VM std lib to bare bones
- Makefile fixes so that changes to makefiles trigger rebuilds

Original comment by bjones460@gmail.com on 5 Oct 2010 at 3:39

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r635:
- Servos configured for lab
- UART pin mapping for Microstik fixed
- Heartbeat disabled (use for servos)
- Debug information added back (doesn't affect RAM usage)
- Timer 1 now provides system clock
- Stack size larger
- VM debug info back on (little effect on RAM usage)
- interp.c now prints offending name in a name error

Original comment by bjones460@gmail.com on 5 Oct 2010 at 6:54

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r636:
- Fixed off-by-one bug

Original comment by bjones460@gmail.com on 5 Oct 2010 at 7:06

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r049769d6e53a:
- CR/LF conversion

Original comment by bjones460@gmail.com on 20 Oct 2010 at 2:47

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This issue was updated by revision 70de14f444.

- Merged with trunk (r3c69da0bf175)

Original comment by bjones460@gmail.com on 21 Oct 2010 at 11:04

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This issue was updated by revision f3ecabc27f.

- Backed out a merge between issue 146 and r09; should have merged with 
default. Command line used:
hg backout --merge --rev=628 --parent=627

Original comment by bjones460@gmail.com on 22 Oct 2010 at 4:18

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This issue was updated by revision c39a2137cf.

- Merged with default

Original comment by bjones460@gmail.com on 22 Oct 2010 at 4:18

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This issue was updated by revision 62c3a3b396.

- Merged with default

Original comment by bjones460@gmail.com on 29 Oct 2010 at 10:21

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This issue was updated by revision cb3f7de826.

- Fixes to system, unit test projects to build latest code
- Added file ID to outputcompare_multiservo.c
- Increased stack size / decreased heap size after system tests reported a 
stack error

Original comment by bjones460@gmail.com on 29 Oct 2010 at 10:21

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This issue was updated by revision 3f730903df.

- Progress on adding a dataXfer class.

Original comment by bjones460@gmail.com on 29 Oct 2010 at 10:21

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This issue was updated by revision 2b4266be76.

- More stack overflows during system testing; stack increased, heap decreased 
by another 100 bytes
- Completed and tested init, read, write methods
- Receive skeleton in place
- Updated Py startup messages in main -- only print on failure
- Fixes getPyXxx functions to check for at least 1 param
- Unit tests, main code, system test projects updated to build with data 
transfer

Original comment by bjones460@gmail.com on 1 Nov 2010 at 5:58

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This issue was updated by revision 581ae0d91e.

- Fix to dataXfer -- pass pointer to c, not value of c.
- Receive, receiveAllData functions added to pic24 library
- Missing top-of-stack = None commands added
- More number of args checking added
- receiveDataXferPy function completed
- System tested updated to test new receive, receiveAllData methods

Original comment by bjones460@gmail.com on 1 Nov 2010 at 10:30

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This issue was updated by revision b1499de8e9.

- Merged with default
- Tweaked RAM -- increased size a bit, but not too much to produce stack 
overflows.

Original comment by bjones460@gmail.com on 2 Nov 2010 at 8:49

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This issue was updated by revision 51fff9eeed.

- Doxygen updated to ignore the .hg directory; also updated to v1.7.2.
- Made vars const in pic24_serial.h to save memory
- Reduced heap size
- Added heapsize.h to p14p project
- Configured data transfer code with %d format for use with bootloader
- Updated readme for build process
- Tweaks to docs
- Added py2c.bat from Windows platform to support make-less builds

Original comment by bjones460@gmail.com on 4 Nov 2010 at 7:15

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This issue was updated by revision 3d796aaec6.

- Updated data transfer protocol from main repo
- Fixes to data transfer / python bridge

Original comment by bjones460@gmail.com on 12 Nov 2010 at 5:38

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This issue was updated by revision 4ebd622137.

- plat_putByte now escapes outgoing chars, as necessary
- OUT_CHAR now sends to UART 1, not the currently selected UART. This mimics 
plat_putByte's operation.

Original comment by bjones460@gmail.com on 17 Nov 2010 at 5:05

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This issue was updated by revision fcbd540880.

- Fixes for data transfer
- Removed lots of unused funcs in pic24_dspic33 library to help with memory

Original comment by bjones460@gmail.com on 17 Nov 2010 at 7:41

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This issue was updated by revision 052bd1716a.

- Removed debug code

Original comment by bjones460@gmail.com on 18 Nov 2010 at 5:57

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This issue was updated by revision 12bf8ea91c.

- Added ability to pass an initial list to data transfer __init__
- Misc typo fixes

Original comment by bjones460@gmail.com on 22 Nov 2010 at 9:52

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This issue was updated by revision ac5d7020c8.

- Backout r708 changes to pic24_dspic33.py to re-include all PIC library

Original comment by bjones460@gmail.com on 9 Jan 2011 at 11:24

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This issue was updated by revision 99d0089a44.

- Reverted to r654 (pymite-09) version of makefile, restoring all default 
Python libraries to the build
- There's no longer a dependence on Makefile; does this matter?

Original comment by bjones460@gmail.com on 9 Jan 2011 at 11:24

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This issue was updated by revision 1204fec314.

- Added an ipm target to the Makefile
- Reduced heap to make system tests pass
- Wrote better docs on incomplete implementation of multiservo in 
pic24_dspic33.py
- Fixes to unit, system tests to match changed PWM functions
- Removed unnecessary .mcw files (needs system_test's .mcw, since it uses a 
stimulus file for the ADC)
All tests pass.

Original comment by bjones460@gmail.com on 9 Jan 2011 at 11:24

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This issue was updated by revision 596121b087.

- Failed attempt to get v3.25 of the C30 compiler to work with p14p. Quick 
summary: snprintf doesn't work.

Original comment by bjones460@gmail.com on 9 Jan 2011 at 11:24

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This issue was updated by revision 4c23a2069b.

- Fixes to allow dsPIC33, PIC24F devices to correctly compile
- Added in some missing header files to the project

Original comment by bjones460@gmail.com on 9 Jan 2011 at 11:24

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This issue was updated by revision 3c2ee70142.

- Added support for using any UART, not just UART 1.

Original comment by bjones460@gmail.com on 14 Jan 2011 at 5:05

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This issue was updated by revision 470f1f9fcb.

- Fixed using receive interrupts with UART > 1.
- Docs typo fixed in pyports.

Original comment by bjones460@gmail.com on 14 Jan 2011 at 5:05

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This issue was updated by revision 077d07655f.

- Merged with default. All tests pass.

Original comment by bjones460@gmail.com on 14 Jan 2011 at 5:05

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This issue was updated by revision 1264b871f3.

- Ran fixcrlf
- Merged sources from PIC24 standard library.
- dataXfer.h: now use outChar() instead of outChar1(), so UART > 1 should work.
- Added new devices after running gen_ports_h.pl
- Files not copied:
  - dataXferImpl.h (keep just 8 xfer vars, not 62)
  - pic24_all.h (py version needs extra includes)
  - pic24_libconfig.h (py version has changes)
  - gen_ports_h.pl (py version has changes)
  - esos_dox.h, license.h, mainpage.h, textbook_exampes_dox.h (not relevant)

Original comment by bjones460@gmail.com on 14 Jan 2011 at 6:58

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This issue was updated by revision 4995e55605.

- First attempt to support the PIC24HJ128GP506A:
  * Merged in updated PIC24 support library files for this chip
- Many outstanding problems:
  * The 506A doesn't have port A! The first ODC it has is ODCD. So, use of TRISA, PORTA, LATA, and ODCA in pyports.c fails.
  * The assumption in assigning NUM_DIGITAL_PORTS (ports exist starting from A and going to G) is therefore wrong and needs a rewrite.

Original comment by bjones460@gmail.com on 14 Feb 2011 at 5:08

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This issue was updated by revision 7d2efe432f97.

- Merge PIC24 development contained in the issue_0146_bjones_pic_plus branch
  with default.
- Challenge: changes should affect *only* the src/platform/pic24.
  Solution:
  1. Manually reverted Doxyfile, src/platform/windows/py2c.bat to r774
    (b185a60f127c0d00665dd575d3286b63d2ba9724)
  2. hg diff --stat -r 774 * shows modifications are limited to
     src/platform/pic24
  Notes:
  - While a number of files claim to be modified, the only modification is
    (as I understand it) the merge of their history, rather than a merge of
    their contents. In r681 (f3ecabc27fa805210efef3a8ba858a641a836eb0), the
    backout of an earlier incorect merge followed by a correct merge in r683
    (c39a2137cfe2a48738dbc46e78ec4f112131f1ea) modified the history, though
    (after both merged were complete) not the contents of these files.

Original comment by bjones460@gmail.com on 1 Apr 2011 at 4:19

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Original comment by bjones460@gmail.com on 1 Apr 2011 at 9:28

• Changed state: Fixed