OpenServo.com

[ginge]

Hi all, here is a brief update...

New:
I have just commited a large change to the v3-dev branch that splits out the different platforms people are using into a configuration directory.
To do this I have made a lot of the code more pin agnostic, and it is now possible to assign any pin to any feature, should you wish to make your own OpenServo derivative.

Check out the config directory for a template file for some the features you can enable/disable, and how to map to any pin you wish.

GPIO INTn pin on V3 just got useful...
I have added the relevant code to allow features to interrupt a master device using a GPIO pin.
The INTn pin ont he OSv3 connector will now trigger on any alert that is set.
Alerts are configured via the alert bank, and you can set min and max values for the following:
temperature
power (current)
voltage

The ALERT_STATUS register holds the bit values for all of the alerts in the system, and call be polled by the master for issues.
additionally, the alert gpio is pulled high when one of these alerts is triggered.
There is also a trigger for when the OpenServo reaches the destination point.
You can use this to trigger the host into performing the next action.

the INTn trigger is enabled by default from any alert source. You can selectively disable the interrupt on any alert source by using the bit register REG_ALERT_CAUSES_INT

You may also disable any alert source from affecting ALERT_STATUS completely by masking the values in REG_ALERT_ENABLE.

To clear the INTn line to low, write zero to ALERT_STATUS to reset the errors (once you have dealt with them)
Bug fixes:
There was a nasty bug in the twi checked protocol that meant it would never nack on an issue. This is now patched.
There was a small issue of the H-bridge crowbarring the sinking lots of current. resolved.

Additional:
A lot of modues are now disablable to fall in line with the more flexible configuration scheme.
I am writing a better control interface for the OpenServo which is not dependant on the OSIF for communication, and is a lot easier to use. There will also be something special in the next patchset

I will document these new features shortly.

Barry
_________________
http://www.headfuzz.co.uk/
http://www.robotfuzz.co.uk/

[kbb]

Barry,

Cheers. I am looking forward to the something special surprise!

I have been a bit snowed under of late and have not been working on my OpenServo based project, but I hope to be back on to it shortly.

Kevin.