Added limit switch and E-Stop drivers


git-svn-id: https://atrias.googlecode.com/svn/trunk@1500 a504bc44-2baa-4cb8-4136-ba805e94d278
Removing stuff from soem_test that need not be there anymore.

Yay! The ROS package for SOEM builds thanks to Soo-Hyun!


git-svn-id: https://atrias.googlecode.com/svn/trunk@1506 a504bc44-2baa-4cb8-4136-ba805e94d278
Committing some changes I have remaining in my hardware directory. I'm not sure what they are, but for one they fix the problem with the incremental encoder differential receiver.

git-svn-id: https://atrias.googlecode.com/svn/trunk@1517 a504bc44-2baa-4cb8-4136-ba805e94d278
Finished revising menial board, added differential driver board for incremental encoders.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1534 a504bc44-2baa-4cb8-4136-ba805e94d278
Switched the ADC on the strain gauge digitizer board to an ADC with an easier to use interface. I also moved the trimmer potentiometers apart by 40 mils so it is easier to solder them as well as other small changes.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1535 a504bc44-2baa-4cb8-4136-ba805e94d278
Setting svn:ignore so that svn st is less spammy.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1538 a504bc44-2baa-4cb8-4136-ba805e94d278
Changed the way interrupt handlers are included in the user program for the spi uart and ethercat drivers. Added and documented the a Biss-C driver.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1548 a504bc44-2baa-4cb8-4136-ba805e94d278
Fixed Biss-C encoder driver. It no longer tries to asyncronously wait for the Ack.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1567 a504bc44-2baa-4cb8-4136-ba805e94d278
Added SSI encoder driver. Removed some now unused code from the biss driver.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1568 a504bc44-2baa-4cb8-4136-ba805e94d278
Renamed files and functions for biss and ssi encoders. They are now called biss_encoder and ssi_encoder. With the addition of the incremental_encoder driver (coming soon) this will make it clearer that that all these drivers are for encoders.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1584 a504bc44-2baa-4cb8-4136-ba805e94d278
Added the quadrature encoder driver, it hasn't been tested, but it should work. I also learned that I could simplfy how I was configuring the pins in the limit switch driver, so I fixed that. I also changed the io_init_pin macro to a function, because it makes it possible to send a pin into another without putting it into a variable first.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1585 a504bc44-2baa-4cb8-4136-ba805e94d278
Revamped the Makefiles for the firmware. The medulla_lib library now compiles into a proper library and the actual medulla firmware links against the library. Now it's possible to actually seperate the library from the firmware implementation.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1586 a504bc44-2baa-4cb8-4136-ba805e94d278
Firmware make file now displays program space usage after building.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1587 a504bc44-2baa-4cb8-4136-ba805e94d278
Tested quadrature encoder driver, it now works. Started work on a communications driver for the amplifiers, header file is done, and have started work on the implementation. CRC generation now works wooooo. Fixed the firmware makefile so now it will relink against the medulla library if the library gets recompiled.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1588 a504bc44-2baa-4cb8-4136-ba805e94d278
Finished implementing the dzralte comminucation driver. Added a couple features to the uart driver.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1600 a504bc44-2baa-4cb8-4136-ba805e94d278
Added a ADC driver. This probably won't be the final version, since it generates way more interrupts than nessesary. But it works, so I wanted to put it in the repository.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1606 a504bc44-2baa-4cb8-4136-ba805e94d278
Reimplemented the ADC interrupt system so now many fewer interrupts should be generated. I also documented the ADC header file.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1607 a504bc44-2baa-4cb8-4136-ba805e94d278
Tested new ADC driver, and fixed some bugs. The medulla library is now complete.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1614 a504bc44-2baa-4cb8-4136-ba805e94d278
Made small change to slave configuration file


git-svn-id: https://atrias.googlecode.com/svn/trunk@1650 a504bc44-2baa-4cb8-4136-ba805e94d278
Removed unneeded timestamps from ESI file.


git-svn-id: https://atrias.googlecode.com/svn/trunk@1657 a504bc44-2baa-4cb8-4136-ba805e94d278