From 27b3c69e8eaa7381ed846d39e5bbd2ba451f71b6 Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Wed, 1 Jan 2020 01:52:21 -0500
Subject: [PATCH] Fix parity calculation

---
 Firmware/MotorControl/encoder.cpp | 8 ++------
 Firmware/Tests/test_runner.cpp    | 9 ++++++---
 Firmware/Tupfile.lua              | 2 +-
 ODrive_Workspace.code-workspace   | 9 ++++++++-
 4 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index c1223d07..6de18e9c 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -366,7 +366,7 @@ uint8_t parity(uint16_t v){
     v ^= v >> 4;
     v ^= v >> 2;
     v ^= v >> 1;
-    return v & 1;
+    return (~v) & 1;
 }
 void Encoder::abs_spi_cb(){
     HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
@@ -379,11 +379,7 @@ void Encoder::abs_spi_cb(){
 
             if (parity_calc == parity_bit) {
                 pos_abs_ = rawVal & 0x3FFF;
-                // We are going to ignore values all high or low
-                // This might happen in normal operation, but its unlikely
-                // The filter will handle these cases
-                if (pos_abs_ != 0 && pos_abs_ != 0x3FFF)
-                    abs_spi_pos_updated_ = true;
+                abs_spi_pos_updated_ = true;
             }
         } break;
         case MODE_SPI_ABS_AEAT: {
diff --git a/Firmware/Tests/test_runner.cpp b/Firmware/Tests/test_runner.cpp
index cae2441c..7d38c29f 100644
--- a/Firmware/Tests/test_runner.cpp
+++ b/Firmware/Tests/test_runner.cpp
@@ -295,7 +295,7 @@ TEST_SUITE("vel_ramp") {
         v ^= v >> 4;
         v ^= v >> 2;
         v ^= v >> 1;
-        return v & 1;
+        return (~v) & 1;
     }
 
     TEST_CASE("Blah") {
@@ -321,7 +321,10 @@ TEST_SUITE("vel_ramp") {
     }
 
     TEST_CASE("Parity") {
-        CHECK(parity(0x0DDF) == 0);
-        CHECK(parity(0x8DDF) == 1);
+        CHECK(parity(0x0DDF & 0x7FFF) == 1);
+        CHECK(parity(0x8DDF & 0x7FFF) == 1);
+        CHECK(parity(0x5BFF & 0x7FFF) == 0);
+        CHECK(parity(0x0 & 0x7FFF) == 1);
+        CHECK(__builtin_parity(0x5BFF & 0x7FFF) == 1);
     }
 }
\ No newline at end of file
diff --git a/Firmware/Tupfile.lua b/Firmware/Tupfile.lua
index 16e3aa2a..d329e4e7 100644
--- a/Firmware/Tupfile.lua
+++ b/Firmware/Tupfile.lua
@@ -191,6 +191,6 @@ build{
 
 if tup.getconfig('DOCTEST') == 'true' then
     TEST_INCLUDES = '-IC:/Tools/doctest/doctest'
-    tup.frule{inputs='Tests/test_runner.cpp', command='g++ -std=gnu++17 '..TEST_INCLUDES..' %f -o %o', outputs='Tests/test_runner.exe'}
+    tup.frule{inputs='Tests/test_runner.cpp', command='g++ -O3 -std=gnu++17 '..TEST_INCLUDES..' %f -o %o', outputs='Tests/test_runner.exe'}
     tup.frule{inputs='Tests/test_runner.exe', command='%f'}
 end
\ No newline at end of file
diff --git a/ODrive_Workspace.code-workspace b/ODrive_Workspace.code-workspace
index 6e9385a0..2012b56e 100644
--- a/ODrive_Workspace.code-workspace
+++ b/ODrive_Workspace.code-workspace
@@ -57,7 +57,14 @@
 			"fstream": "cpp",
 			"iomanip": "cpp",
 			"optional": "cpp",
-			"sstream": "cpp"
+			"sstream": "cpp",
+			"atomic": "cpp",
+			"iterator": "cpp",
+			"memory_resource": "cpp",
+			"ratio": "cpp",
+			"string": "cpp",
+			"mutex": "cpp",
+			"thread": "cpp"
 		}
 	}
 }