From 8407721744acc642ff19b8625a85b30c2da2afa4 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Tue, 17 Apr 2018 03:21:03 -0700
Subject: [PATCH] fix external interrupts, step dir now working

---
 Firmware/.vscode/c_cpp_properties.json | 4 ++--
 Firmware/Board/v3/Src/gpio.c           | 6 ++++--
 Firmware/Board/v3/Src/stm32f4xx_it.c   | 8 ++++++++
 Firmware/MotorControl/axis.cpp         | 8 ++++----
 Firmware/MotorControl/main.cpp         | 2 ++
 Firmware/tup.config.default            | 1 -
 6 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/Firmware/.vscode/c_cpp_properties.json b/Firmware/.vscode/c_cpp_properties.json
index 5042079e..eab99cd5 100644
--- a/Firmware/.vscode/c_cpp_properties.json
+++ b/Firmware/.vscode/c_cpp_properties.json
@@ -27,8 +27,8 @@
                 "STM32F405xx",
                 "USE_HAL_DRIVER",
                 "HW_VERSION_MAJOR=3",
-                "HW_VERSION_MINOR=4",
-                "HW_VERSION_VOLTAGE=24",
+                "HW_VERSION_MINOR=5",
+                "HW_VERSION_VOLTAGE=48",
                 "__weak=\"__attribute__((weak))\"",
                 "__packed=\"__attribute__((__packed__))\"",
                 "__GNUC__"
diff --git a/Firmware/Board/v3/Src/gpio.c b/Firmware/Board/v3/Src/gpio.c
index 91b3f3cd..fb163f71 100644
--- a/Firmware/Board/v3/Src/gpio.c
+++ b/Firmware/Board/v3/Src/gpio.c
@@ -138,8 +138,9 @@ void MX_GPIO_Init(void)
   HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
 
   /* EXTI interrupt init*/
-  HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+  // TODO get Cube to not emit this
+  // HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
+  // HAL_NVIC_EnableIRQ(EXTI2_IRQn);
 
 }
 
@@ -151,6 +152,7 @@ void MX_GPIO_Init(void)
 // no matter which port they belong to.
 IRQn_Type get_irq_number(uint16_t pin) {
   uint16_t pin_number = 0;
+  pin >>= 1;
   while (pin) {
     pin >>= 1;
     pin_number++;
diff --git a/Firmware/Board/v3/Src/stm32f4xx_it.c b/Firmware/Board/v3/Src/stm32f4xx_it.c
index cd96644a..a7fe3a12 100644
--- a/Firmware/Board/v3/Src/stm32f4xx_it.c
+++ b/Firmware/Board/v3/Src/stm32f4xx_it.c
@@ -341,6 +341,14 @@ void EXTI4_IRQHandler(void)
   HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
 }
 
+/**
+* @brief This function handles EXTI lines 5-9 interrupt.
+*/
+void EXTI9_5_IRQHandler(void)
+{
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_9);
+}
+
 /**
 * @brief This function handles EXTI lines 10-15 interrupt.
 */
diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index bde389d4..4486199a 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -25,6 +25,10 @@ Axis::Axis(const AxisHardwareConfig_t& hw_config,
     motor_.axis_ = this;
 }
 
+static void step_cb_wrapper(void* ctx) {
+    reinterpret_cast<Axis*>(ctx)->step_cb();
+}
+
 // @brief Sets up all components of the axis,
 // such as gate driver and encoder hardware.
 void Axis::setup() {
@@ -56,10 +60,6 @@ bool Axis::wait_for_current_meas() {
     return osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status == osEventSignal;
 }
 
-static void step_cb_wrapper(void* ctx) {
-    reinterpret_cast<Axis*>(ctx)->step_cb();
-}
-
 // step/direction interface
 void Axis::step_cb() {
     if (enable_step_dir_) {
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 39a60356..75cd43d2 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -31,6 +31,7 @@ void save_configuration(void) {
 }
 
 void load_configuration(void) {
+    // Try to load configs
     if (NVM_init() ||
         ConfigFormat::safe_load_config(
                 &board_config,
@@ -38,6 +39,7 @@ void load_configuration(void) {
                 &controller_configs,
                 &motor_configs,
                 &axis_configs)) {
+        //If loading failed, restore defaults
         board_config = BoardConfig_t();
         for (size_t i = 0; i < AXIS_COUNT; ++i) {
             encoder_configs[i] = EncoderConfig_t();
diff --git a/Firmware/tup.config.default b/Firmware/tup.config.default
index 5cd89434..8ebb4402 100644
--- a/Firmware/tup.config.default
+++ b/Firmware/tup.config.default
@@ -3,4 +3,3 @@
 #CONFIG_BOARD_VERSION=v3.5-24V
 CONFIG_USB_PROTOCOL=native
 CONFIG_UART_PROTOCOL=ascii
-CONFIG_STEP_DIR=n