off by one bug caused readings to be out of order (#806)

utra-robosoccer · Jul 20, 2023 · 5509c07 · 5509c07
1 parent 7efd0c3
commit 5509c07
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/soccer_firmware/.settings/language.settings.xml b/soccer_firmware/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1784325041921134830" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-260604961516797221" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,10 +16,10 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1784325041921134830" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-260604961516797221" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 		</extension>
 	</configuration>
-</project>
+</project>
diff --git a/soccer_firmware/Core/Src/update_loop.c b/soccer_firmware/Core/Src/update_loop.c
@@ -111,15 +111,15 @@ void read_imu(uint8_t *rxBuf) {
 }
 
 void read_motors(uint8_t *rxBuf) {
-  for (uint16_t i = 1; i < 6; i++) {// reset variables
+  for (uint16_t i = 0; i < 6; i++) {// reset variables
     motorPorts[i]->dmaDoneReading = false;
     motorPorts[i]->timeout = 0;
     motorPorts[i]->motorServiced = false;
   };
 
   // send read command to 1 motor on each port
   uint8_t numMotorsRequested = 0;
-  for (uint8_t i = 1; i < 6; i ++) {
+  for (uint8_t i = 0; i < 6; i ++) {
     MotorPort *p = motorPorts[i];
     uint8_t currMotor = p->currReadMotor;
     uint8_t motorId = p->motorIds[currMotor];
@@ -142,7 +142,6 @@ void read_motors(uint8_t *rxBuf) {
       HAL_UART_Receive_DMA(p->huart, p->rxBuffer, p->rxPacketLen);
       read_motor_present_position_p2(p, motorId);
     }
-    p->currReadMotor = (currMotor + 1) % p->numMotors;
     p->timeout = HAL_GetTick();
     numMotorsRequested++; // keep track of how many motors we are reading
   }
@@ -173,12 +172,14 @@ void read_motors(uint8_t *rxBuf) {
         p->dmaDoneReading = false;
         numMotorsReceived++;
         p->motorServiced = true;
+        p->currReadMotor = (p->currReadMotor + 1) % p->numMotors;
       } else {
         //timeout logic
         if(HAL_GetTick() - p->timeout > 10) { // units in milliseconds
           HAL_UART_DMAStop(p->huart);
           numMotorsReceived++; // unsuccesful but we still count as received
           p->motorServiced = true;
+          p->currReadMotor = (p->currReadMotor + 1) % p->numMotors;
         }
       }
     }