Merge pull request #39 from harp-tech/fw-remove_enable_pull_up

Remove enable's pull-up.

Author: filcarv

Firmware/StepperDriver/app.c

@@ -32,9 +32,9 @@ void hwbp_app_initialize(void)
 {
     /* Define versions */
     uint8_t hwH = 1;
-    uint8_t hwL = 0;
+    uint8_t hwL = 1;
     uint8_t fwH = 0;
-    uint8_t fwL = 8;
+    uint8_t fwL = 9;
     uint8_t ass = 0;
 
    	/* Start core */

Firmware/StepperDriver/app_ios_and_regs.c

@@ -21,7 +21,7 @@ void init_ios(void)
 	io_pin2in(&PORTD, 2, PULL_IO_UP, SENSE_IO_EDGE_FALLING);             // ERROR_M1
 	io_pin2in(&PORTE, 2, PULL_IO_UP, SENSE_IO_EDGE_FALLING);             // ERROR_M2
 	io_pin2in(&PORTJ, 5, PULL_IO_UP, SENSE_IO_EDGE_FALLING);             // ERROR_M3
-	io_pin2in(&PORTQ, 0, PULL_IO_UP, SENSE_IO_EDGES_BOTH);               // EMERGENCY
+	io_pin2in(&PORTQ, 0, PULL_IO_TRISTATE, SENSE_IO_EDGES_BOTH);         // EMERGENCY
 
 	/* Configure input interrupts */
 	io_set_int(&PORTK, INT_LEVEL_LOW, 0, (1<<5), false);                 // INPUT0

Firmware/StepperDriver/app_ios_and_regs.h

@@ -566,23 +566,23 @@ typedef struct
 #define ADD_REG_STOP_MOTORS_SUDENTLY       110 // U8     Stops the motors immediately.
 #define ADD_REG_RESET_MOTORS_ERROR_DETECTION 111 // U8     Disables the current error and enables the driver.
 #define ADD_REG_RESET_ENCODERS             112 // U8     Resets the encoder.
-#define ADD_REG_RESERVED0                  113 // U8     Contains the CFG configuration pins of the TMC2210 driver that controls motor 0.
-#define ADD_REG_RESERVED1                  114 // U8     Contains the CFG configuration pins of the TMC2210 driver that controls motor 1.
-#define ADD_REG_RESERVED2                  115 // U8     Contains the CFG configuration pins of the TMC2210 driver that controls motor 2.
-#define ADD_REG_RESERVED3                  116 // U8     Contains the CFG configuration pins of the TMC2210 driver that controls motor 3.
-#define ADD_REG_RESERVED4                  117 // U8     Contains the raw data of the digital potentiometer that controls current limit of motor 0.
-#define ADD_REG_RESERVED5                  118 // U8     Contains the raw data of the digital potentiometer that controls current limit of motor 1.
-#define ADD_REG_RESERVED6                  119 // U8     Contains the raw data of the digital potentiometer that controls current limit of motor 2.
-#define ADD_REG_RESERVED7                  120 // U8     Contains the raw data of the digital potentiometer that controls current limit of motor 3.
-#define ADD_REG_RESERVED8                  121 // U16    Configures the motor's step interval when running at nominal speed for motor 1 for the quick mode.
-#define ADD_REG_RESERVED9                  122 // U16    Configures the motor's step interval when running at nominal speed for motor 2 for the quick mode.
-#define ADD_REG_RESERVED10                 123 // U16    Configures the motor's maximum step interval for motor 1, used as the first and last steo interval of a movement for the quick mode.
-#define ADD_REG_RESERVED11                 124 // U16    Configures the motor's maximum step interval for motor 2, used as the first and last steo interval of a movement for the quick mode.
-#define ADD_REG_RESERVED12                 125 // U16    Configures the acceleration for motor 1. The step's interval is decreased by this value when accelerating and increased when decelerating for the quick mode.
-#define ADD_REG_RESERVED13                 126 // U16    Configures the acceleration for motor . The step's interval is decreased by this value when accelerating and increased when decelerating for the quick mode.
-#define ADD_REG_RESERVED14                 127 // I16    Moves motor 1 by the number of steps written in this register and set the direction according to the value's signal for the quick mode.
-#define ADD_REG_RESERVED15                 128 // I16    Moves motor 2 by the number of steps written in this register and set the direction according to the value's signal for the quick mode.
-#define ADD_REG_RESERVED16                 129 // U8     Writing any value to this register will load the motors' current configuration memory for quicker start.
+#define ADD_REG_RESERVED0                  113 // U8     Reserved.
+#define ADD_REG_RESERVED1                  114 // U8     Reserved.
+#define ADD_REG_RESERVED2                  115 // U8     Reserved.
+#define ADD_REG_RESERVED3                  116 // U8     Reserved.
+#define ADD_REG_RESERVED4                  117 // U8     Reserved.
+#define ADD_REG_RESERVED5                  118 // U8     Reserved.
+#define ADD_REG_RESERVED6                  119 // U8     Reserved.
+#define ADD_REG_RESERVED7                  120 // U8     Reserved.
+#define ADD_REG_RESERVED8                  121 // U16    Reserved.
+#define ADD_REG_RESERVED9                  122 // U16    Reserved.
+#define ADD_REG_RESERVED10                 123 // U16    Reserved.
+#define ADD_REG_RESERVED11                 124 // U16    Reserved.
+#define ADD_REG_RESERVED12                 125 // U16    Reserved.
+#define ADD_REG_RESERVED13                 126 // U16    Reserved.
+#define ADD_REG_RESERVED14                 127 // I16    Reserved.
+#define ADD_REG_RESERVED15                 128 // I16    Reserved.
+#define ADD_REG_RESERVED16                 129 // U8     Reserved.
 #define ADD_REG_START_QUICK_MOVEMENT       130 // U8     Triggers the quick movement in the correspondent motor.
 #define ADD_REG_MOTOR1_QUICK_PULSE_DISTANCE 131 // FLOAT  Configures the motor's step distance in µm for motor 1.
 #define ADD_REG_MOTOR2_QUICK_PULSE_DISTANCE 132 // FLOAT  Configures the motor's step distance in µm for motor 2.

Firmware/StepperDriver/registers.xls

@@ -3,8 +3,8 @@
 # yaml-language-server: $schema=https://harp-tech.org/draft-02/schema/device.json
 device: StepperDriver
 whoAmI: 1130
-firmwareVersion: "0.8"
-hardwareTargets: "1.0"
+firmwareVersion: "0.9"
+hardwareTargets: "1.1" # Also compatible with version 1.0
 registers:
   ##################################
   # Enable and disable