Compact rio not being able to use C

[rwood359]

Originally Posted by BradAMiller

The documentation and source code will be released to the beta teams next week along with the beta development tools. The decision on the rest of the public release is up to FIRST.

Please lobby for the have-nots. Some dialog can start as soon as we have the documentation and tools. Getting some things cleared up now may reduce your work load when everyone gets the full system.

The software will include Workbench 3.0 based on Eclipse 3.3. The FIRST program builds use the gnu C/C++ compiler. Full remote debugging (breakpoints, watchpoints, single step, etc.) is included, some of the other profiling tools from the full version of WorkBench are not there. You can debug the program remotely over the Wifi or ethernet connection.

This sounds like fun! I have some concerns about breakpoints and motors. Are breakpoints tied into the FPGA to pause PWMs?

I'm not sure exactly what you're asking, but there is a class for the gyro. Inside the class the A/D channel hardware is set up to do averaging and oversampling and the output from the A/D conversions is routed to a hardware accumulator that does the integration (summing) to compute heading from the gyro rate output. The software just reads/scales the current value whenever the program asks for it. The hardware has two of those accumulators so you can have two gyros or other devices requiring hardware summed A/D values.

Are those the details you were looking for?

Thanks for the information on the gyros. My real question is about the level of documentation of the FPGA that is sitting between the code and the devices. One of your earlier posts in this thread described both specific device interfaces and generalized tools to build an interface. How detailed as to timing and timing constraints will the documentation be?
For example, in your response above, you described the functionality of the gyro driver without giving any data rates. Will the functional document have the data rates for the sampling and such? You don't need to give details here.

Thanks again,
Randy Wood