osd-contiki/platform/stepper-robot/robot-main.c

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#include <AT91SAM7S64.h>
#include <interrupt-utils.h>
#include <string.h>
#include <debug-uart.h>
#include <ctype.h>
#include <stdio.h>
#include <dev/cc2420.h>
#include <dev/cc2420_const.h>
#include <dev/spi.h>
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#include <dev/leds.h>
#include <sys/process.h>
#include <sys/procinit.h>
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#include <sys/autostart.h>
#include <sys/etimer.h>
#include <net/psock.h>
#include <unistd.h>
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#include <stepper-steps.h>
#include <stepper.h>
#include <stepper-move.h>
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#include "net/mac/nullmac.h"
#include "net/rime.h"
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#ifndef RF_CHANNEL
#define RF_CHANNEL 15
#endif
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#ifndef WITH_UIP
#define WITH_UIP 1
#endif
#if WITH_UIP
#include "net/uip.h"
#include "net/uip-fw.h"
#include "net/uip-fw-drv.h"
#include "net/uip-over-mesh.h"
static struct uip_fw_netif meshif =
{UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
#define UIP_OVER_MESH_CHANNEL 9
#endif /* WITH_UIP */
static rimeaddr_t node_addr = {{0,2}};
extern char __heap_end__;
extern char __heap_start__;
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static const uint32_t stepper0_steps_acc[] = MICRO_STEP(0,3);
static const uint32_t stepper0_steps_run[] = MICRO_STEP(0,2);
static const uint32_t stepper0_steps_hold[] = MICRO_STEP(0,1);
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static const uint32_t stepper1_steps_acc[] = MICRO_STEP(1,3);
static const uint32_t stepper1_steps_run[] = MICRO_STEP(1,2);
static const uint32_t stepper1_steps_hold[] = MICRO_STEP(1,1);
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static StepperAccSeq seq_heap[40];
static void
init_seq_heap()
{
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unsigned int i;
for(i = 0; i < sizeof(seq_heap)/sizeof(seq_heap[0]); i++) {
seq_heap[i].next = NULL;
stepper_free_seq(&seq_heap[i]);
}
}
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static void
robot_stepper_init()
{
init_seq_heap();
stepper_init(AT91C_BASE_TC0, AT91C_ID_TC0);
*AT91C_PIOA_OER = STEPPER_INHIBIT;
*AT91C_PIOA_MDER = STEPPER_INHIBIT; /* | STEPPER0_IOMASK; */
*AT91C_PIOA_CODR = STEPPER_INHIBIT;
stepper_init_io(1, STEPPER_IOMASK(0), stepper0_steps_acc,
stepper0_steps_run, stepper0_steps_hold,
(sizeof(stepper0_steps_run) / sizeof(stepper0_steps_run[0])));
stepper_init_io(0, STEPPER_IOMASK(1), stepper1_steps_acc,
stepper1_steps_run, stepper1_steps_hold,
(sizeof(stepper1_steps_run) / sizeof(stepper1_steps_run[0])));}
#if 0
/* Wathcdog is already disabled in startup code */
static void
wdt_setup()
{
}
#endif
static void
wdt_reset()
{
*AT91C_WDTC_WDCR = (0xa5<<24) | AT91C_WDTC_WDRSTT;
}
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#if 0
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
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#endif
int
main()
{
disableIRQ();
disableFIQ();
*AT91C_AIC_IDCR = 0xffffffff;
*AT91C_PMC_PCDR = 0xffffffff;
*AT91C_PMC_PCER = (1 << AT91C_ID_PIOA);
dbg_setup_uart();
printf("Initialising\n");
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leds_arch_init();
clock_init();
process_init();
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process_start(&etimer_process, NULL);
ctimer_init();
robot_stepper_init();
enableIRQ();
cc2420_init();
cc2420_set_pan_addr(0x2024, 0, &uip_hostaddr.u16[1]);
cc2420_set_channel(RF_CHANNEL);
rime_init(nullmac_init(&cc2420_driver));
printf("CC2420 setup done\n");
rimeaddr_set_node_addr(&node_addr);
#if WITH_UIP
{
uip_ipaddr_t hostaddr, netmask;
uip_init();
uip_ipaddr(&hostaddr, 172,16,
rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
uip_ipaddr(&netmask, 255,255,0,0);
uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
printf("Host addr\n");
uip_sethostaddr(&hostaddr);
uip_setnetmask(&netmask);
uip_over_mesh_set_net(&hostaddr, &netmask);
/* uip_fw_register(&slipif);*/
/*uip_over_mesh_set_gateway_netif(&slipif);*/
uip_fw_default(&meshif);
printf("Mesh init\n");
uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
printf("uIP started with IP address %d.%d.%d.%d\n",
uip_ipaddr_to_quad(&hostaddr));
}
#endif /* WITH_UIP */
#if WITH_UIP
process_start(&tcpip_process, NULL);
process_start(&uip_fw_process, NULL); /* Start IP output */
#endif /* WITH_UIP */
printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
printf("Started\n");
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autostart_start(autostart_processes);
printf("Processes running\n");
while(1) {
do {
/* Reset watchdog. */
wdt_reset();
} while(process_run() > 0);
/* Idle! */
/* Stop processor clock */
*AT91C_PMC_SCDR |= AT91C_PMC_PCK;
}
return 0;
}