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Platform specific code for a robot using stepper motors.

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This commit is contained in:
ksb 2007-02-24 00:21:16 +00:00
parent 13af443115
commit 20eaa31eff
17 changed files with 2262 additions and 0 deletions
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47
platform/stepper-robot/cc2420-interrupt.c Normal file
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#include <AT91SAM7S64.h>
#include <contiki-conf.h>
#include <sys/process.h>
#include <net/uip.h>
#include <dev/cc2420.h>
#include <interrupt-utils.h>
static void NACKEDFUNC
cc2420_fifop_interrupt (void) /* System Interrupt Handler */
{
ISR_STORE();
ISR_ENABLE_NEST();
__cc2420_intr();
ISR_DISABLE_NEST();
*AT91C_AIC_EOICR = 0; /* End of Interrupt */
ISR_RESTORE();
}
void
cc2420_interrupt_fifop_int_init(void)
{
*AT91C_PIOA_ASR = AT91C_PA30_IRQ1;
*AT91C_PIOA_PDR = AT91C_PA30_IRQ1;
AT91C_AIC_SMR[AT91C_ID_IRQ1] = AT91C_AIC_SRCTYPE_POSITIVE_EDGE | 4;
AT91C_AIC_SVR[AT91C_ID_IRQ1] = (unsigned long)cc2420_fifop_interrupt;
/* *AT91C_AIC_IECR = (1 << AT91C_ID_IRQ1); */
}
inline int splhigh(void)
{
int save;
#ifndef __THUMBEL__
asm("mrs %0, CPSR\n\torr r1,%0,#0x80\n\tmsr CPSR_c, r1" : "=r" (save)::"r1");
#else
#error Must be compiled in ARM mode
#endif
return save;
}
inline void splx(int saved)
{
#ifndef __THUMBELL__
asm("msr CPSR_c, %0" ::"r" (saved));
#else
#error Must be compiled in ARM mode
#endif
}