Platform specific code for a robot using stepper motors.

platform/stepper-robot/contiki-conf.h

@@ -0,0 +1,77 @@
+#ifndef __CONTIKI_CONF_H__CDBB4VIH3I__
+#define __CONTIKI_CONF_H__CDBB4VIH3I__
+
+#include <stdint.h>
+#include <cc2420-interrupt.h>
+#include <AT91SAM7S64.h>
+#include <io.h>
+
+#define CCIF
+#define CLIF
+
+#define WITH_UIP 1
+#define WITH_ASCII 1
+
+#define CLOCK_CONF_SECOND 100
+typedef uint8_t u8_t;
+typedef uint16_t u16_t;
+typedef uint32_t u32_t;
+
+typedef unsigned int clock_time_t;
+typedef unsigned int uip_stats_t;
+
+#ifndef BV
+#define BV(x) (1<<(x))
+#endif
+
+/* SPI */
+#define SPI_TXBUF *AT91C_SPI_TDR
+
+#define SPI_RXBUF ((unsigned char)*AT91C_SPI_RDR)
+
+#define SPI_WAITFOREOTx() while ((*AT91C_SPI_SR & AT91C_SPI_TXEMPTY) == 0)
+
+#define	SPI_WAITFOREORx() while ((*AT91C_SPI_SR & AT91C_SPI_RDRF) == 0)
+
+/* CC2420 control pins */
+
+#define FIFO_IS_1       (*AT91C_PIOA_PDSR & AT91C_PIO_PA2)
+#define VREG_IS_1       1 /* Hardwired */
+#define FIFOP_IS_1      (*AT91C_PIOA_PDSR & AT91C_PIO_PA30)
+#define SFD_IS_1        (*AT91C_PIOA_PDSR & AT91C_PIO_PA15)
+
+#define SET_RESET_INACTIVE()	cc2420_setreg(CC2420_MAIN, 0xf800);
+#define SET_RESET_ACTIVE()	cc2420_setreg(CC2420_MAIN, 0x0000);
+
+#define SET_VREG_ACTIVE()
+#define SET_VREG_INACTIVE()
+
+#define FIFOP_INT_INIT() cc2420_interrupt_fifop_int_init()
+#define DISABLE_FIFOP_INT() (*AT91C_AIC_IDCR = (1 << AT91C_ID_IRQ1))
+#define ENABLE_FIFOP_INT() (*AT91C_AIC_IECR = (1 << AT91C_ID_IRQ1))
+
+#define CC2420_DEFAULT_DEV 1
+
+#define SPI_ENABLE() \
+do { \
+*AT91C_SPI_MR = ((*AT91C_SPI_MR & ~AT91C_SPI_PCS) \
+		 | ((~(1<<CC2420_DEFAULT_DEV) & 0x0f) << 16));\
+} while(0)
+
+/* Automatically enabled when transmitting */
+
+#define SPI_DISABLE()	(*AT91C_SPI_CR = AT91C_SPI_LASTXFER)
+
+#define CLEAR_FIFOP_INT()	/* Cleared by the wrapper */
+
+#define LOOP_20_SYMBOLS (MCK/28125) /* Assume the loop takes 9 cycles */
+
+/* uIP configuration */
+#define UIP_CONF_LLH_LEN         0
+#define UIP_CONF_BROADCAST       1
+#define UIP_CONF_LOGGING 1
+
+/* Prefix for relocation sections in ELF files */
+#define REL_SECT_PREFIX ".rel"
+
+#endif /* __CONTIKI_CONF_H__CDBB4VIH3I__ */