Platform specific code for a robot using stepper motors.

platform/stepper-robot/robot-main.c

@@ -0,0 +1,187 @@
+#include <AT91SAM7S64.h>
+#include <interrupt-utils.h>
+#include <string.h>
+#include <debug-uart.h>
+#include <ctype.h>
+#include <stdio.h>
+#include <net/uip.h>
+#include "net/uip-fw-service.h"
+#include "net/uaodv.h"
+#include <dev/cc2420.h>
+#include <dev/cc2420_const.h>
+#include <dev/spi.h>
+#include <sys/process.h>
+#include <sys/procinit.h>
+#include <sys/etimer.h>
+#include <net/psock.h>
+#include <stepper-process.h>
+#include <dev/leds.h>
+
+#ifndef RF_CHANNEL
+#define RF_CHANNEL 15
+#endif
+
+volatile const char * volatile input_line = NULL;
+volatile unsigned int input_line_len = 0;
+
+static void
+recv_input(const char *str, unsigned int len)
+{
+  /* Assume that the line is handled before any new characters is written
+     to the buffer */
+  input_line = str;
+  input_line_len = len;
+}
+
+PROCESS(blink_process, "LED blink process");
+
+struct uip_fw_netif cc2420if =
+  {UIP_FW_NETIF(172,16,0,2, 255,255,0,0, cc2420_send_ip)};
+
+PROCESS_THREAD(blink_process, ev , data)
+{
+  static struct etimer timer;
+  PROCESS_BEGIN();
+  etimer_set(&timer, CLOCK_SECOND/2);
+   while(1) {
+    PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_EXIT ||
+			     ev== PROCESS_EVENT_TIMER);
+    if (ev == PROCESS_EVENT_EXIT) break;
+    leds_invert(LEDS_RED);
+#if 0
+    {
+      DISABLE_FIFOP_INT();
+      printf("FSMSTATE:  %04x",cc2420_getreg(CC2420_FSMSTATE));
+      ENABLE_FIFOP_INT();
+      if (SFD_IS_1) printf(" SFD");
+      if (FIFO_IS_1) printf(" FIFO");
+      if (FIFOP_IS_1) printf(" FIFOP");
+      putchar('\n');
+    }
+#endif
+    etimer_reset(&timer);
+  }
+  printf("Ended process\n");
+  PROCESS_END();
+}
+
+PROCESS(udprecv_process, "UDP recv process");
+
+PROCESS_THREAD(udprecv_process, ev, data)
+{
+  static struct uip_udp_conn *c;
+
+  PROCESS_EXITHANDLER(goto exit);
+  PROCESS_BEGIN();
+
+  printf("udprecv_process starting\n");
+
+  {
+    uip_ipaddr_t any;
+    uip_ipaddr(&any, 0,0,0,0);
+    c = udp_new(&any, HTONS(0), NULL);
+    uip_udp_bind(c, HTONS(4321));
+  }
+  
+  while(1) {
+    PROCESS_YIELD();
+
+    if(ev == tcpip_event && uip_newdata()) {
+      u8_t *src = ((struct uip_udpip_hdr *)uip_buf)->srcipaddr.u8;
+      printf("%d.%d.%d.%d: %s\n",
+	     src[0], src[1], src[2], src[3], (char *)uip_appdata);
+    }
+  }
+
+ exit:
+  /* Contiki does automatic garbage collection of uIP state and we
+   * need not worry about that. */
+  printf("udprecv_process exiting\n");
+  PROCESS_END();
+}
+
+
+PROCESS(wd_test_process, "Watchdog test process");
+
+
+PROCESS_THREAD(wd_test_process, ev, data)
+{
+  static struct etimer timer;
+  PROCESS_BEGIN();
+  
+  printf("tcp_test_process starting\n");
+
+  etimer_set(&timer, 25*CLOCK_SECOND);
+  while(1) {
+    PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_EXIT ||
+			     ev== PROCESS_EVENT_TIMER);
+    if (ev == PROCESS_EVENT_EXIT) break;
+    printf("Blocking execution\n");
+    while(1);
+  }
+  
+  PROCESS_END();
+}
+
+
+#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;
+}
+
+static uip_ipaddr_t gw_addr = {{172,16,0,1}};
+
+
+PROCINIT(&etimer_process, &tcpip_process, &uip_fw_process, &cc2420_process,/*  &uaodv_process, */ &udprecv_process, &blink_process, &stepper_process);
+
+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");
+  dbg_set_input_handler(recv_input);
+  leds_arch_init();
+  clock_init();
+  uip_sethostaddr(&cc2420if.ipaddr);
+  uip_setnetmask(&cc2420if.netmask);
+  
+  /*uip_setdraddr(&gw_addr);*/
+  cc2420_init();
+  cc2420_set_chan_pan_addr(RF_CHANNEL,  HTONS(0x2024), uip_hostaddr.u16[1], NULL);
+  process_init();
+  uip_init();
+  uip_fw_default(&cc2420if); 
+  tcpip_set_forwarding(1);
+  printf("Started\n");
+  
+  procinit_init();
+  enableIRQ(); 
+  cc2420_on();
+  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;
+}