Platform specific code for a robot using stepper motors.

platform/stepper-robot/sys-tst.c

@@ -0,0 +1,80 @@
+#include <AT91SAM7S64.h>
+#include <stdio.h>
+#include <sys/process.h>
+#include <sys/procinit.h>
+#include <sys/etimer.h>
+#include <dev/leds.h>
+#include <debug-uart.h>
+#include <interrupt-utils.h>
+
+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");
+
+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();
+}
+PROCINIT(&etimer_process, &blink_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();
+  
+  process_init();
+  printf("Started\n");
+  
+  procinit_init();
+  enableIRQ(); 
+  printf("Processes running\n");
+  while(1) {
+    do {
+      /* Reset watchdog. */
+     } while(process_run() > 0);
+    /* Idle! */
+    /* Stop processor clock */
+    *AT91C_PMC_SCDR |= AT91C_PMC_PCK;
+  }
+  return 0;
+}