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Use IP over Rime

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This commit is contained in:
ksb 2009-07-11 15:07:59 +00:00
parent 88669e1675
commit 3c3714c178
9 changed files with 265 additions and 118 deletions
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43
platform/stepper-robot/stepper-process.c
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@ -276,7 +276,8 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
reply_str(reply, "OK\n");
} else if (input_line[0] == 'p') {
reply_char(reply, 'p');
format_int_hex(&reply->write, REPLY_BUFFER_END(reply), cc2420_last_rssi);
format_int_hex(&reply->write, REPLY_BUFFER_END(reply),
cc2420_last_rssi);
reply_char(reply, ',');
format_uint_hex(&reply->write, REPLY_BUFFER_END(reply),
cc2420_last_correlation);
@ -443,12 +444,52 @@ PROCESS_THREAD(udp_stepper_process, ev, data)
PROCESS_END();
}
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);
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);
static StepperAccSeq seq_heap[40];
static void
init_seq_heap()
{
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]);
}
}
static void
robot_stepper_init()
{
disableIRQ();
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])));
enableIRQ();
}
PROCESS(stepper_process, "Stepper control process");
PROCESS_THREAD(stepper_process, ev, data)
{
PROCESS_EXITHANDLER(goto exit);
PROCESS_BEGIN();
robot_stepper_init();
tcp_listen(HTONS(1010));
process_start(&udp_stepper_process, NULL);