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Added codeprop loading to RAM.

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Moved some stepper code to Thumb so it could be dynamically linked to.
This commit is contained in:
ksb 2007-03-07 16:15:00 +00:00
parent b105b40e9a
commit 6a184e0897
9 changed files with 500 additions and 462 deletions
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29
platform/stepper-robot/robot-main.c
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@ -16,22 +16,18 @@
#include <net/psock.h>
#include <stepper-process.h>
#include <dev/leds.h>
#include <cfs/cfs-ram.h>
#include <loader/codeprop-otf.h>
#include <loader/ram-segments.h>
#include <unistd.h>
#ifndef RF_CHANNEL
#define RF_CHANNEL 15
#endif
volatile const char * volatile input_line = NULL;
volatile unsigned int input_line_len = 0;
extern char __heap_end__;
extern char __heap_start__;
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");
@ -65,6 +61,7 @@ PROCESS_THREAD(blink_process, ev , data)
PROCESS_END();
}
#if 0
PROCESS(udprecv_process, "UDP recv process");
PROCESS_THREAD(udprecv_process, ev, data)
@ -100,7 +97,6 @@ PROCESS_THREAD(udprecv_process, ev, data)
PROCESS_END();
}
PROCESS(wd_test_process, "Watchdog test process");
@ -122,6 +118,7 @@ PROCESS_THREAD(wd_test_process, ev, data)
PROCESS_END();
}
#endif
#if 0
@ -142,7 +139,11 @@ wdt_reset()
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);
PROCINIT(&etimer_process, &tcpip_process, &uip_fw_process, &cc2420_process,
/* &uaodv_process, */ &cfs_ram_process, &codeprop_process,
&ram_segments_cleanup_process,
&blink_process, &stepper_process);
int
main()
@ -155,8 +156,7 @@ main()
dbg_setup_uart();
printf("Initialising\n");
dbg_set_input_handler(recv_input);
leds_arch_init();
leds_arch_init();
clock_init();
uip_sethostaddr(&cc2420if.ipaddr);
uip_setnetmask(&cc2420if.netmask);
@ -168,6 +168,7 @@ main()
uip_init();
uip_fw_default(&cc2420if);
tcpip_set_forwarding(1);
printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
printf("Started\n");
procinit_init();