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Build system improvements.

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This commit is contained in:
ksb 2007-08-21 09:06:23 +00:00
parent 792eae91c6
commit e55dbe433b
8 changed files with 212 additions and 114 deletions
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50
platform/stepper-robot/Makefile
View file

@ -1,45 +1,23 @@
CONTIKI=../..
TARGET=stepper-robot
CONTIKI_TARGET_DIRS=stepper
all: core
KERNELS= sys-tst.elf robot-main-syms.elf
core:
$(MAKE) core.$(TARGET)
# Master clock frequency
MCK=23961600
CONTIKI=../..
ARCH=debug-uart.o clock.o sys-interrupt.o interrupt-utils.o newlib-syscalls.o \
leds-arch.o sam7s-spi.o
SYSTEM=process.o procinit.o service.o clock.o etimer.o timer.o leds.o uip-log.o cfs.o
DEBUG_IO=dbg-printf.o dbg-puts.o dbg-putchar.o strformat.o
UIP=uip.o uiplib.o tcpip.o uip-fw.o uip-fw-service.o uipbuf.o \
tcpdump.o psock.o uaodv.o uaodv-rt.o uip-udp-packet.o
UIPDRIVERS= cc2420.o cc2420_send_ip.o cc2420_send_uaodv.o cc2420-interrupt.o \
cc2420-spi.o
SYSLIB=memb.o list.o malloc.o realloc.o
STEPPER=stepper-interrupt.o stepper-move.o stepper.o
ELFLOADER=elfloader-arm.o elfloader-otf.o symtab.o
CODEPROP=$(ELFLOADER) cfs-ram.o codeprop-otf.o ram-segments.o \
autostart.o random.o
CFLAGS+= -I stepper
cfs-ram.o: CFLAGS+= -DCFS_RAM_CONF_SIZE=4096
all: $(KERNELS) codeprop
sys-tst.elf: sys-tst.o $(ARCH) $(SYSTEM)
robot-main-syms.elf: robot-main.o stepper-process.o $(ARCH) $(SYSTEM) $(SYSLIB) $(UIP) $(UIPDRIVERS) $(STEPPER) $(CODEPROP) $(DEBUG_IO)
CORE=core-nosyms.$(TARGET)
codeprop: $(CONTIKI)/tools/codeprop.c
cc -g -Wall $< -o $@
include $(CONTIKI)/cpu/at91sam7s/Makefile.at91sam7s
clean: stepper_robot_clean
.PHONY: stepper_robot_clean
stepper_robot_clean:
-rm codeprop
include $(CONTIKI)/Makefile.include

4
platform/stepper-robot/cc2420-interrupt.c
View file

@ -26,6 +26,8 @@ cc2420_interrupt_fifop_int_init(void)
/* *AT91C_AIC_IECR = (1 << AT91C_ID_IRQ1); */
}
#ifndef __MAKING_DEPS__
inline int splhigh(void)
{
int save;
@ -45,3 +47,5 @@ inline void splx(int saved)
#error Must be compiled in ARM mode
#endif
}
#endif /* __MAKING_DEPS__ */

4
platform/stepper-robot/contiki-conf.h
View file

@ -16,6 +16,9 @@
typedef uint8_t u8_t;
typedef uint16_t u16_t;
typedef uint32_t u32_t;
typedef int8_t s8_t;
typedef int16_t s16_t;
typedef int32_t s32_t;
typedef unsigned int clock_time_t;
typedef unsigned int uip_stats_t;
@ -39,6 +42,7 @@ typedef unsigned int uip_stats_t;
#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 CCA_IS_1 1
#define SET_RESET_INACTIVE() cc2420_setreg(CC2420_MAIN, 0xf800);
#define SET_RESET_ACTIVE() cc2420_setreg(CC2420_MAIN, 0x0000);

97
platform/stepper-robot/contiki-main.c Normal file
View file

@ -0,0 +1,97 @@
#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-drv.h"
#include "net/uaodv.h"
#include <dev/cc2420.h>
#include <dev/cc2420_const.h>
#include <dev/spi.h>
#include <dev/leds.h>
#include <sys/process.h>
#include <sys/procinit.h>
#include <sys/autostart.h>
#include <sys/etimer.h>
#include <net/psock.h>
#include <unistd.h>
#ifndef RF_CHANNEL
#define RF_CHANNEL 15
#endif
extern char __heap_end__;
extern char __heap_start__;
struct uip_fw_netif cc2420if =
{UIP_FW_NETIF(172,16,0,2, 255,255,0,0, cc2420_send_ip)};
#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;
}
#if 0
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
#endif
PROCINIT(&etimer_process, &tcpip_process, &cc2420_process,
&uip_fw_process /*, &uaodv_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");
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("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
printf("Started\n");
procinit_init();
enableIRQ();
cc2420_on();
autostart_start(autostart_processes);
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;
}

27
platform/stepper-robot/core.c Normal file
View file

@ -0,0 +1,27 @@
#include <stepper-process.h>
#include <dev/leds.h>
#include <loader/codeprop-otf.h>
#include <loader/ram-segments.h>
#include <sys/autostart.h>
#include "codeprop-otf.h"
#include <stdio.h>
#include <stdlib.h>
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);
etimer_reset(&timer);
}
PROCESS_END();
}
AUTOSTART_PROCESSES(&codeprop_process, &ram_segments_cleanup_process, &stepper_process,&blink_process);

89
platform/stepper-robot/robot-main.c
View file

@ -10,17 +10,19 @@
#include <dev/cc2420.h>
#include <dev/cc2420_const.h>
#include <dev/spi.h>
#include <dev/leds.h>
#include <sys/process.h>
#include <sys/procinit.h>
#include <sys/autostart.h>
#include <sys/etimer.h>
#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>
#include <stepper-steps.h>
#include <stepper.h>
#include <stepper-move.h>
#ifndef RF_CHANNEL
#define RF_CHANNEL 15
#endif
@ -29,37 +31,44 @@ extern char __heap_end__;
extern char __heap_start__;
PROCESS(blink_process, "LED blink process");
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()
{
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])));}
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();
}
#if 0
PROCESS(udprecv_process, "UDP recv process");
@ -136,13 +145,13 @@ wdt_reset()
*AT91C_WDTC_WDCR = (0xa5<<24) | AT91C_WDTC_WDRSTT;
}
#if 0
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
#endif
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);
PROCINIT(&etimer_process, &tcpip_process, &cc2420_process,
&uip_fw_process /*, &uaodv_process */
);
int
@ -156,7 +165,7 @@ main()
dbg_setup_uart();
printf("Initialising\n");
leds_arch_init();
leds_arch_init();
clock_init();
uip_sethostaddr(&cc2420if.ipaddr);
uip_setnetmask(&cc2420if.netmask);
@ -170,10 +179,12 @@ main()
tcpip_set_forwarding(1);
printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
printf("Started\n");
robot_stepper_init();
procinit_init();
enableIRQ();
cc2420_on();
autostart_start(autostart_processes);
printf("Processes running\n");
while(1) {
do {

52
platform/stepper-robot/stepper-process.c
View file

@ -9,27 +9,9 @@
#include <net/uip.h>
#include <dev/cc2420.h>
#undef putchar
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 unsigned int
parse_uint_hex(const char **pp, const char *end)
@ -189,6 +171,7 @@ static int
handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
{
unsigned long when;
#if 0
{
const char *p = input_line;
printf("Got line: '");
@ -198,6 +181,7 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
printf("'\n");
fsync(1);
}
#endif
skip_white(&input_line, inend);
CHECK_INPUT_LEFT(1);
if (*input_line == '#') {
@ -226,8 +210,8 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
int speed;
input_line++;
if (input_line == inend) {
printf("Speed: %ld\n",
stepper_current_velocity(stepper_index)/VEL_SCALE);
/* printf("Speed: %ld\n",
stepper_current_velocity(stepper_index)/VEL_SCALE);*/
reply_char(reply, input_line[-2]);
reply_char(reply, 'S');
format_int_hex(&reply->write, REPLY_BUFFER_END(reply),
@ -240,7 +224,7 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
unsigned int acc;
input_line++;
acc = parse_uint_hex(&input_line, inend);
printf("Speed=%d, Acc=%u\n", speed, acc);
/* printf("Speed=%d, Acc=%u\n", speed, acc); */
res = stepper_set_velocity(stepper_index, &when,
acc, speed*VEL_SCALE);
@ -269,7 +253,7 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
StepperResult res;
input_line++;
move = parse_int_hex(&input_line, inend);
printf("Speed=%u, Acc=%u, Move=%d\n", speed, acc, move);
/*printf("Speed=%u, Acc=%u, Move=%d\n", speed, acc, move);*/
res = stepper_move(stepper_index, &when,
acc,speed*VEL_SCALE,move*DIST_SCALE);
stepper_reply(reply, res);
@ -283,11 +267,11 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
reply_str(reply, "ERR\n");
}
} else if (input_line[0] == 'E') {
*AT91C_PIOA_SODR = STEPPER_INHIBIT;
STEPPER_ENABLE();
printf("Stepper enabled\n");
reply_str(reply, "OK\n");
} else if (input_line[0] == 'D') {
*AT91C_PIOA_CODR = STEPPER_INHIBIT;
STEPPER_DISABLE();
printf("Stepper disabled\n");
reply_str(reply, "OK\n");
} else if (input_line[0] == 'p') {
@ -354,7 +338,7 @@ handle_connection()
if (uip_newdata()) {
const char *read_pos = uip_appdata;
const char *read_end = read_pos + uip_len;
printf("Got data\n");
/* printf("Got data\n"); */
while(read_pos < read_end) {
if (line_end == line_buffer+sizeof(line_buffer)) {
/* Buffer too small, just discard everything */
@ -440,7 +424,7 @@ PROCESS_THREAD(udp_stepper_process, ev, data)
} else if (uip_poll()) {
if (data == &conn) {
uip_send(udp_reply.buffer, udp_reply.write - udp_reply.buffer);
printf("sent %ld\n", udp_reply.write - udp_reply.buffer);
/* printf("sent %ld\n", udp_reply.write - udp_reply.buffer); */
}
}
} else if (ev == PROCESS_EVENT_TIMER) {
@ -466,24 +450,14 @@ PROCESS_THREAD(stepper_process, ev, data)
PROCESS_EXITHANDLER(goto exit);
PROCESS_BEGIN();
tcp_listen(HTONS(1010));
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])));
process_start(&udp_stepper_process, NULL);
printf("Stepper starting\n");
while(1) {
PROCESS_WAIT_EVENT_UNTIL(ev == tcpip_event);
if(uip_connected()) {
printf("connected\n");
/* printf("connected\n"); */
handle_connection(); /* Initialise parser */
while(!(uip_aborted() || uip_closed() || uip_timedout())) {
PROCESS_WAIT_EVENT_UNTIL(ev == tcpip_event);

3
platform/stepper-robot/stepper/stepper-steps.h
View file

@ -98,3 +98,6 @@
STEPPER_STEP(s,-(l),(l)), \
STEPPER_STEP(s,-MIN((l),2),(l)), \
STEPPER_STEP(s,-1,(l))}
#define STEPPER_ENABLE() (*AT91C_PIOA_SODR = STEPPER_INHIBIT)
#define STEPPER_DISABLE() (*AT91C_PIOA_CODR = STEPPER_INHIBIT)