Build system improvements.

platform/stepper-robot/contiki-main.c

@@ -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;
+}