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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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89
platform/stepper-robot/robot-main.c
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@ -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 {