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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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52
platform/stepper-robot/stepper-process.c
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@ -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);