Build system improvements.

platform/stepper-robot/Makefile

@@ -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
+CONTIKI=../..
-MCK=23961600
 
-ARCH=debug-uart.o clock.o sys-interrupt.o interrupt-utils.o newlib-syscalls.o \
+CORE=core-nosyms.$(TARGET)
-leds-arch.o sam7s-spi.o
-
-SYSTEM=process.o procinit.o service.o clock.o etimer.o timer.o leds.o uip-log.o cfs.o
-DEBUG_IO=dbg-printf.o dbg-puts.o dbg-putchar.o strformat.o
-
-UIP=uip.o uiplib.o tcpip.o uip-fw.o uip-fw-service.o uipbuf.o \
-    tcpdump.o psock.o uaodv.o uaodv-rt.o uip-udp-packet.o
-
-UIPDRIVERS= cc2420.o cc2420_send_ip.o cc2420_send_uaodv.o cc2420-interrupt.o \
-cc2420-spi.o
-
-SYSLIB=memb.o list.o malloc.o realloc.o
-
-STEPPER=stepper-interrupt.o stepper-move.o stepper.o
-
-ELFLOADER=elfloader-arm.o elfloader-otf.o symtab.o
-CODEPROP=$(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)
 
 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
+

platform/stepper-robot/cc2420-interrupt.c

@@ -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__ */

platform/stepper-robot/contiki-conf.h

@@ -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);

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;
+}

platform/stepper-robot/core.c

@@ -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);

platform/stepper-robot/robot-main.c

@@ -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, &cc2420_process,
-PROCINIT(&etimer_process, &tcpip_process, &uip_fw_process, &cc2420_process,
+	 &uip_fw_process /*,  &uaodv_process */
-	 /*  &uaodv_process, */ &cfs_ram_process, &codeprop_process,
+	 );
-	 &ram_segments_cleanup_process,
-	 &blink_process, &stepper_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 {

platform/stepper-robot/stepper-process.c

@@ -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",
+	/* printf("Speed: %ld\n",
-	       stepper_current_velocity(stepper_index)/VEL_SCALE);
+	   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);

platform/stepper-robot/stepper/stepper-steps.h

@@ -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)