Commit from zer0 (2009-01-03 17:19 CET)
================
add micrb_cmd and bootloader
+ aversive_projects microb2009/microb_cmd/microbcmd.py 1.1
aversive_projects microb2009/tests/arm_test/.config 1.4
aversive_projects microb2009/tests/arm_test/Makefile 1.3
aversive_projects microb2009/tests/arm_test/commands.c 1.3
aversive_projects microb2009/tests/arm_test/main.c 1.3
aversive_projects microb2009/tests/arm_test/uart_config.h 1.2
+ aversive_projects microb2009/tests/bootloader/Makefile 1.1
+ aversive_projects microb2009/tests/bootloader/error_config.h 1.1
+ aversive_projects microb2009/tests/bootloader/main.c 1.1
+ aversive_projects microb2009/tests/bootloader/uart_config.h 1.1
====================================================
aversive_projects/microb2009/microb_cmd/microbcmd.py (1.1)
====================================================
@@ -0,0 +1,317 @@
+#! /usr/bin/env python
+
+import os,sys,termios,atexit
+import serial
+from select import select
+import cmd
+#from pylab import *
+import shlex
+import time
+
+import warnings
+warnings.filterwarnings("ignore","tempnam",RuntimeWarning, __name__)
+
+import logging
+log = logging.getLogger("MicrobShell")
+_handler = logging.StreamHandler()
+_handler.setFormatter(logging.Formatter("%(levelname)s: %(message)s"))
+log.addHandler(_handler)
+log.setLevel(1)
+
+SPM_PAGE_SIZE = 256
+
+def crc_ccitt_update (crc, data):
+ """crc argument is the previous value of 16 bits crc (the initial
+ value is 0xffff). 'data' is the 8 bits value added to crc. The
+ function returns the new crc value."""
+
+ data ^= (crc & 0xff)
+ data ^= (data << 4)
+ data &= 0xff
+
+ ret = (data << 8) & 0xffff
+ ret |= ((crc >> 8) & 0xff)
+ ret ^= ((data >> 4) & 0xff)
+ ret ^= ((data << 3) & 0xffff)
+ return ret
+
+def prog_page(ser, addr, buf):
+ """program a page from buf at addr"""
+ i = 0
+ crc = 0xffff
+
+ ser.flushInput()
+ ser.write('p')
+ s = ser.readline()
+ if not s.endswith("addr?\r\n"):
+ print "failed (don't match addr)"
+ return -1
+ ser.write("%x\n"%addr)
+ s = ser.readline()
+ if not s.startswith("addr ok"):
+ print "failed"
+ return -1
+ while i < SPM_PAGE_SIZE:
+ if i >= len(buf):
+ c = '\xff'
+ else:
+ c = buf[i]
+ ser.write(c)
+ i += 1
+ crc = crc_ccitt_update(crc, ord(c))
+ sys.stdout.write(".")
+ sys.stdout.flush()
+ avr_crc = int(ser.readline()[0:4], 16)
+ if crc != avr_crc:
+ print "failed: bad crc"
+ ser.write('n')
+ return -1
+ ser.write('y')
+ s = ser.readline()
+ if not s.startswith("OK"):
+ print "failed"
+ return -1
+ return 0
+
+def check_crc(ser, addr, buf):
+ """Process the crc of buf, ask for a crc of the flash, and check
+ that value is correct"""
+ crc = 0xffff
+ size = len(buf) - addr
+ if size <= 0:
+ return
+ ser.flushInput()
+ ser.write('c')
+ s = ser.readline()
+ if not s.startswith("addr?"):
+ print "failed"
+ return -1
+ ser.write("%x\n"%addr)
+ s = ser.readline()
+ if not s.startswith("size?"):
+ print "failed"
+ return -1
+ ser.write("%x\n"%size)
+ i = addr
+ while addr < addr + size:
+ crc = crc_ccitt_update(crc, buf[i])
+ avr_crc = int(ser.readline()[0:4], 16)
+ if crc != avr_crc:
+ print "failed: bad crc"
+ return -1
+ return 0
+
+class SerialLogger:
+ def __init__(self, ser, filein, fileout=None):
+ self.ser = ser
+ self.filein = filein
+ self.fin = open(filein, "a", 0)
+ if fileout:
+ self.fileout = fileout
+ self.fout = open(fileout, "a", 0)
+ else:
+ self.fileout = filein
+ self.fout = self.fin
+ def fileno(self):
+ return self.ser.fileno()
+ def read(self, *args):
+ res = self.ser.read(*args)
+ self.fin.write(res)
+ return res
+ def write(self, s):
+ self.fout.write(s)
+ self.ser.write(s)
+
+
+
+class Interp(cmd.Cmd):
+ prompt = "Microb> "
+ def __init__(self, tty, baudrate=57600):
+ cmd.Cmd.__init__(self)
+ self.ser = serial.Serial(tty,baudrate=baudrate)
+ self.escape = "\x01" # C-a
+ self.quitraw = "\x02" # C-b
+ self.serial_logging = False
+ self.default_in_log_file = "/tmp/microb.in.log"
+ self.default_out_log_file = "/tmp/microb.out.log"
+
+ def do_quit(self, args):
+ return True
+
+ def do_log(self, args):
+ """Activate serial logs.
+ log <filename> logs input and output to <filename>
+ log <filein> <fileout> logs input to <filein> and output to <fileout>
+ log logs to /tmp/microb.log or the last used
file"""
+
+ if self.serial_logging:
+ log.error("Already logging to %s and %s" % (self.ser.filein,
+ self.ser.fileout))
+ else:
+ self.serial_logging = True
+ files = [os.path.expanduser(x) for x in args.split()]
+ if len(files) == 0:
+ files = [self.default_in_log_file, self.default_out_log_file]
+ elif len(files) == 1:
+ self.default_in_log_file = files[0]
+ self.default_out_log_file = None
+ elif len(files) == 2:
+ self.default_in_log_file = files[0]
+ self.default_out_log_file = files[1]
+ else:
+ print "Can't parse arguments"
+
+ self.ser = SerialLogger(self.ser, *files)
+ log.info("Starting serial logging to %s and %s" %
(self.ser.filein,
+
self.ser.fileout))
+
+
+ def do_unlog(self, args):
+ if self.serial_logging:
+ log.info("Stopping serial logging to %s and %s" %
(self.ser.filein,
+
self.ser.fileout))
+ self.ser = self.ser.ser
+ self.serial_logging = False
+ else:
+ log.error("No log to stop")
+
+
+ def do_raw(self, args):
+ "Switch to RAW mode"
+ stdin = os.open("/dev/stdin",os.O_RDONLY)
+ stdout = os.open("/dev/stdout",os.O_WRONLY)
+
+ stdin_termios = termios.tcgetattr(stdin)
+ raw_termios = stdin_termios[:]
+
+ try:
+ log.info("Switching to RAW mode")
+
+ # iflag
+ raw_termios[0] &= ~(termios.IGNBRK | termios.BRKINT |
+ termios.PARMRK | termios.ISTRIP |
+ termios.INLCR | termios.IGNCR |
+ termios.ICRNL | termios.IXON)
+ # oflag
+ raw_termios[1] &= ~termios.OPOST;
+ # cflag
+ raw_termios[2] &= ~(termios.CSIZE | termios.PARENB);
+ raw_termios[2] |= termios.CS8;
+ # lflag
+ raw_termios[3] &= ~(termios.ECHO | termios.ECHONL |
+ termios.ICANON | termios.ISIG |
+ termios.IEXTEN);
+
+ termios.tcsetattr(stdin, termios.TCSADRAIN, raw_termios)
+
+ mode = "normal"
+ while True:
+ ins,outs,errs=select([stdin,self.ser],[],[])
+ for x in ins:
+ if x == stdin:
+ c = os.read(stdin,1)
+ if mode == "escape":
+ mode =="normal"
+ if c == self.escape:
+ self.ser.write(self.escape)
+ elif c == self.quitraw:
+ return
+ else:
+ self.ser.write(self.escape)
+ self.ser.write(c)
+ else:
+ if c == self.escape:
+ mode = "escape"
+ else:
+ self.ser.write(c)
+ elif x == self.ser:
+ os.write(stdout,self.ser.read())
+ finally:
+ termios.tcsetattr(stdin, termios.TCSADRAIN, stdin_termios)
+ log.info("Back to normal mode")
+
+
+ def update_graph(self, val):
+ freq = self.sfreq.val
+ self.theta_max = freq*pi*2.0
+ self.theta = arange(0.0, self.theta_max, self.theta_max/len(self.r))
+ self.theta = self.theta[:len(self.r)]
+
+ self.myplot.set_xdata(self.theta)
+ draw()
+
+ def do_graph(self, args):
+ self.ser.write("sample start\n")
+ time.sleep(2)
+ self.ser.write("sample dump\n")
+ vals = []
+ while True:
+ l = self.ser.readline()
+ if l[0] in ['s', 'c', 'a']:
+ continue
+ if l[0] in ['e']:
+ break
+ tokens = [x for x in shlex.shlex(l)]
+ v = int(tokens[0])
+ #v = min(v, 150)
+ vals.append(v)
+ vals.reverse()
+
+ subplot(111, polar = True)
+ self.r = vals
+ #theta_max = 4.8*2.3*pi
+ self.theta_max = 5*pi
+ self.theta = arange(0.0, self.theta_max, self.theta_max/len(self.r))
+
+ self.myplot, = plot(self.theta, self.r)
+
+ #slide bar
+ axfreq = axes([0.25, 0.1, 0.65, 0.03])
+ self.sfreq = Slider(axfreq, "Freq", 1, 10, valinit = 4.8)
+ self.sfreq.on_changed(self.update_graph)
+
+ show()
+
+ def do_bootloader(self, args):
+ f = open(args)
+ buf = f.read()
+ addr = 0
+ while addr < len(buf):
+ if prog_page(self.ser, addr, buf[addr:]) != 0:
+ return
+ addr += SPM_PAGE_SIZE
+ if check_crc(self.ser, addr, buf):
+ return
+ print "Done."
+
+ def do_toto(self, args):
+ print repr(args)
+
+if __name__ == "__main__":
+ try:
+ import readline,atexit
+ except ImportError:
+ pass
+ else:
+ histfile = os.path.join(os.environ["HOME"], ".microb_history")
+ atexit.register(readline.write_history_file, histfile)
+ try:
+ readline.read_history_file(histfile)
+ except IOError:
+ pass
+
+ device = "/dev/ttyS0"
+ if len(sys.argv) > 1:
+ device = sys.argv[1]
+ interp = Interp(device)
+ while 1:
+ try:
+ interp.cmdloop()
+ except KeyboardInterrupt:
+ print
+ except Exception,e:
+ l = str(e).strip()
+ if l:
+ log.exception("%s" % l.splitlines()[-1])
+ continue
+ break
===================================================
aversive_projects/microb2009/tests/arm_test/.config (1.3 -> 1.4)
===================================================
@@ -48,6 +48,8 @@
# CONFIG_MCU_AT90CAN128 is not set
# CONFIG_MCU_AT94K is not set
# CONFIG_MCU_AT90S1200 is not set
+# CONFIG_MCU_ATMEGA2560 is not set
+# CONFIG_MCU_ATMEGA256 is not set
CONFIG_QUARTZ=16000000
#
@@ -63,9 +65,9 @@
# CONFIG_MINIMAL_PRINTF is not set
CONFIG_STANDARD_PRINTF=y
# CONFIG_ADVANCED_PRINTF is not set
-CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_IHEX is not set
# CONFIG_FORMAT_SREC is not set
-# CONFIG_FORMAT_BINARY is not set
+CONFIG_FORMAT_BINARY=y
#
# Base modules
@@ -240,7 +242,7 @@
# CONFIG_AVRDUDE_PROG_BSD is not set
# CONFIG_AVRDUDE_PROG_DAPA is not set
# CONFIG_AVRDUDE_PROG_JTAG1 is not set
-CONFIG_AVRDUDE_PORT="/dev/.static/dev/parport0"
+CONFIG_AVRDUDE_PORT="/dev/parport0"
#
# Avarice
====================================================
aversive_projects/microb2009/tests/arm_test/Makefile (1.2 -> 1.3)
====================================================
@@ -4,7 +4,7 @@
AVERSIVE_DIR = ../../../..
# VALUE, absolute or relative path : example ../.. #
-#CFLAGS += -Werror
+CFLAGS += -Werror
# List C source files here. (C dependencies are automatically generated.)
SRC = commands.c $(TARGET).c
@@ -22,3 +22,8 @@
-include .aversive_conf
include $(AVERSIVE_DIR)/mk/aversive_project.mk
+
+program_noerase: $(TARGET).$(FORMAT_EXTENSION) $(TARGET).eep
+ echo $(AVRDUDE) -D -V $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
$(AVRDUDE_WRITE_EEPROM) ;\
+ $(AVRDUDE) -D -V $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
$(AVRDUDE_WRITE_EEPROM) ;\
+
======================================================
aversive_projects/microb2009/tests/arm_test/commands.c (1.2 -> 1.3)
======================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: commands.c,v 1.2 2008-12-27 16:29:08 zer0 Exp $
+ * Revision : $Id: commands.c,v 1.3 2009-01-03 16:19:30 zer0 Exp $
*
* Olivier MATZ <[email protected]>
*/
@@ -151,6 +151,53 @@
};
/**********************************************************/
+/* Bootloader */
+
+/* this structure is filled when cmd_bootloader is parsed successfully */
+struct cmd_bootloader_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_bootloader is parsed successfully */
+static void cmd_bootloader_parsed(void * parsed_result, void * data)
+{
+#define BOOTLOADER_ADDR 0x1e000
+ if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
+ printf_P(PSTR("Bootloader is not present\r\n"));
+ return;
+ }
+ cli();
+ /* ... very specific :( */
+ TIMSK = 0;
+ ETIMSK = 0;
+ EIMSK = 0;
+ UCSR0B = 0;
+ UCSR1B = 0;
+ SPCR = 0;
+ TWCR = 0;
+ ACSR = 0;
+ ADCSRA = 0;
+
+ __asm__ __volatile__ ("ldi r30,0x00\n");
+ __asm__ __volatile__ ("ldi r31,0xf0\n");
+ __asm__ __volatile__ ("ijmp\n");
+}
+
+prog_char str_bootloader_arg0[] = "bootloader";
+parse_pgm_token_string_t cmd_bootloader_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_bootloader_result, arg0, str_bootloader_arg0);
+
+prog_char help_bootloader[] = "Bootloader the board";
+parse_pgm_inst_t cmd_bootloader = {
+ .f = cmd_bootloader_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_bootloader,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_bootloader_arg0,
+ NULL,
+ },
+};
+
+/**********************************************************/
/* Ax12_Stress */
/* this structure is filled when cmd_ax12_stress is parsed successfully */
@@ -197,50 +244,48 @@
fixed_string_t arg0;
};
-#define SHOULDER_AX12 4
#define ELBOW_AX12 1
#define WRIST_AX12 2
-void arm_goto(uint16_t shoulder, uint16_t elbow, uint16_t wrist)
+void arm_goto(int32_t shoulder, uint16_t elbow, uint16_t wrist)
{
uint8_t err;
- err = AX12_write_int(&ax12, SHOULDER_AX12, AA_GOAL_POSITION_L,
shoulder);
- if (!err)
- AX12_write_int(&ax12, ELBOW_AX12, AA_GOAL_POSITION_L, elbow);
+ cs_set_consign(&arm.cs_mot, shoulder);
+ err = AX12_write_int(&ax12, ELBOW_AX12, AA_GOAL_POSITION_L, elbow);
if (!err)
AX12_write_int(&ax12, WRIST_AX12, AA_GOAL_POSITION_L, wrist);
if (err)
printf_P(PSTR("AX12 error %x !\r\n"), err);
}
-#define arm_take_low_v1() arm_goto(530, 295, 432)
-#define arm_take_high_v1() arm_goto(570, 267, 455)
-#define arm_take_low_v2() arm_goto(510, 320, 69)
-#define arm_take_high_v2() arm_goto(570, 267, 90)
-#define arm_intermediate() arm_goto(850, 190, 122)
-#define arm_intermediate2() arm_goto(800, 400, 300)
-#define arm_up() arm_goto(710, 585, 464)
+#define arm_take_high_v1() arm_goto(-18700, 204, 455)
+#define arm_take_low_v1() arm_goto(-11000, 273, 480)
+#define arm_take_high_v2() arm_goto(-18700, 204, 154)
+#define arm_take_low_v2() arm_goto(-11000, 273, 139)
+#define arm_intermediate() arm_goto(-35700, 297, 385)
+#define arm_drop_v2() arm_goto(-16810, 667, 564)
+#define arm_drop_v1() arm_goto(-16810, 667, 904)
/* function called when cmd_test is parsed successfully */
static void cmd_test_parsed(void * parsed_result, void * data)
{
uint8_t i=0;
- int8_t err;
+/* int8_t err; */
/* Set some AX12 parameters */
- err = AX12_write_int(&ax12,0xFE,AA_TORQUE_ENABLE,0x1);
- if (!err)
- AX12_write_int(&ax12,0xFE,AA_PUNCH_L,0x20);
- if (!err)
- AX12_write_int(&ax12,0xFE,AA_TORQUE_LIMIT_L,0x3FF);
- if (!err)
- AX12_write_int(&ax12,0xFE,AA_MOVING_SPEED_L,0x3FF);
- if (!err)
- AX12_write_byte(&ax12,0xFE,AA_ALARM_LED,0xEF);
- if (err) {
- printf_P(PSTR("AX12 error %x !\r\n"), err);
- return;
- }
+/* err = AX12_write_int(&ax12,0xFE,AA_TORQUE_ENABLE,0x1); */
+/* if (!err) */
+/* AX12_write_int(&ax12,0xFE,AA_PUNCH_L,0x20); */
+/* if (!err) */
+/* AX12_write_int(&ax12,0xFE,AA_TORQUE_LIMIT_L,0x3FF); */
+/* if (!err) */
+/* AX12_write_int(&ax12,0xFE,AA_MOVING_SPEED_L,0x3FF); */
+/* if (!err) */
+/* AX12_write_byte(&ax12,0xFE,AA_ALARM_LED,0xEF); */
+/* if (err) { */
+/* printf_P(PSTR("AX12 error %x !\r\n"), err); */
+/* return; */
+/* } */
for (i=0; i<1; i++) {
arm_take_high_v1();
@@ -257,10 +302,13 @@
arm_take_high_v2();
wait_ms(500);
arm_intermediate();
- wait_ms(250);
- arm_intermediate2();
- wait_ms(250);
- arm_up();
+ wait_ms(500);
+/* arm_intermediate2(); */
+/* wait_ms(250); */
+ arm_drop_v2();
+ wait_ms(500);
+ pwm_set((void *)PWM1B_NUM, -4095);
+ arm_drop_v1();
wait_ms(500);
pwm_set((void *)PWM1B_NUM, 0);
wait_ms(500);
@@ -297,6 +345,7 @@
struct cmd_baudrate_result *res = parsed_result;
struct uart_config c;
+ printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
uart_getconf(1, &c);
c.baudrate = res->arg1;
uart_setconf(1, &c);
@@ -324,7 +373,7 @@
/* this structure is filled when cmd_test is parsed successfully */
struct cmd_arm_goto_result {
fixed_string_t arg0;
- uint16_t arg1;
+ int32_t arg1;
uint16_t arg2;
uint16_t arg3;
};
@@ -338,7 +387,7 @@
prog_char str_arm_goto_arg0[] = "arm_goto";
parse_pgm_token_string_t cmd_arm_goto_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_arm_goto_result, arg0, str_arm_goto_arg0);
-parse_pgm_token_num_t cmd_arm_goto_arg1 = TOKEN_NUM_INITIALIZER(struct
cmd_arm_goto_result, arg1, UINT16);
+parse_pgm_token_num_t cmd_arm_goto_arg1 = TOKEN_NUM_INITIALIZER(struct
cmd_arm_goto_result, arg1, INT32);
parse_pgm_token_num_t cmd_arm_goto_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_arm_goto_result, arg2, UINT16);
parse_pgm_token_num_t cmd_arm_goto_arg3 = TOKEN_NUM_INITIALIZER(struct
cmd_arm_goto_result, arg3, UINT16);
@@ -357,6 +406,41 @@
};
/**********************************************************/
+
+/* this structure is filled when cmd_test is parsed successfully */
+struct cmd_arm_capture_result {
+ fixed_string_t arg0;
+};
+
+/* function called when cmd_arm_capture is parsed successfully */
+static void cmd_arm_capture_parsed(void * parsed_result, void * data)
+{
+ uint16_t elbow, wrist;
+ int32_t shoulder;
+ uint8_t ret = 0;
+
+ ret |= AX12_read_int(&ax12, ELBOW_AX12, AA_PRESENT_POSITION_L, &elbow);
+ ret |= AX12_read_int(&ax12, WRIST_AX12, AA_PRESENT_POSITION_L, &wrist);
+ shoulder = encoders_microb_get_value((void *)ARM_ENC);
+ if (ret)
+ printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+ printf_P(PSTR("%ld %d %d\r\n"), shoulder, elbow, wrist);
+}
+
+prog_char str_arm_capture_arg0[] = "arm_capture";
+parse_pgm_token_string_t cmd_arm_capture_arg0 =
TOKEN_STRING_INITIALIZER(struct cmd_arm_capture_result, arg0,
str_arm_capture_arg0);
+
+prog_char help_arm_capture[] = "Change arm position (shoulder, elbow, wrist)";
+parse_pgm_inst_t cmd_arm_capture = {
+ .f = cmd_arm_capture_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_arm_capture,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_arm_capture_arg0,
+ NULL,
+ },
+};
+/**********************************************************/
/* Uint16 */
@@ -448,38 +532,18 @@
uint8_t val;
};
-extern char testxx[32];
-extern volatile uint8_t testyy;
-
/* function called when cmd_uint8_read is parsed successfully */
static void cmd_uint8_read_parsed(void * parsed_result, void * data)
{
struct cmd_uint8_result *res = parsed_result;
uint8_t ret;
uint8_t val;
-#if 0
- int c;
- int i;
-#endif
uint8_t addr = addr_from_string(res->arg1);
ret = AX12_read_byte(&ax12, res->num, addr, &val);
if (ret)
printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
printf_P(PSTR("%s: %d [0x%.2x]\r\n"), res->arg1, val, val);
-#if 0
- while (1) {
- c = uart_recv_nowait(1);
- if (c == -1)
- break;
- printf_P(PSTR("%.2x "), c&0xff);
- }
- printf_P(PSTR("\r\n"));
- for (i=0; i<testyy; i++) {
- printf_P(PSTR("%.2x "), testxx[i] & 0xff);
- }
- printf_P(PSTR("\r\n"));
-#endif
}
prog_char str_uint8_arg0[] = "read";
@@ -833,6 +897,11 @@
if (!strcmp_P(res->arg1, PSTR("cs"))) {
if (!strcmp_P(res->arg2, PSTR("on"))) {
pwm_set(ARM_MOT_PWM, 0);
+ printf_P(PSTR("ax12 will start\r\n"));
+ while(uart_recv_nowait(0) == -1);
+ AX12_write_int(&ax12,0xFE,AA_TORQUE_ENABLE,0x1);
+ AX12_write_int(&ax12, ELBOW_AX12, AA_GOAL_POSITION_L,
660);
+ AX12_write_int(&ax12, WRIST_AX12, AA_GOAL_POSITION_L,
613);
printf_P(PSTR("Set the arm to 0\r\n"));
while(uart_recv_nowait(0) == -1);
encoders_microb_set_value(ARM_ENC, 0);
@@ -1072,10 +1141,12 @@
/* in progmem */
parse_pgm_ctx_t main_ctx[] = {
(parse_pgm_inst_t *)&cmd_reset,
+ (parse_pgm_inst_t *)&cmd_bootloader,
(parse_pgm_inst_t *)&cmd_ax12_stress,
(parse_pgm_inst_t *)&cmd_test,
(parse_pgm_inst_t *)&cmd_baudrate,
(parse_pgm_inst_t *)&cmd_arm_goto,
+ (parse_pgm_inst_t *)&cmd_arm_capture,
(parse_pgm_inst_t *)&cmd_sample,
(parse_pgm_inst_t *)&cmd_uint16_read,
(parse_pgm_inst_t *)&cmd_uint16_write,
==================================================
aversive_projects/microb2009/tests/arm_test/main.c (1.2 -> 1.3)
==================================================
@@ -16,7 +16,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.2 2008-12-27 16:29:08 zer0 Exp $
+ * Revision : $Id: main.c,v 1.3 2009-01-03 16:19:30 zer0 Exp $
*
*/
@@ -175,6 +175,7 @@
if (state == AX12_STATE_WRITE) {
IRQ_LOCK(flags);
ax12_nsent=0;
+ while (uart_recv_nowait(1) != -1);
UCSR1B |= (1<<TXEN);
ax12_state = AX12_STATE_WRITE;
IRQ_UNLOCK(flags);
@@ -352,6 +353,8 @@
sei();
+ printf_P(PSTR("Coucou\r\n"));
+
/* set status return level to 2 and torque to 0 */
AX12_write_int(&ax12,0xFE, AA_TORQUE_ENABLE, 0x00);
AX12_write_byte(&ax12, 0xFE, AA_STATUS_RETURN_LEVEL, 2);
=========================================================
aversive_projects/microb2009/tests/arm_test/uart_config.h (1.1 -> 1.2)
=========================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: uart_config.h,v 1.1 2008-12-26 13:08:29 zer0 Exp $
+ * Revision : $Id: uart_config.h,v 1.2 2009-01-03 16:19:30 zer0 Exp $
*
*/
@@ -73,7 +73,7 @@
/* enable uart1 interrupts if == 1, disable if == 0 */
#define UART1_INTERRUPT_ENABLED 1
-#define UART1_BAUDRATE 250000
+#define UART1_BAUDRATE 115200
//#define UART1_BAUDRATE 1000000
@@ -96,8 +96,8 @@
//#define UART1_PARITY UART_PARTITY_ODD
//#define UART1_PARITY UART_PARTITY_EVEN
-#define UART1_STOP_BIT UART_STOP_BITS_1
-//#define UART1_STOP_BIT UART_STOP_BITS_2
+//#define UART1_STOP_BIT UART_STOP_BITS_1
+#define UART1_STOP_BIT UART_STOP_BITS_2
#endif
======================================================
aversive_projects/microb2009/tests/bootloader/Makefile (1.1)
======================================================
@@ -0,0 +1,31 @@
+TARGET = main
+
+# repertoire des modules
+AVERSIVE_DIR = ../../../..
+# VALUE, absolute or relative path : example ../.. #
+
+CFLAGS += -Werror
+# address is 0xf000 (in words)
+LDFLAGS += -Wl,--section-start=.text=1e000
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+########################################
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
+
+program_noerase: $(TARGET).$(FORMAT_EXTENSION) $(TARGET).eep
+ echo $(AVRDUDE) -D -V $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
$(AVRDUDE_WRITE_EEPROM) ;\
+ $(AVRDUDE) -D -V $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
$(AVRDUDE_WRITE_EEPROM) ;\
+
============================================================
aversive_projects/microb2009/tests/bootloader/error_config.h (1.1)
============================================================
@@ -0,0 +1,31 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: error_config.h,v 1.1 2009-01-03 16:19:30 zer0 Exp $
+ *
+ */
+
+#ifndef _ERROR_CONFIG_
+#define _ERROR_CONFIG_
+
+/** enable the dump of the comment */
+#define ERROR_DUMP_TEXTLOG
+
+/** enable the dump of filename and line number */
+#define ERROR_DUMP_FILE_LINE
+
+#endif
====================================================
aversive_projects/microb2009/tests/bootloader/main.c (1.1)
====================================================
@@ -0,0 +1,210 @@
+/*
+ * Copyright Droids Corporation
+ * Olivier Matz <[email protected]>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.c,v 1.1 2009-01-03 16:19:30 zer0 Exp $
+ *
+ */
+
+/*
+ * A simple bootloader example.
+ */
+
+#include <aversive.h>
+#include <aversive/wait.h>
+#include <aversive/pgmspace.h>
+#include <uart.h>
+
+#include <stdlib.h>
+#include <string.h>
+#include <util/crc16.h>
+#include <avr/boot.h>
+
+#define NOECHO
+
+#ifdef NOECHO
+#define echo(c) do {} while(0)
+#else
+#define echo(c) uart_send(0, c)
+#endif
+
+static void bootloader_puts(const char *buf)
+{
+ while (*buf)
+ uart_send(0, *(buf++));
+}
+
+static uint32_t bootloader_query_hex(void)
+{
+ char buf[8];
+ uint8_t i=0;
+ int c;
+
+ memset(buf, 0, sizeof(buf));
+ while (1) {
+ while ((c=uart_recv_nowait(0)) == -1);
+ if (i >= sizeof(buf) - 1)
+ continue;
+ if (c == '\n' || c == '\r') {
+ echo('\r');
+ echo('\n');
+ break;
+ }
+ echo(c);
+ buf[i++] = c;
+ }
+ return strtol(buf, NULL, 16);
+}
+
+static void launch_app(void)
+{
+ bootloader_puts("BOOT\r\n");
+ wait_ms(500);
+ MCUCR = (1 << IVCE);
+ MCUCR = (0 << IVSEL);
+ reset();
+}
+
+static void disp_digit(uint8_t x)
+{
+ if (x < 10)
+ uart_send(0, '0' + x);
+ else
+ uart_send(0, 'a' - 10 + x);
+}
+
+static void disp_hex8(uint8_t x)
+{
+ disp_digit(x>>4);
+ disp_digit(x&0xf);
+}
+
+static void disp_hex16(uint16_t x)
+{
+ disp_hex8(x>>8);
+ disp_hex8(x);
+}
+
+static void crc_app(void)
+{
+ uint32_t start_addr, addr, size;
+ uint8_t c;
+ uint16_t crc = 0xffff;
+
+ bootloader_puts("start addr?\r\n");
+ start_addr = bootloader_query_hex();
+ if (start_addr > FLASHEND)
+ goto fail;
+ bootloader_puts("size?\r\n");
+ size = bootloader_query_hex();
+ if (start_addr + size > FLASHEND)
+ goto fail;
+ for (addr=start_addr; addr<start_addr+size; addr++) {
+ c = pgm_read_byte_far(addr);
+ crc = _crc_ccitt_update(crc, c);
+ }
+ disp_hex16(crc);
+ return;
+ fail:
+ bootloader_puts("KO");
+}
+
+static void prog_page(void)
+{
+ int c;
+ uint32_t addr;
+ uint16_t i;
+ uint16_t crc = 0xffff;
+ uint8_t buf[SPM_PAGESIZE];
+
+#define SPM_PAGEMASK ((uint32_t)SPM_PAGESIZE-1)
+ bootloader_puts("addr?\r\n");
+ addr = bootloader_query_hex();
+ if (addr > FLASHEND)
+ goto fail;
+ /* start_addr must be page aligned */
+ if (addr & SPM_PAGEMASK)
+ goto fail;
+
+ bootloader_puts("addr ok\r\n");
+
+ /* data is received like the .bin format (which is already in
+ * little endian) */
+ for (i=0; i<SPM_PAGESIZE; i++) {
+ while ((c=uart_recv_nowait(0)) == -1);
+ crc = _crc_ccitt_update(crc, c);
+ buf[i] = c;
+ }
+ disp_hex16(crc);
+ bootloader_puts(" (y to valid)\r\n");
+ while ((c=uart_recv_nowait(0)) == -1);
+ if (c != 'y')
+ goto fail;
+
+ /* erase page */
+ eeprom_busy_wait();
+ boot_page_erase(addr);
+ boot_spm_busy_wait();
+
+ /* Set up little-endian word and fill tmp buf. */
+ for (i=0; i<SPM_PAGESIZE; i+=2) {
+ uint16_t w = buf[i] + ((uint16_t)(buf[i+1]) << 8);
+ boot_page_fill(addr + i, w);
+ }
+
+ boot_page_write(addr);
+ boot_spm_busy_wait();
+
+ /* Reenable RWW-section again. We need this if we want to jump
+ * back to the application after bootloading. */
+ boot_rww_enable();
+
+ bootloader_puts("OK");
+ return;
+ fail:
+ bootloader_puts("KO");
+}
+
+int main(void)
+{
+ int c;
+
+ uart_init();
+
+ /* move interrupt vector in bootloader section */
+ MCUCR = (1 << IVCE);
+ MCUCR = (1 << IVSEL);
+
+ sei();
+
+ bootloader_puts("\r\n");
+ while (1) {
+ bootloader_puts("cmd>");
+ while ((c=uart_recv_nowait(0)) == -1);
+ if (c == 'x')
+ launch_app();
+ else if (c == 'c')
+ crc_app();
+ else if (c == 'p')
+ prog_page();
+ else
+ bootloader_puts("bad cmd (p:prog_page c:crc x:exec)");
+ bootloader_puts("\r\n");
+ }
+
+ return 0;
+}
===========================================================
aversive_projects/microb2009/tests/bootloader/uart_config.h (1.1)
===========================================================
@@ -0,0 +1,63 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: uart_config.h,v 1.1 2009-01-03 16:19:30 zer0 Exp $
+ *
+ */
+
+/* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+#ifndef UART_CONFIG_H
+#define UART_CONFIG_H
+
+/* compile uart0 fonctions, undefine it to pass compilation */
+#define UART0_COMPILE
+
+/* enable uart0 if == 1, disable if == 0 */
+#define UART0_ENABLED 1
+
+/* enable uart0 interrupts if == 1, disable if == 0 */
+#define UART0_INTERRUPT_ENABLED 1
+
+#define UART0_BAUDRATE 57600
+
+/*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+#define UART0_USE_DOUBLE_SPEED 0
+//#define UART0_USE_DOUBLE_SPEED 1
+
+#define UART0_RX_FIFO_SIZE 64
+#define UART0_TX_FIFO_SIZE 16
+//#define UART0_NBITS 5
+//#define UART0_NBITS 6
+//#define UART0_NBITS 7
+#define UART0_NBITS 8
+//#define UART0_NBITS 9
+
+#define UART0_PARITY UART_PARTITY_NONE
+//#define UART0_PARITY UART_PARTITY_ODD
+//#define UART0_PARITY UART_PARTITY_EVEN
+
+#define UART0_STOP_BIT UART_STOP_BITS_1
+//#define UART0_STOP_BIT UART_STOP_BITS_2
+
+#endif
+
Commit from zer0 on branch b_zer0 (2009-01-03 17:22 CET)
=================================
add atmega2560 in config
aversive config/config.in 1.42.4.22
=========================
aversive/config/config.in (1.42.4.21 -> 1.42.4.22)
=========================
@@ -50,6 +50,8 @@
AT90can128 CONFIG_MCU_AT90CAN128 \
AT94k CONFIG_MCU_AT94K \
AT90s1200 CONFIG_MCU_AT90S1200 \
+ ATmega2560 CONFIG_MCU_ATMEGA2560 \
+ ATmega256 CONFIG_MCU_ATMEGA256 \
" ATmega128
int 'Quartz Frequency (Hz)' CONFIG_QUARTZ '12000000'
Commit from zer0 on branch b_zer0 (2009-01-03 17:24 CET)
=================================
move 'volatile' attribute in the structure to avoid a warning
aversive modules/base/cirbuf/cirbuf.h 1.1.2.5
aversive modules/base/scheduler/scheduler_interrupt.c 1.1.2.8
aversive modules/comm/uart/uart.c 1.33.4.6
aversive modules/comm/uart/uart_private.h 1.1.2.5
aversive modules/comm/uart/uart_setconf.c 1.1.2.3
=====================================
aversive/modules/base/cirbuf/cirbuf.h (1.1.2.4 -> 1.1.2.5)
=====================================
@@ -16,7 +16,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: cirbuf.h,v 1.1.2.4 2008-12-27 16:29:07 zer0 Exp $
+ * Revision : $Id: cirbuf.h,v 1.1.2.5 2009-01-03 16:24:50 zer0 Exp $
*
*
*/
@@ -48,11 +48,11 @@
* This structure is the header of a cirbuf type.
*/
struct cirbuf {
- cirbuf_uint maxlen; /**< total len of the fifo (number of elements)
*/
- cirbuf_uint start; /**< indice of the first elt */
- cirbuf_uint end; /**< indice of the last elt */
- cirbuf_uint len; /**< current len of fifo */
- char * buf;
+ cirbuf_uint maxlen; /**< total len of the fifo (number of
elements) */
+ volatile cirbuf_uint start; /**< indice of the first elt */
+ volatile cirbuf_uint end; /**< indice of the last elt */
+ volatile cirbuf_uint len; /**< current len of fifo */
+ char *buf;
};
/* #define CIRBUF_DEBUG */
=====================================================
aversive/modules/base/scheduler/scheduler_interrupt.c (1.1.2.7 -> 1.1.2.8)
=====================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_interrupt.c,v 1.1.2.7 2008-12-27 16:29:07 zer0
Exp $
+ * Revision : $Id: scheduler_interrupt.c,v 1.1.2.8 2009-01-03 16:24:50 zer0
Exp $
*
*/
@@ -66,6 +66,7 @@
/* maximize the number of imbrications */
if (nb_stacking >= SCHEDULER_NB_STACKING_MAX)
return;
+
nb_stacking ++;
sei();
=================================
aversive/modules/comm/uart/uart.c (1.33.4.5 -> 1.33.4.6)
=================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: uart.c,v 1.33.4.5 2008-12-27 16:50:01 zer0 Exp $
+ * Revision : $Id: uart.c,v 1.33.4.6 2009-01-03 16:24:50 zer0 Exp $
*
*/
@@ -28,8 +28,8 @@
#include <uart_defs.h>
#include <uart_private.h>
-volatile struct cirbuf g_tx_fifo[UART_HW_NUM];
-volatile struct cirbuf g_rx_fifo[UART_HW_NUM];
+struct cirbuf g_tx_fifo[UART_HW_NUM];
+struct cirbuf g_rx_fifo[UART_HW_NUM];
/* global vars are initialized to 0 (NULL) */
event *rx_event[UART_HW_NUM];
=========================================
aversive/modules/comm/uart/uart_private.h (1.1.2.4 -> 1.1.2.5)
=========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: uart_private.h,v 1.1.2.4 2008-12-27 16:50:49 zer0 Exp $
+ * Revision : $Id: uart_private.h,v 1.1.2.5 2009-01-03 16:24:50 zer0 Exp $
*
*/
@@ -48,10 +48,10 @@
typedef void (event_9bits)(int);
/** The emission fifo of uart */
-extern volatile struct cirbuf g_tx_fifo[UART_HW_NUM];
+extern struct cirbuf g_tx_fifo[UART_HW_NUM];
/** The reception fifo of uart */
-extern volatile struct cirbuf g_rx_fifo[UART_HW_NUM];
+extern struct cirbuf g_rx_fifo[UART_HW_NUM];
extern event *rx_event[UART_HW_NUM];
extern event *tx_event[UART_HW_NUM];
=========================================
aversive/modules/comm/uart/uart_setconf.c (1.1.2.2 -> 1.1.2.3)
=========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: uart_setconf.c,v 1.1.2.2 2008-12-27 16:50:01 zer0 Exp $
+ * Revision : $Id: uart_setconf.c,v 1.1.2.3 2009-01-03 16:24:50 zer0 Exp $
*
*/
@@ -27,20 +27,20 @@
/** The emission fifo of uart */
#ifdef UART0_COMPILE
-volatile char g_tx0_buf[UART0_TX_FIFO_SIZE];
-volatile char g_rx0_buf[UART0_RX_FIFO_SIZE];
+char g_tx0_buf[UART0_TX_FIFO_SIZE];
+char g_rx0_buf[UART0_RX_FIFO_SIZE];
#endif
#ifdef UART1_COMPILE
-volatile char g_tx1_buf[UART1_TX_FIFO_SIZE];
-volatile char g_rx1_buf[UART1_RX_FIFO_SIZE];
+char g_tx1_buf[UART1_TX_FIFO_SIZE];
+char g_rx1_buf[UART1_RX_FIFO_SIZE];
#endif
#ifdef UART2_COMPILE
-volatile char g_tx2_buf[UART2_TX_FIFO_SIZE];
-volatile char g_rx2_buf[UART2_RX_FIFO_SIZE];
+char g_tx2_buf[UART2_TX_FIFO_SIZE];
+char g_rx2_buf[UART2_RX_FIFO_SIZE];
#endif
#ifdef UART3_COMPILE
-volatile char g_tx3_buf[UART3_TX_FIFO_SIZE];
-volatile char g_rx3_buf[UART3_RX_FIFO_SIZE];
+char g_tx3_buf[UART3_TX_FIFO_SIZE];
+char g_rx3_buf[UART3_RX_FIFO_SIZE];
#endif
#if UART_IS_USART
@@ -121,7 +121,7 @@
static int8_t uart_set_baudreg(uint8_t num, uint16_t baudreg)
{
- uint8_t lo,hi;
+ uint8_t lo, hi;
/* set msb bit of hi to 0 (useful fot uC with URSEL, and not
* important for the others because the baudreg will never be
Commit from zer0 on branch b_zer0 (2009-01-03 17:25 CET)
=================================
move PROGMEM attribute to avoid warning
aversive modules/ihm/parse/parse.c 1.1.2.9
aversive modules/ihm/parse/parse.h 1.1.2.9
aversive modules/ihm/parse/parse_num.h 1.1.2.6
aversive modules/ihm/parse/parse_string.h 1.1.2.8
==================================
aversive/modules/ihm/parse/parse.c (1.1.2.8 -> 1.1.2.9)
==================================
@@ -16,7 +16,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: parse.c,v 1.1.2.8 2007-11-24 19:27:22 zer0 Exp $
+ * Revision : $Id: parse.c,v 1.1.2.9 2009-01-03 16:25:13 zer0 Exp $
*
*
*/
@@ -202,7 +202,7 @@
#endif
/* parse it !! */
- inst = (struct inst *)pgm_read_word(ctx+inst_num);
+ inst = (parse_pgm_inst_t *)pgm_read_word(ctx+inst_num);
while (inst) {
debug_printf("INST\n");
@@ -236,7 +236,7 @@
}
inst_num ++;
- inst = (struct inst *)pgm_read_word(ctx+inst_num);
+ inst = (parse_pgm_inst_t *)pgm_read_word(ctx+inst_num);
}
/* call func */
@@ -259,8 +259,8 @@
{
const char * incomplete_token = buf;
uint8_t inst_num = 0;
- struct inst * inst;
- parse_pgm_token_hdr_t * token_p;
+ parse_pgm_inst_t *inst;
+ parse_pgm_token_hdr_t *token_p;
struct token_hdr token_hdr;
char tmpbuf[64], completion_buf[64];
uint8_t incomplete_token_len;
@@ -271,7 +271,7 @@
uint8_t nb_completable;
uint8_t nb_non_completable;
uint16_t local_state=0;
- prog_char * help_str;
+ prog_char *help_str;
debug_printf("%s called\n", __FUNCTION__);
/* count the number of complete token to parse */
@@ -291,7 +291,7 @@
nb_completable = 0;
nb_non_completable = 0;
- inst = (struct inst *)pgm_read_word(ctx+inst_num);
+ inst = (parse_pgm_inst_t *)pgm_read_word(ctx+inst_num);
while (inst) {
/* parse the first tokens of the inst */
if (nb_token && match_inst(inst, buf, nb_token, NULL))
@@ -333,7 +333,7 @@
}
next:
inst_num ++;
- inst = (struct inst *)pgm_read_word(ctx+inst_num);
+ inst = (parse_pgm_inst_t *)pgm_read_word(ctx+inst_num);
}
debug_printf("total choices %d for this completion\n",
nb_completable);
@@ -363,10 +363,10 @@
debug_printf("Multiple choice STATE=%d\n", *state);
inst_num = 0;
- inst = (struct inst *)pgm_read_word(ctx+inst_num);
+ inst = (parse_pgm_inst_t *)pgm_read_word(ctx+inst_num);
while (inst) {
/* we need to redo it */
- inst = (struct inst *)pgm_read_word(ctx+inst_num);
+ inst = (parse_pgm_inst_t *)pgm_read_word(ctx+inst_num);
if (nb_token && match_inst(inst, buf, nb_token, NULL))
goto next2;
@@ -426,7 +426,7 @@
}
next2:
inst_num ++;
- inst = (struct inst *)pgm_read_word(ctx+inst_num);
+ inst = (parse_pgm_inst_t *)pgm_read_word(ctx+inst_num);
}
return 0;
==================================
aversive/modules/ihm/parse/parse.h (1.1.2.8 -> 1.1.2.9)
==================================
@@ -16,7 +16,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: parse.h,v 1.1.2.8 2007-11-24 19:27:22 zer0 Exp $
+ * Revision : $Id: parse.h,v 1.1.2.9 2009-01-03 16:25:13 zer0 Exp $
*
*
*/
@@ -45,7 +45,12 @@
uint8_t offset;
};
typedef struct token_hdr parse_token_hdr_t;
-typedef PROGMEM parse_token_hdr_t parse_pgm_token_hdr_t;
+
+struct token_hdr_pgm {
+ struct token_ops *ops;
+ uint8_t offset;
+} PROGMEM;
+typedef struct token_hdr_pgm parse_pgm_token_hdr_t;
/**
* A token is defined by this structure.
@@ -90,7 +95,14 @@
prog_void * tokens[];
};
typedef struct inst parse_inst_t;
-typedef PROGMEM parse_inst_t parse_pgm_inst_t;
+struct inst_pgm {
+ /* f(parsed_struct, data) */
+ void (*f)(void *, void *);
+ void * data;
+ char * help_str;
+ prog_void * tokens[];
+} PROGMEM;
+typedef struct inst_pgm parse_pgm_inst_t;
/**
* A context is identified by its name, and contains a list of
======================================
aversive/modules/ihm/parse/parse_num.h (1.1.2.5 -> 1.1.2.6)
======================================
@@ -22,7 +22,11 @@
struct token_num_data num_data;
};
typedef struct token_num parse_token_num_t;
-typedef PROGMEM parse_token_num_t parse_pgm_token_num_t;
+struct token_num_pgm {
+ struct token_hdr hdr;
+ struct token_num_data num_data;
+} PROGMEM;
+typedef struct token_num_pgm parse_pgm_token_num_t;
extern struct token_ops token_num_ops;
=========================================
aversive/modules/ihm/parse/parse_string.h (1.1.2.7 -> 1.1.2.8)
=========================================
@@ -17,7 +17,11 @@
struct token_string_data string_data;
};
typedef struct token_string parse_token_string_t;
-typedef PROGMEM parse_token_string_t parse_pgm_token_string_t;
+struct token_string_pgm {
+ struct token_hdr hdr;
+ struct token_string_data string_data;
+} PROGMEM;
+typedef struct token_string_pgm parse_pgm_token_string_t;
extern struct token_ops token_string_ops;
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