Commit from zer0 on branch b_zer0 (2008-01-07 23:48 CET)
=================================
Allow to specify delay in avrdude
aversive mk/aversive_project.mk 1.32.4.10
===============================
aversive/mk/aversive_project.mk (1.32.4.9 -> 1.32.4.10)
===============================
@@ -111,7 +111,13 @@
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).$(FORMAT_EXTENSION)
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
-export AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -q
+AVRDUDE_FLAGS = -e -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -q
+
+ifneq ($(DELAY),)
+AVRDUDE_FLAGS += -i $(DELAY)
+endif
+
+export AVRDUDE_FLAGS
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
@@ -128,7 +134,7 @@
#AVRDUDE_FLAGS += -v -v
-AVARICE_WRITE_FLASH = --program --file $(TARGET).$(FORMAT_EXTENSION)
+AVARICE_WRITE_FLASH = --erase --program --file $(TARGET).$(FORMAT_EXTENSION)
#AVARICE_WRITE_EEPROM = XXX
export AVARICE_FLAGS = -P $(MCU) --jtag $(AVARICE_PORT) --$(AVARICE_PROGRAMMER)
Commit from zer0 on branch b_zer0 (2008-01-07 23:49 CET)
=================================
remove debug in i2c module
fix i2c commands in microb project
aversive modules/comm/i2c/i2c.c 1.1.2.9
===============================
aversive/modules/comm/i2c/i2c.c (1.1.2.8 -> 1.1.2.9)
===============================
@@ -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: i2c.c,v 1.1.2.8 2007-08-21 21:51:59 zer0 Exp $
+ * Revision : $Id: i2c.c,v 1.1.2.9 2008-01-07 22:49:06 zer0 Exp $
*
*/
@@ -43,57 +43,6 @@
#error "I2C_RECV_BUFFER_SIZE must be at least 1"
#endif
-/* to remove XXX */
-#ifdef _AVR_IOM128_H_
-#define LED1_ON() sbi(PORTE, 2)
-#define LED1_OFF() cbi(PORTE, 2)
-
-#define LED2_ON() sbi(PORTE, 3)
-#define LED2_OFF() cbi(PORTE, 3)
-
-#define LED3_ON() sbi(PORTB, 3)
-#define LED3_OFF() cbi(PORTB, 3)
-
-#define LED4_ON() sbi(PORTB, 4)
-#define LED4_OFF() cbi(PORTB, 4)
-
-#define LED5_ON() do {} while(0)
-#define LED5_OFF() do {} while(0)
-
-#define LED6_ON() do {} while(0)
-#define LED6_OFF() do {} while(0)
-
-#define LED7_ON() do {} while(0)
-#define LED7_OFF() do {} while(0)
-#else
-/* to remove XXX */
-#define LED5BIT 2
-#define LED6BIT 3
-#define LED7BIT 4
-
-/* to remove XXX */
-#define LED1_ON() do {} while(0)
-#define LED1_OFF() do {} while(0)
-
-#define LED2_ON() do {} while(0)
-#define LED2_OFF() do {} while(0)
-
-#define LED3_ON() do {} while(0)
-#define LED3_OFF() do {} while(0)
-
-#define LED4_ON() do {} while(0)
-#define LED4_OFF() do {} while(0)
-
-#define LED5_ON() sbi(PORTB, LED5BIT)
-#define LED5_OFF() cbi(PORTB, LED5BIT)
-
-#define LED6_ON() sbi(PORTB, LED6BIT)
-#define LED6_OFF() cbi(PORTB, LED6BIT)
-
-#define LED7_ON() sbi(PORTB, LED7BIT)
-#define LED7_OFF() cbi(PORTB, LED7BIT)
-#endif
-
/** recv event, called when we receive a frame
* params are : data buffer and size */
static void (*g_recv_event)(uint8_t *, int8_t) = NULL;
@@ -520,15 +469,9 @@
{
uint8_t hard_status;
uint8_t command = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);
- static char a=0;
hard_status = TW_STATUS;
- if(a)
- LED7_OFF();
- else
- LED7_ON();
- a = !a;
switch(hard_status) {
#ifdef CONFIG_MODULE_I2C_MASTER
Commit from zer0 (2008-01-07 23:49 CET)
================
remove debug in i2c module
fix i2c commands in microb project
aversive_projects microb2008/common/i2c_commands.h 1.4
aversive_projects microb2008/extension/i2c_protocol.c 1.5
aversive_projects microb2008/extension/main.c 1.8
aversive_projects microb2008/main/commands.c 1.9
aversive_projects microb2008/main/i2c_protocol.c 1.7
aversive_projects microb2008/main/i2c_protocol.h 1.4
aversive_projects microb2008/main/main.c 1.15
==================================================
aversive_projects/microb2008/common/i2c_commands.h (1.3 -> 1.4)
==================================================
@@ -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: i2c_commands.h,v 1.3 2008-01-05 23:36:19 zer0 Exp $
+ * Revision : $Id: i2c_commands.h,v 1.4 2008-01-07 22:49:06 zer0 Exp $
*
*/
@@ -63,6 +63,16 @@
uint8_t roller_angle;
};
+/****/
+
+#define I2C_CMD_EXTENSION_PWM 0x02
+
+struct i2c_cmd_extension_pwm {
+ struct i2c_cmd_hdr hdr;
+ uint8_t num;
+ int16_t val;
+};
+
/****/
/* requests and their answers */
=====================================================
aversive_projects/microb2008/extension/i2c_protocol.c (1.4 -> 1.5)
=====================================================
@@ -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: i2c_protocol.c,v 1.4 2008-01-05 23:36:19 zer0 Exp $
+ * Revision : $Id: i2c_protocol.c,v 1.5 2008-01-07 22:49:06 zer0 Exp $
*
*/
@@ -25,6 +25,7 @@
#include <aversive/list.h>
#include <i2c.h>
+#include <pwm.h>
#include "main.h"
#include "../common/i2c_commands.h"
@@ -86,19 +87,31 @@
return c;
}
+static uint8_t val1=0, val2=0, val3=0;
+
void i2c_send_status(void)
{
struct i2c_ans_extension_status ans;
i2c_flush();
ans.hdr.cmd = I2C_ANS_EXTENSION_STATUS;
- ans.state = 1;
- ans.white_ball_count = 2;
- ans.colored_ball_count = 3;
+ ans.state = val1;
+ ans.white_ball_count = val2;
+ ans.colored_ball_count = val3;
+ /* XXX check return value. To wait is stupid because we are
+ called with irq disabled */
+ i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans, sizeof(ans),
I2C_CTRL_GENERIC);
}
-
void i2c_recvevent(uint8_t * buf, int8_t size)
{
+ static uint8_t a=0;
+ a=!a;
+ if (a)
+ LED6_ON();
+ else
+ LED6_OFF();
+
+
if (size <= 0) {
goto error;
}
@@ -124,8 +137,21 @@
break;
}
+ case I2C_CMD_EXTENSION_PWM:
+ {
+ struct i2c_cmd_extension_pwm * cmd = (struct
i2c_cmd_extension_pwm *) buf;
+ if (size != sizeof (*cmd))
+ goto error;
+ if (cmd->num == 0)
+ pwm_set((void *)PWM1A_NUM, cmd->val);
+ else
+ pwm_set((void *)PWM1B_NUM, cmd->val);
+ break;
+ }
+
/* Add other commands here ...*/
+
/* Requests (answer needed) */
case I2C_REQ_READ_DEBUG_BUFFER:
{
=============================================
aversive_projects/microb2008/extension/main.c (1.7 -> 1.8)
=============================================
@@ -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: main.c,v 1.7 2008-01-05 23:36:19 zer0 Exp $
+ * Revision : $Id: main.c,v 1.8 2008-01-07 22:49:06 zer0 Exp $
*
*/
@@ -39,8 +39,6 @@
#define DEBUG_LED_BLINK
-
-
void do_debug(void * dummy)
{
#ifdef DEBUG_LED_BLINK
@@ -55,18 +53,12 @@
#endif
}
-
-
int main(void)
{
/* i/o */
DDRB = (1<<LED5BIT) | (1<<LED6BIT) | (1<<LED7BIT) ;
- // pwm_init();
-
-/* pwm_set((void *)PWM1B_NUM, 500); */
-/* pwm_set((void *)PWM1A_NUM, 4000); */
-/* while(1); */
+ pwm_init();
/* scheduler */
scheduler_init();
@@ -83,8 +75,6 @@
/* debug via i2c (um zu gut zu machen) */
fdevopen(debug_send, NULL);
- pwm_set((void *)PWM1B_NUM, 1000);
-
sei();
while(1) {
============================================
aversive_projects/microb2008/main/commands.c (1.8 -> 1.9)
============================================
@@ -18,6 +18,7 @@
#include <vt100.h>
#include "main.h"
+#include "i2c_protocol.h"
#include "eeprom.h"
//#include "test.h"
#include "sensor.h"
@@ -112,14 +113,19 @@
pwm_ptr = LEFT_PWM;
else if (!strcmp_P(res->arg1, PSTR("right")))
pwm_ptr = RIGHT_PWM;
+ else if (!strcmp_P(res->arg1, PSTR("ext0")))
+ i2c_pwm(0, res->arg2);
+ else if (!strcmp_P(res->arg1, PSTR("ext1")))
+ i2c_pwm(1, res->arg2);
- pwm_set(pwm_ptr, res->arg2);
+ if (pwm_ptr)
+ pwm_set(pwm_ptr, res->arg2);
printf_P(PSTR("done\n"));
}
prog_char str_pwm_arg0[] = "pwm";
parse_pgm_token_string_t cmd_pwm_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_pwm_result, arg0, str_pwm_arg0);
-prog_char str_pwm_arg1[] = "3C#1A#1B#2#left#right";
+prog_char str_pwm_arg1[] = "3C#1A#1B#2#left#right#ext0#ext1";
parse_pgm_token_string_t cmd_pwm_arg1 = TOKEN_STRING_INITIALIZER(struct
cmd_pwm_result, arg1, str_pwm_arg1);
parse_pgm_token_num_t cmd_pwm_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_pwm_result, arg2, INT16);
@@ -1440,6 +1446,12 @@
if (!strcmp_P(res->arg3, PSTR("on"))) {
for (i=0; i<NB_LOGS; i++) {
+ if (robot.logs[i] == lognum) {
+ printf_P(PSTR("Already on\n"));
+ return;
+ }
+ }
+ for (i=0; i<NB_LOGS; i++) {
if (robot.logs[i] == 0) {
robot.logs[i] = lognum;
break;
================================================
aversive_projects/microb2008/main/i2c_protocol.c (1.6 -> 1.7)
================================================
@@ -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: i2c_protocol.c,v 1.6 2008-01-05 23:36:19 zer0 Exp $
+ * Revision : $Id: i2c_protocol.c,v 1.7 2008-01-07 22:49:06 zer0 Exp $
*
*/
@@ -129,12 +129,6 @@
}
}
else {
- i2c_errors++;
- NOTICE(E_USER_I2C_PROTO, "received error %d\n", i2c_state);
- if (i2c_errors > I2C_MAX_ERRORS) {
- WARNING(E_USER_I2C_PROTO, "I2C error, slave not
ready\n");
- i2c_errors = 0;
- }
}
poll_is_running = 0;
@@ -144,7 +138,7 @@
(struct i2c_ans_write_debug_buffer * )buf;
if (size != sizeof (*ans))
- break;
+ goto error;
/* we may loose chars here, if the uart fifo is full */
/* XXX bad, we should use a fifo to buffer until we receive
@@ -158,8 +152,7 @@
(struct i2c_ans_extension_status * )buf;
if (size != sizeof (*ans))
- break;
-
+ goto error;
robot.extension_state = ans->state;
robot.white_ball_count = ans->white_ball_count;
robot.colored_ball_count = ans->colored_ball_count;
@@ -170,6 +163,15 @@
default:
break;
}
+
+ return;
+ error:
+ i2c_errors++;
+ NOTICE(E_USER_I2C_PROTO, "received error %d\n", i2c_state);
+ if (i2c_errors > I2C_MAX_ERRORS) {
+ WARNING(E_USER_I2C_PROTO, "I2C error, slave not ready\n");
+ i2c_errors = 0;
+ }
}
/* unused */
@@ -194,9 +196,9 @@
{
/* XXX log in case of error ? */
wait_cond_or_timeout(i2c_send(I2C_EXTENSION_ADDR,
- (uint8_t*)&buf,
- sizeof(buf),
- I2C_CTRL_GENERIC)==ESUCCESS, I2C_TIMEOUT);
+ buf, size,
+ I2C_CTRL_GENERIC)==ESUCCESS,
+ I2C_TIMEOUT);
}
void i2c_led_control(uint8_t led, uint8_t state)
@@ -208,6 +210,14 @@
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
+void i2c_pwm(uint8_t num, int16_t val)
+{
+ struct i2c_cmd_extension_pwm buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_PWM;
+ buf.num = num;
+ buf.val = val;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
void i2c_harvest(void)
{
@@ -267,7 +277,7 @@
int8_t i2c_req_extension_status(void)
{
- struct i2c_req_read_debug_buffer buf;
+ struct i2c_req_extension_status buf;
buf.hdr.cmd = I2C_REQ_EXTENSION_STATUS;
================================================
aversive_projects/microb2008/main/i2c_protocol.h (1.3 -> 1.4)
================================================
@@ -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: i2c_protocol.h,v 1.3 2008-01-05 23:36:19 zer0 Exp $
+ * Revision : $Id: i2c_protocol.h,v 1.4 2008-01-07 22:49:06 zer0 Exp $
*
*/
@@ -38,6 +38,7 @@
void i2c_sendevent(int8_t size);
void i2c_led_control(uint8_t led, uint8_t state);
+void i2c_pwm(uint8_t num, int16_t val);
int8_t i2c_req_read_debug_buffer(void);
void i2c_harvest(void);
========================================
aversive_projects/microb2008/main/main.c (1.14 -> 1.15)
========================================
@@ -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: main.c,v 1.14 2008-01-05 23:36:19 zer0 Exp $
+ * Revision : $Id: main.c,v 1.15 2008-01-07 22:49:06 zer0 Exp $
*
*/
@@ -72,7 +72,7 @@
void do_led_blink(void * dummy)
{
#if 1 /* simple blink */
- static u08 a=0;
+ static uint8_t a=0;
if(a)
LED1_ON();
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