contiki/platform/stepper-robot/robot-main.c

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#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>
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#include <dev/leds.h>
#include <sys/process.h>
#include <sys/procinit.h>
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#include <sys/autostart.h>
#include <sys/etimer.h>
#include <net/psock.h>
#include <unistd.h>
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#include <stepper-steps.h>
#include <stepper.h>
#include <stepper-move.h>
#ifndef RF_CHANNEL
#define RF_CHANNEL 15
#endif
extern char __heap_end__;
extern char __heap_start__;
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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);
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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);
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static StepperAccSeq seq_heap[40];
static void
init_seq_heap()
{
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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]);
}
}
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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)};
#if 0
PROCESS(udprecv_process, "UDP recv process");
PROCESS_THREAD(udprecv_process, ev, data)
{
static struct uip_udp_conn *c;
PROCESS_EXITHANDLER(goto exit);
PROCESS_BEGIN();
printf("udprecv_process starting\n");
{
uip_ipaddr_t any;
uip_ipaddr(&any, 0,0,0,0);
c = udp_new(&any, HTONS(0), NULL);
uip_udp_bind(c, HTONS(4321));
}
while(1) {
PROCESS_YIELD();
if(ev == tcpip_event && uip_newdata()) {
u8_t *src = ((struct uip_udpip_hdr *)uip_buf)->srcipaddr.u8;
printf("%d.%d.%d.%d: %s\n",
src[0], src[1], src[2], src[3], (char *)uip_appdata);
}
}
exit:
/* Contiki does automatic garbage collection of uIP state and we
* need not worry about that. */
printf("udprecv_process exiting\n");
PROCESS_END();
}
PROCESS(wd_test_process, "Watchdog test process");
PROCESS_THREAD(wd_test_process, ev, data)
{
static struct etimer timer;
PROCESS_BEGIN();
printf("tcp_test_process starting\n");
etimer_set(&timer, 25*CLOCK_SECOND);
while(1) {
PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_EXIT ||
ev== PROCESS_EVENT_TIMER);
if (ev == PROCESS_EVENT_EXIT) break;
printf("Blocking execution\n");
while(1);
}
PROCESS_END();
}
#endif
#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;
}
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#if 0
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
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#endif
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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");
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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");
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robot_stepper_init();
procinit_init();
enableIRQ();
cc2420_on();
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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;
}