[tuxdroid-svn] r467 - firmware/tuxcore/trunk
Status: Beta
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[tuxdroid-svn] r467 - firmware/tuxcore/trunk
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From: jaguarondi <c2m...@c2...> - 2007-08-21 16:49:00
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Author: jaguarondi
Date: 2007-08-21 18:48:58 +0200 (Tue, 21 Aug 2007)
New Revision: 467
Modified:
firmware/tuxcore/trunk/Makefile
firmware/tuxcore/trunk/bootloader.c
firmware/tuxcore/trunk/fifo.h
firmware/tuxcore/trunk/main.c
Log:
* Chopped a couple of long lines. More to come.
Modified: firmware/tuxcore/trunk/Makefile
===================================================================
--- firmware/tuxcore/trunk/Makefile 2007-08-21 16:31:40 UTC (rev 466)
+++ firmware/tuxcore/trunk/Makefile 2007-08-21 16:48:58 UTC (rev 467)
@@ -42,7 +42,8 @@
endif
CWARN = -Wall -Wstrict-prototypes
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-CFLAGS = $(COMMON) $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
+CFLAGS = $(COMMON) $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) \
+ $(CSTANDARD) $(CEXTRA)
CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d
## Assembly specific flags
@@ -66,7 +67,8 @@
## Objects that must be built in order to link
-OBJECTS = main.o sensors.o motors.o global.o led.o communication.o i2c.o fifo.o ir.o parser.o config.o standalone.o
+OBJECTS = main.o sensors.o motors.o global.o led.o communication.o i2c.o \
+ fifo.o ir.o parser.o config.o standalone.o
## Objects explicitly added by the user
LINKONLYOBJECTS =
@@ -117,7 +119,8 @@
##Link
$(TARGET): $(OBJECTS)
- $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+ $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) \
+ -o $(TARGET)
$(BOOTLOADER): bootloader.o
$(CC) $(BL_LDFLAGS) bootloader.o -o $(BOOTLOADER)
@@ -159,7 +162,9 @@
## Clean target
.PHONY: clean
clean:
- -rm -rf $(OBJECTS) svnrev.h tuxcore.elf dep/* tuxcore.hex tuxcore.eep tuxcore.lss tuxcore.map bootloader.o tuxcore_bl.hex tuxcore_bl.lss tuxcore_bl.map tuxcore_bl.elf svnrev.h dep
+ -rm -rf $(OBJECTS) svnrev.h tuxcore.elf dep/* tuxcore.hex tuxcore.eep \
+ tuxcore.lss tuxcore.map bootloader.o tuxcore_bl.hex tuxcore_bl.lss \
+ tuxcore_bl.map tuxcore_bl.elf svnrev.h dep
## Other dependencies
@@ -168,6 +173,7 @@
## Generate doxygen documentation
.PHONY: doc
REVISION = $(shell sed -n "s/\#define SVN_REV\> *//p" svnrev.h)
+URL = $(shell sed -n "s/\#define SVN_URL\> *//p" svnrev.h)
# if we're in a tag folder, we don't show 'UNRELEASED'
ifeq ($(shell sed -n "s/\#define SVN_URL\> *//p" svnrev.h | grep tags),)
UNRELEASED = "UNRELEASED "
@@ -186,13 +192,18 @@
tuxup $(PROJECT).hex $(PROJECT).eep
progisp: $(PROJECT).hex $(PROJECT).eep
- $(AVRDUDE) -p $(MCU) -c jtag2isp -P usb -B 10 -e -U flash:w:$(PROJECT).hex -U eeprom:w:$(PROJECT).eep
+ $(AVRDUDE) -p $(MCU) -c jtag2isp -P usb -B 10 -e \
+ -U flash:w:$(PROJECT).hex -U eeprom:w:$(PROJECT).eep
progisp_bl: $(PROJECT).hex $(PROJECT).eep $(PROJECT)_bl.hex
- $(AVRDUDE) -p $(MCU) -c jtag2isp -P usb -B 10 -e -U flash:w:$(PROJECT).hex -U eeprom:w:$(PROJECT).eep -D -U flash:w:$(PROJECT)_bl.hex
+ $(AVRDUDE) -p $(MCU) -c jtag2isp -P usb -B 10 -e \
+ -U flash:w:$(PROJECT).hex -U eeprom:w:$(PROJECT).eep -D \
+ -U flash:w:$(PROJECT)_bl.hex
progstk: $(PROJECT).hex $(PROJECT).eep
- $(AVRDUDE) -p $(MCU) -c stk500v2 -e -U flash:w:$(PROJECT).hex -U eeprom:w:$(PROJECT).eep
+ $(AVRDUDE) -p $(MCU) -c stk500v2 -e -U flash:w:$(PROJECT).hex \
+ -U eeprom:w:$(PROJECT).eep
progstk_bl: $(PROJECT).hex $(PROJECT).eep $(PROJECT)_bl.hex
- $(AVRDUDE) -p $(MCU) -c stk500v2 -e -U flash:w:$(PROJECT).hex -U eeprom:w:$(PROJECT).eep -D -U flash:w:$(PROJECT)_bl.hex
+ $(AVRDUDE) -p $(MCU) -c stk500v2 -e -U flash:w:$(PROJECT).hex \
+ -U eeprom:w:$(PROJECT).eep -D -U flash:w:$(PROJECT)_bl.hex
Modified: firmware/tuxcore/trunk/bootloader.c
===================================================================
--- firmware/tuxcore/trunk/bootloader.c 2007-08-21 16:31:40 UTC (rev 466)
+++ firmware/tuxcore/trunk/bootloader.c 2007-08-21 16:48:58 UTC (rev 467)
@@ -47,11 +47,12 @@
uint8_t i, twStatus, eeprom_flg = 0;
volatile uint16_t _count = 0;
- for (_count = 0; _count < 0xFFFF; _count++) ; /* wait for the head button to stabilize */
- if (SW_HD_PIN & SW_HD_MK) /* if head is not pushed at startup */
+ /* Wait for the head button to stabilize. */
+ for (_count = 0; _count < 0xFFFF; _count++) ;
+ if (SW_HD_PIN & SW_HD_MK) /* if head is not pushed at startup */
jump_to_application();
- LED_DDR |= LED_L_MK; /* light on left led */
+ LED_DDR |= LED_L_MK; /* light on left led */
LED_PT |= LED_L_MK;
TWBR = (F_CPU / 100000UL - 16) / 2; /* twi intialisation */
@@ -60,35 +61,36 @@
TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWINT);
for (;;)
{
- i2cWaitForComplete(); /* wait the I2C address */
+ i2cWaitForComplete(); /* wait the I2C address */
if ((twStatus = TW_STATUS) != TW_SR_SLA_ACK)
while (1) ;
TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWINT);
- i2cWaitForComplete(); /* wait the high byte of the page address */
+ i2cWaitForComplete(); /* wait the high byte of the page address */
if ((twStatus = TW_STATUS) != TW_SR_DATA_ACK)
while (1) ;
pageAddress.b[1] = TWDR;
TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWINT);
- i2cWaitForComplete(); /* wait the low byte of the page address */
+ i2cWaitForComplete(); /* wait the low byte of the page address */
if ((twStatus = TW_STATUS) != TW_SR_DATA_ACK)
while (1) ;
pageAddress.b[0] = TWDR;
if (pageAddress.w & 0x003F)
- while (1) ; /* incorrect page address */
- if (pageAddress.w >= 0x8000) /* eeprom programming */
+ while (1) ; /* incorrect page address */
+ if (pageAddress.w >= 0x8000) /* eeprom programming */
{
- eeprom_flg = 1; /* don't overwrite the bootloader */
- pageAddress.b[1] &= 0x7F; /* remove the eeprom indication bit */
+ eeprom_flg = 1; /* don't overwrite the bootloader */
+ pageAddress.b[1] &= 0x7F; /* remove the eeprom indication bit */
}
else if (pageAddress.w >= 0x1E00)
- while (1) ; /* don't overwrite the bootloader */
+ while (1) ; /* don't overwrite the bootloader */
else
- eeprom_flg = 0; /* flash programming */
+ eeprom_flg = 0; /* flash programming */
address = pageAddress.w;
TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWINT);
- for (i = 0; i < SPM_PAGESIZE; i++) /* fill the complete page with the next data */
+ /* Fill the complete page with the next data. */
+ for (i = 0; i < SPM_PAGESIZE; i++)
{
- i2cWaitForComplete(); /* wait data */
+ i2cWaitForComplete(); /* wait data */
if ((twStatus = TW_STATUS) == TW_SR_DATA_ACK)
{
if ((i & 0x01) == 0)
@@ -110,17 +112,20 @@
TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWINT);
}
else
- while (1) ; /* error in communication */
+ while (1) ; /* error in communication */
}
i2cWaitForComplete();
if ((twStatus = TW_STATUS) != TW_SR_STOP)
- while (1) ; /* if no stop at this exact position, there's something wrong with the number of bytes sent, we cancel */
- TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWINT); /* clear the interrupt immediately so not to miss the next frame */
+ /* If no stop at this exact position, there's something wrong with
+ * the number of bytes sent, we cancel. */
+ while (1) ;
+ /* Clear the interrupt immediately so not to miss the next frame. */
+ TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWINT);
if (!eeprom_flg)
{
boot_page_erase(pageAddress.w);
boot_spm_busy_wait();
- boot_page_write(pageAddress.w); /* Store buffer in flash page */
+ boot_page_write(pageAddress.w); /* Store buffer in flash page */
boot_spm_busy_wait();
}
}
@@ -128,5 +133,6 @@
void i2cWaitForComplete(void)
{
- while (!(TWCR & _BV(TWINT))) ; /* wait for i2c interface to complete operation */
+ /* Wait for i2c interface to complete operation. */
+ while (!(TWCR & _BV(TWINT))) ;
}
Modified: firmware/tuxcore/trunk/fifo.h
===================================================================
--- firmware/tuxcore/trunk/fifo.h 2007-08-21 16:31:40 UTC (rev 466)
+++ firmware/tuxcore/trunk/fifo.h 2007-08-21 16:48:58 UTC (rev 467)
@@ -26,11 +26,13 @@
Usage:
- use the following include:
\code #include "fifo.h" \endcode
- - instanciate a fifo with a given name and size. The size must be a power of 2 and is limited to 128 (2, 4, 8, 16, 32, 64, or 128).
+ - instanciate a fifo with a given name and size. The size must be a power
+ of 2 and is limited to 128 (2, 4, 8, 16, 32, 64, or 128).
\code
FIFO_INSTANCE(fifo_name, FIFO_SIZE);
\endcode
- - declare a pointer to a fifo type and initialize it with the address of the fifo you just created
+ - declare a pointer to a fifo type and initialize it with the address of
+ the fifo you just created
\code
fifo_t *myFifo = FifoPointer(fifo_name);
\endcode
Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c 2007-08-21 16:31:40 UTC (rev 466)
+++ firmware/tuxcore/trunk/main.c 2007-08-21 16:48:58 UTC (rev 467)
@@ -220,27 +220,31 @@
/*
* Communication: updating status, receiving and sending commands
*/
- if (updateStatusFlag && !cond_flags.sleep) /* do all stuff that needs to be updated before status are sent; we don't send status when entering sleep mode */
+ /* We don't send status when entering sleep mode. */
+ if (updateStatusFlag && !cond_flags.sleep)
{
updateStatusFlag = 0;
updateStatus(); /* add sensors states to the status queue */
getLight(); /* light measurement */
}
- //if (commandProcessFlag) /* XXX check if it's quick enough with the if */
+ //if (commandProcessFlag) /* XXX check if it's quick enough with the if
+ //*/
// {
// commandProcessFlag = 0;
- sendCommands(); /* send status and audio commands through i2c */
+ sendCommands(); /* send status and audio commands through i2c */
// }
- if (commandBufIdx) /* do all stuff that needs to be updated each time a commnand or status has been received */
+ if (commandBufIdx) /* do all stuff that needs to be updated each time a
+ commnand or status has been received */
{
- parse_received_commands(); /* parse and execute received commands */
+ parse_received_commands(); /* parse and execute received commands */
}
standalone_behavior(); /* standalone behavior manager */
/* Entering sleep mode. */
- if ((cond_flags.sleep == COND_SLEEP) && !event_timer) /* wait for standalone actions to be done */
+ /* Wait for standalone actions to be done. */
+ if ((cond_flags.sleep == COND_SLEEP) && !event_timer)
sleep();
/*
@@ -300,7 +304,8 @@
PCMSK2 = PSW_EYES_C_MK;
PCICR |= _BV(PCIE2);
- /* Enable 'INT1 interrupt' for spin position switch in falling edge mode and 'INT0 interrupt' for IR receiver in falling edge mode */
+ /* Enable 'INT1 interrupt' for spin position switch in falling edge mode
+ * and 'INT0 interrupt' for IR receiver in falling edge mode */
EICRA = _BV(ISC11); // | _BV(ISC01);
EIMSK = _BV(INT1); // | _BV(INT0);
@@ -308,7 +313,7 @@
* Single conversion mode
*/
ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
- ADMUX = 0x06; /* ADC6 selected XXX change this when adding ADC7 too */
+ ADMUX = 0x06; /* ADC6 selected XXX change this when adding ADC7 too */
ADCSRA |= _BV(ADIE) | _BV(ADSC); /* set ADC interrupt and start it */
/* set external I/O as pull-up */
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