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[tuxdroid-svn] r1307 - software_suite_v2/middleware/tuxdriver/trunk/src

From: remi <c2m...@c2...> - 2008-07-03 12:29:41

Author: remi
Date: 2008-07-03 14:29:50 +0200 (Thu, 03 Jul 2008)
New Revision: 1307

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/version.h
Log:
* added the revision keyword from svn to version.h

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/version.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/version.h	2008-07-03 12:27:28 UTC (rev 1306)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/version.h	2008-07-03 12:29:50 UTC (rev 1307)
@@ -26,6 +26,7 @@
 #define VER_MINOR           0
 #define VER_UPDATE          1
 #define VER_BUILD           11
+#define VER_REVISION        "$Rev::      $"
 #define VER_STATE           "BETA"
 #ifdef WIN32
 #   define VER_ARCH         "WIN32"

[tuxdroid-svn] r1306 - software_suite_v2/middleware/tuxdriver/trunk/src

From: remi <c2m...@c2...> - 2008-07-03 12:27:24

Author: remi
Date: 2008-07-03 14:27:28 +0200 (Thu, 03 Jul 2008)
New Revision: 1306

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c
   software_suite_v2/middleware/tuxdriver/trunk/src/version.h
Log:
* added svn:keywords on version.h
* updated status setters functions.

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c	2008-07-03 08:25:45 UTC (rev 1305)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c	2008-07-03 12:27:28 UTC (rev 1306)
@@ -212,13 +212,13 @@
 LIBLOCAL void
 tux_sw_status_init(void)
 {
-    char driver_symbolic_version[128] = ""; 
+    static char driver_symbolic_version[128] = ""; 
     
 #ifdef USE_MUTEX
     mutex_init(__status_mutex);
 #endif
 
-    sprintf(driver_symbolic_version, "Tux_driver_%d.%d.%d - b%.3d (%s) (%s)", 
+    sprintf(driver_symbolic_version, "libtuxdriver-%d.%d.%d-b%.3d(%s)(%s)", 
         VER_MAJOR,
         VER_MINOR,
         VER_UPDATE,
@@ -444,12 +444,28 @@
         {
             if (delta >= sw_status_table[id].event_threshold)
             {
+#ifdef USE_MUTEX
+                mutex_lock(__status_mutex);
+#endif
                 sw_status_table[id].intvalue = value;
+#ifdef USE_MUTEX
+                mutex_unlock(__status_mutex);
+#endif
                 tux_sw_status_get_state_str(id, state_str);
                 event_funct(state_str);
             }
         }
     }
+    else
+    {
+#ifdef USE_MUTEX
+        mutex_lock(__status_mutex);
+#endif
+        sw_status_table[id].intvalue = value;
+#ifdef USE_MUTEX
+        mutex_unlock(__status_mutex);
+#endif
+    }
     
 #ifdef USE_MUTEX
     mutex_lock(__status_mutex);
@@ -491,12 +507,28 @@
         {
             if ((1000*delta) >= sw_status_table[id].event_threshold)
             {
+#ifdef USE_MUTEX
+                mutex_lock(__status_mutex);
+#endif
                 sw_status_table[id].floatvalue = value;
+#ifdef USE_MUTEX
+                mutex_unlock(__status_mutex);
+#endif
                 tux_sw_status_get_state_str(id, state_str);
                 event_funct(state_str);
             }
         }
     }
+    else
+    {
+#ifdef USE_MUTEX
+        mutex_lock(__status_mutex);
+#endif
+        sw_status_table[id].floatvalue = value;
+#ifdef USE_MUTEX
+        mutex_unlock(__status_mutex);
+#endif
+    }
     
 #ifdef USE_MUTEX
     mutex_lock(__status_mutex);
@@ -538,12 +570,28 @@
             if (sw_status_table[id].event_threshold &&
                  (value != sw_status_table[id].strvalue))
             {
+#ifdef USE_MUTEX
+                mutex_lock(__status_mutex);
+#endif
 		        sw_status_table[id].strvalue = value;
+#ifdef USE_MUTEX
+                mutex_unlock(__status_mutex);
+#endif
                 tux_sw_status_get_state_str(id, state_str);
                 event_funct(state_str);
             }
         }
     }
+    else
+    {
+#ifdef USE_MUTEX
+        mutex_lock(__status_mutex);
+#endif
+		sw_status_table[id].strvalue = value;
+#ifdef USE_MUTEX
+        mutex_unlock(__status_mutex);
+#endif
+    }
     
 #ifdef USE_MUTEX
     mutex_lock(__status_mutex);

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/version.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/version.h	2008-07-03 08:25:45 UTC (rev 1305)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/version.h	2008-07-03 12:27:28 UTC (rev 1306)
@@ -17,6 +17,7 @@
  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  * 02111-1307, USA.
  */
+ /* SVN : $Id$ */
 
 #ifndef _VERSION_H_
 #define _VERSION_H_
@@ -24,7 +25,7 @@
 #define VER_MAJOR           0
 #define VER_MINOR           0
 #define VER_UPDATE          1
-#define VER_BUILD           10
+#define VER_BUILD           11
 #define VER_STATE           "BETA"
 #ifdef WIN32
 #   define VER_ARCH         "WIN32"


Property changes on: software_suite_v2/middleware/tuxdriver/trunk/src/version.h
___________________________________________________________________
Name: svn:keywords
   + Revision Date Id

[tuxdroid-svn] r1305 - software/tuxgi/trunk

From: Paul_R <c2m...@c2...> - 2008-07-03 09:30:25

Author: Paul_R
Date: 2008-07-03 10:25:45 +0200 (Thu, 03 Jul 2008)
New Revision: 1305

Modified:
   software/tuxgi/trunk/tuxgi.py
Log:
* Changed the port according with the changes of the server.


Modified: software/tuxgi/trunk/tuxgi.py
===================================================================
--- software/tuxgi/trunk/tuxgi.py	2008-07-02 15:08:50 UTC (rev 1304)
+++ software/tuxgi/trunk/tuxgi.py	2008-07-03 08:25:45 UTC (rev 1305)
@@ -87,7 +87,7 @@
     sys.stderr.write("Warning: couldn't find any suitable terminal"
                      " to use as Tux Droid shell\n")
 # Create a tux api object                    
-tux = TuxAPI("127.0.0.1", 81)
+tux = TuxAPI("127.0.0.1", 270)
 # Set the auto connection
 tux.server.autoConnect(CLIENT_LEVEL_RESTRICTED, "Tuxgi", "Passwd")

[tuxdroid-svn] r1304 - firmware/tuxaudio/trunk

From: jaguarondi <c2m...@c2...> - 2008-07-02 15:08:55

Author: jaguarondi
Date: 2008-07-02 17:08:50 +0200 (Wed, 02 Jul 2008)
New Revision: 1304

Modified:
   firmware/tuxaudio/trunk/PC_communication.c
   firmware/tuxaudio/trunk/communication.c
   firmware/tuxaudio/trunk/i2c.c
   firmware/tuxaudio/trunk/i2c.h
   firmware/tuxaudio/trunk/main.c
   firmware/tuxaudio/trunk/parser.c
   firmware/tuxaudio/trunk/parser.h
   firmware/tuxaudio/trunk/varis.c
   firmware/tuxaudio/trunk/varis.h
Log:
* Replaced the (commented) audio adaptation with a much simpler scheme.

* Split the command parsing from the I2C interrupt.

* Some cleanup.



Modified: firmware/tuxaudio/trunk/PC_communication.c
===================================================================
--- firmware/tuxaudio/trunk/PC_communication.c	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/PC_communication.c	2008-07-02 15:08:50 UTC (rev 1304)
@@ -29,6 +29,8 @@
 #include "spi.h"
 #include "hardware.h"
 
+void adapt_audio_rate(void);
+
 void spiTransaction(void)
 {
     if (spi_start)    // Wait start
@@ -129,98 +131,7 @@
                     }
 
                     spi_master = PUT_SOUND_FIFO;        // Go to the next state
-
-                    if (!programmingFlash && !flashPlay)      // XXX code must be review it's very strange .....
-                    {
-                        if (!(spi_master_config & 0x02))
-                        {
-                            if (!lockAdaptFifo)
-                            {
-                                //adaptFifo(PWMFifo);    // Adaptative FIFO
-#if 0
-/** \brief 3 levels adaptative function.
- * \param p fifo pointer
- *
- * High and low thresholds are used to differentiate 3 levels of the buffer. In
- * each level, a custom code or a function call can be provided to do the
- * adaptation.
- */
-void adaptFifo(fifo_t * p)
-{
-    unsigned char fifoLevel;
-
-    fifoLevel = fifoLength(p);
-    if (!p->adpt_cycle)
-    {
-        if (p->matched == 8)
-        {
-            if (OCR0A < 254)
-                p->pwm_max = OCR0A + 2;
-            else
-                p->pwm_max = 255;
-            if (OCR0A > 231)
-                p->pwm_min = OCR0A - 2;
-            else
-                p->pwm_min = 230;
-            p->matched = 9;
-        }
-
-        if (fifoLevel >= FIFO_ADAPT_HIGH)
-        {
-            if (OCR0A > p->pwm_min)
-            {
-                OCR0A--;
-                p->pwm_adpt_sens = 1;
-            }
-        }
-        else if (fifoLevel < FIFO_ADAPT_LOW)
-        {
-            if (OCR0A < p->pwm_max)
-            {
-                OCR0A++;
-                p->pwm_adpt_sens = 2;
-            }
-        }
-        else
-        {
-            if (p->pwm_adpt_sens)
-            {
-                if ((p->pwm_adpt_sens) == 1)
-                {
-                    if (OCR0A < p->pwm_max)
-                        OCR0A++;
                 }
-                else
-                {
-                    if (OCR0A > p->pwm_min)
-                        OCR0A--;
-                }
-                p->pwm_adpt_sens = 0;
-                p->matched = 0;
-            }
-            else
-            {
-                if (p->matched != 9)
-                    p->matched++;
-            }
-        }
-    }
-    p->adpt_cycle++;
-    p->adpt_cycle &= (FIFO_ADAPT_RATE << 1) - 1;
-}
-#endif
-                                lockAdaptFifo = 1;
-                            }
-                            else
-                                FifoClear(PWMFifo);
-                        }
-                        else
-                        {
-                            lockAdaptFifo = 0;
-                        }
-                    }
-
-                }
                 else if (spi_master == PUT_SOUND_FIFO)
                 {
                     if (spi_master_config & 0x02)
@@ -229,7 +140,11 @@
                             FifoPut(PWMFifo, SPDR);       // Put into the FIFO
                     }
                     if (spi_count == (spi_lenght_data + 1))
+                    {
                         spi_master = READ_COMMAND;      // Go to the next state
+                        if (spi_master_config & 0x02)
+                            adapt_audio_rate();
+                    }
 
                 }
                 else if (spi_master == READ_COMMAND)
@@ -259,3 +174,28 @@
     }
 }
 
+/**
+ * \brief Adapt the audio output rate to keep the stack at a mean level.
+ * Called only once when all 17 bytes have been received. All is here, nothing
+ * else is necessary.
+ */
+void adapt_audio_rate(void)
+{
+    static uint8_t prescaler = 0;
+    uint8_t static prev_stack_length = 0;
+    uint8_t stack_length = FifoLength(PWMFifo);
+    uint8_t slope;
+
+    if (++prescaler == 0)
+    {
+        /* Determine if the stack is growing or decreasing. */
+        slope = (stack_length >= prev_stack_length);
+        prev_stack_length = stack_length;
+
+        /* Adaptation */
+        if (slope && stack_length > 40 && OCR0A > 240)
+            OCR0A--;
+        if (!slope && stack_length < 80 && OCR0A < 254)
+            OCR0A++;
+    }
+}

Modified: firmware/tuxaudio/trunk/communication.c
===================================================================
--- firmware/tuxaudio/trunk/communication.c	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/communication.c	2008-07-02 15:08:50 UTC (rev 1304)
@@ -34,6 +34,8 @@
 /* I2C read message (in) */
 static uint8_t in_buf[CMD_SIZE];
 static struct i2c_msg msg_in = {0, 0, in_buf};
+/* I2C last received command */
+static uint8_t *received_cmd = 0;
 
 /** Size of the stack buffer to tuxcore */
 #define CORE_OUT_BUF_SIZE    16
@@ -176,32 +178,21 @@
  * \param msg I2C message received
  * \return 0 if a stop should be sent, 1 for a restart.
  */
-bool i2c_master_receive_service(struct i2c_msg *msg)
+void i2c_master_receive_service(struct i2c_msg *msg)
 {
     if (msg->len != CMD_SIZE)
         /* Error here. */
-        return 0;
+        return;
     if (*(msg->buf) == 0)
     {
         /* Got nothing so stop reading. */
-        return 0;
+        return;
     }
     if (msg->addr == TUXCORE_ADDR)
         /* From tuxcore */
     {
-        /* New pointer necessary as parse_cmd modifies the pointer. */
-        uint8_t *cmd = msg->buf;
-        /* Parse the command */
-        parse_cmd(cmd);
-        /* and forward if it isn't dropped. */
-        if (cmd)
-            queue_rf_cmd(cmd);
-        /* As we got something, there's maybe more so if the stack is not full,
-         * continue */
-        if (FifoLength(rf_cmdout_buf) <= RF_OUT_BUF_SIZE - CMD_SIZE)
-            return 1;
+        received_cmd = msg->buf;
     }
-    return 0;
 }
 
 /*
@@ -251,6 +242,14 @@
         return;
     }
 
+    /* Parse the received command and forward if it isn't dropped. */
+    if (received_cmd)
+    {
+        if (!parse_cmd(received_cmd))
+            queue_rf_cmd(received_cmd);
+        received_cmd = 0;
+    }
+
     /* Send otherwise get commands. */
     if (!send_core_cmds())
     {

Modified: firmware/tuxaudio/trunk/i2c.c
===================================================================
--- firmware/tuxaudio/trunk/i2c.c	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/i2c.c	2008-07-02 15:08:50 UTC (rev 1304)
@@ -84,7 +84,7 @@
 /* function pointer to i2c receive routine */
 /* I2cSlaveReceive is called when this processor is addressed as a slave for
  * writing */
-static bool (*i2c_master_receive) (struct i2c_msg *msg);
+static void (*i2c_master_receive) (struct i2c_msg *msg);
 /* I2cSlaveTransmit is called when this processor is addressed as a slave for
  * reading */
 static uint8_t(*i2cSlaveTransmit) (uint8_t transmitDataLengthMax,
@@ -99,7 +99,7 @@
     //i2c_resume();
 
 /* Set the user function which handles receiving (incoming) data as a slave */
-void i2c_master_receive_handler(bool (*i2cMasterRx_func) (struct i2c_msg *msg))
+void i2c_master_receive_handler(void (*i2cMasterRx_func) (struct i2c_msg *msg))
 {
     i2c_master_receive = i2cMasterRx_func;
 }
@@ -362,14 +362,8 @@
             m_msg->state = i2c_state;
             if (i2c_master_receive)
             {
-                if (i2c_master_receive(m_msg))
-                {
-                    buf_idx = 0;
-                    i2c_state = I2C_BUSY;
-                    twi_send_start(); /* restart a read */
-                }
-                else
-                    twi_send_stop(); /* end of data stream */
+                i2c_master_receive(m_msg);
+                twi_send_stop(); /* end of data stream */
             }
             break;
         case TW_MT_SLA_NACK: /* 0x20 */

Modified: firmware/tuxaudio/trunk/i2c.h
===================================================================
--- firmware/tuxaudio/trunk/i2c.h	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/i2c.h	2008-07-02 15:08:50 UTC (rev 1304)
@@ -80,7 +80,7 @@
 
 /* Functions */
 void i2cInit(void);
-void i2c_master_receive_handler(bool (*i2cMasterRx_func) (struct i2c_msg *msg));
+void i2c_master_receive_handler(void (*i2cMasterRx_func) (struct i2c_msg *msg));
 void
 i2cSetSlaveTransmitHandler(uint8_t(*i2cSlaveTx_func)
                            (uint8_t transmitDataLengthMax,

Modified: firmware/tuxaudio/trunk/main.c
===================================================================
--- firmware/tuxaudio/trunk/main.c	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/main.c	2008-07-02 15:08:50 UTC (rev 1304)
@@ -167,10 +167,7 @@
         if (commandRX)          // commend RX from radio
         {
             commandRX = 0;      // Reset flag
-            parse_cmd(spi_commandRX);
-            /* XXX there are some empty commands getting through, removed from
-             * here for now. */
-            if (spi_commandRX && spi_commandRX[0])
+            if (!parse_cmd(spi_commandRX))
                 queue_core_cmd(spi_commandRX);
         }
 
@@ -286,20 +283,13 @@
 
         if (!FifoGet(PWMFifo, (uint8_t *)&OCR0B))  /* set the sample value to timer pulse width */
         {
-            Fifoinert = 0;
             if (tuxaudio_config.automute)   /* XXX mute functions should not be called here each time a sample is placed, this is silly */
                 unmute_amp();
         }
         else
         {
-            Fifoinert++;
-            if (Fifoinert >= 30)
-            {
-                if (tuxaudio_config.automute)
-                    mute_amp();
-                Fifoinert = 30;
-                //OCR0A = 250; // Normal operation for ADC sampling if FIFO Adaptative is on
-            }
+            if (tuxaudio_config.automute)
+                mute_amp();
         }
         /* XXX we should move this timer away from here */
         /* send status to the behavioural CPU, 8KHz divided by 256 lead to a

Modified: firmware/tuxaudio/trunk/parser.c
===================================================================
--- firmware/tuxaudio/trunk/parser.c	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/parser.c	2008-07-02 15:08:50 UTC (rev 1304)
@@ -32,94 +32,101 @@
 /**
  * Parse a cmd received by the computer or by tuxcore and drop it if it
  * shouldn't be forwarded.
+ * \return True if the command has been parsed and shouldn't be forwarded,
+ * false if it should be forwarded.
  */
-void parse_cmd(uint8_t *cmd)
+bool parse_cmd(uint8_t *cmd)
 {
+        /* XXX there are some empty commands getting through, removed from
+         * here for now. */
 
-    /*
-     * Commands that should be forwarded
-     */
-
-    /* Ping */
-    if (cmd[0] == PONG_CMD)
+        /*
+         * Commands that shouldn't be forwarded.
+         */
+        /* Version */
+    if (cmd[0] == NULL_CMD)
     {
-        /* Index of the pong that is supposed to be received from tuxcore */
-        static uint8_t pong_received;
-        /* Counter of the missed pongs */
-        static uint8_t pong_missed;
-        if (pong_received-- < cmd[1])       /* new ping, reset */
-        {
-            pong_received = cmd[1];
-            pong_missed = 0;
-        }
-        else /* pongs */
-        {
-            pong_missed += pong_received - cmd[1];
-            pong_received = cmd[1]; /* resync */
-        }
-        cmd[2] = pong_missed;
     }
-    else if (cmd[0] == SLEEP_CMD)
+    else if (cmd[0] == INFO_TUXAUDIO_CMD)
     {
-        /* XXX sleep commented for now */
-        /* Forwards the cmd to the rf CPU */
-        /*cmd[0] = SLEEP_ACK_CMD;*/
-        /*cmd[1] = 0;*/
-        /*cmd[2] = 0;*/
-        /*cmd[3] = 0;*/
-        /*pre_sleep_delay = 30; [> handle sleep in its own function <]*/
-        /*sleep_f = 1;*/
-        /*statusFlag = 1;*/
+        send_info();
     }
-    else
+    else if (cmd[0] == PLAY_SOUND_CMD)
+        /* param: cmd[1] : sound number */
+        /* cmd[2] : mic sound intensity  */
     {
-        /*
-         * Commands that shouldn't be forwarded.
-         */
-        /* Version */
-        if (cmd[0] == INFO_TUXAUDIO_CMD)
+        /* Drop the cmd if a sound is already playing */
+        if (!(flashPlay || programmingFlash))
         {
-            send_info();
-        }
-        else if (cmd[0] == PLAY_SOUND_CMD)
-            /* param: cmd[1] : sound number */
-            /* cmd[2] : mic sound intensity  */
-        {
-            /* postpone the cmd if a sound is already playing */
-            if (flashPlay || programmingFlash)
-                return;
             audioLevel = cmd[2];
-            //playingAudio(cmd[1]); /* start playing the sound */
             soundToPlay = cmd[1];
             flashPlay = 1;
             flash_state = 1;
         }
-        else if (cmd[0] == MUTE_CMD)
+    }
+    else if (cmd[0] == MUTE_CMD)
+    {
+        if (cmd[1])
+            mute_amp();
+        else
+            unmute_amp();
+    }
+    else if (cmd[0] == STORE_SOUND_CMD)
+    {
+        if (flashPlay)
+            flashPlay = 0;
+        flash_state = 1; /* Erasing flash flag */
+        programmingFlash = 1; /* Set the flag to enter programming sequence */
+    }
+    else if (cmd[0] == ERASE_FLASH_CMD)
+    {
+        eraseFlag = 1;
+    }
+    else if (cmd[0] == CONFIRM_STORAGE_CMD)
+    {
+        if (cmd[1])
+            write_toc = 1;
+        else
+            write_toc = 2;
+    }
+    else
+    {
+        /*
+         * Commands that should be forwarded
+         */
+
+        /* Ping */
+        if (cmd[0] == PONG_CMD)
         {
-            if (cmd[1])
-                mute_amp();
-            else
-                unmute_amp();
+            /* Index of the pong that is supposed to be received from tuxcore */
+            static uint8_t pong_received;
+            /* Counter of the missed pongs */
+            static uint8_t pong_missed;
+            if (pong_received-- < cmd[1])       /* new ping, reset */
+            {
+                pong_received = cmd[1];
+                pong_missed = 0;
+            }
+            else /* pongs */
+            {
+                pong_missed += pong_received - cmd[1];
+                pong_received = cmd[1]; /* resync */
+            }
+            cmd[2] = pong_missed;
         }
-        else if (cmd[0] == STORE_SOUND_CMD)
+        else if (cmd[0] == SLEEP_CMD)
         {
-            if (flashPlay)
-                flashPlay = 0;
-            flash_state = 1; /* Erasing flash flag */
-            programmingFlash = 1; /* Set the flag to enter programming sequence */
+            /* XXX sleep commented for now */
+            /* Forwards the cmd to the rf CPU */
+            /*cmd[0] = SLEEP_ACK_CMD;*/
+            /*cmd[1] = 0;*/
+            /*cmd[2] = 0;*/
+            /*cmd[3] = 0;*/
+            /*pre_sleep_delay = 30; [> handle sleep in its own function <]*/
+            /*sleep_f = 1;*/
+            /*statusFlag = 1;*/
         }
-        else if (cmd[0] == ERASE_FLASH_CMD)
-        {
-            eraseFlag = 1;
-        }
-        else if (cmd[0] == CONFIRM_STORAGE_CMD)
-        {
-            if (cmd[1])
-                write_toc = 1;
-            else
-                write_toc = 2;
-        }
-        /* Drop the command */
-        cmd = NULL;
+        return false;
     }
+    return true;
 }

Modified: firmware/tuxaudio/trunk/parser.h
===================================================================
--- firmware/tuxaudio/trunk/parser.h	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/parser.h	2008-07-02 15:08:50 UTC (rev 1304)
@@ -24,6 +24,6 @@
 
 #include <stdbool.h>
 
-void parse_cmd(uint8_t *cmd);
+bool parse_cmd(uint8_t *cmd);
 
 #endif /* PARSER_H */

Modified: firmware/tuxaudio/trunk/varis.c
===================================================================
--- firmware/tuxaudio/trunk/varis.c	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/varis.c	2008-07-02 15:08:50 UTC (rev 1304)
@@ -67,10 +67,6 @@
 
 volatile unsigned char spiCommandFlasg = 0;
 
-volatile unsigned char lockAdaptFifo = 1;
-
-volatile unsigned char Fifoinert = 0;
-
 uint16_t frame_without_sound = 0;
 uint16_t frame_without_sound_timeout= 0;
 uint8_t sound_played = 0;

Modified: firmware/tuxaudio/trunk/varis.h
===================================================================
--- firmware/tuxaudio/trunk/varis.h	2008-07-02 14:03:43 UTC (rev 1303)
+++ firmware/tuxaudio/trunk/varis.h	2008-07-02 15:08:50 UTC (rev 1304)
@@ -78,9 +78,6 @@
 
 extern volatile unsigned char spiCommandFlasg;
 
-extern volatile unsigned char lockAdaptFifo;
-
-extern volatile unsigned char Fifoinert;
 extern uint16_t frame_without_sound;
 extern uint16_t frame_without_sound_timeout;
 extern uint8_t sound_played;

[tuxdroid-svn] r1303 - software_suite_v2/middleware/tuxdriver/tags

From: remi <c2m...@c2...> - 2008-07-02 14:03:34

Author: remi
Date: 2008-07-02 16:03:43 +0200 (Wed, 02 Jul 2008)
New Revision: 1303

Added:
   software_suite_v2/middleware/tuxdriver/tags/0.0.1.010-beta/
Log:
* Tagged the trunk to 0.0.1.010-beta

Copied: software_suite_v2/middleware/tuxdriver/tags/0.0.1.010-beta (from rev 1302, software_suite_v2/middleware/tuxdriver/trunk)

[tuxdroid-svn] r1302 - software_suite_v2/middleware/tuxdriver/trunk/src

From: remi <c2m...@c2...> - 2008-07-02 14:00:55

Author: remi
Date: 2008-07-02 16:01:04 +0200 (Wed, 02 Jul 2008)
New Revision: 1302

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/version.h
Log:
* Updated the version header file to BETA state

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/version.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/version.h	2008-07-02 13:58:21 UTC (rev 1301)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/version.h	2008-07-02 14:01:04 UTC (rev 1302)
@@ -24,8 +24,8 @@
 #define VER_MAJOR           0
 #define VER_MINOR           0
 #define VER_UPDATE          1
-#define VER_BUILD           7
-#define VER_STATE           "APLHA"
+#define VER_BUILD           10
+#define VER_STATE           "BETA"
 #ifdef WIN32
 #   define VER_ARCH         "WIN32"
 #else

[tuxdroid-svn] r1301 - software_suite_v2/middleware/tuxdriver/trunk

From: remi <c2m...@c2...> - 2008-07-02 13:58:15

Author: remi
Date: 2008-07-02 15:58:21 +0200 (Wed, 02 Jul 2008)
New Revision: 1301

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/AUTHORS
   software_suite_v2/middleware/tuxdriver/trunk/README
Log:
* Updated AUTHORS and README files

Modified: software_suite_v2/middleware/tuxdriver/trunk/AUTHORS
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/AUTHORS	2008-07-02 13:56:21 UTC (rev 1300)
+++ software_suite_v2/middleware/tuxdriver/trunk/AUTHORS	2008-07-02 13:58:21 UTC (rev 1301)
@@ -1,4 +1,4 @@
-tux_driver was written by:
+libtuxdriver was written by:
 
 	Remi Jocaille  <rem...@c2...>
 	Frans Meulenbroeks aka eFfeM

Modified: software_suite_v2/middleware/tuxdriver/trunk/README
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/README	2008-07-02 13:56:21 UTC (rev 1300)
+++ software_suite_v2/middleware/tuxdriver/trunk/README	2008-07-02 13:58:21 UTC (rev 1301)
@@ -1,8 +1,8 @@
-tuxdriver-0.0.1 b007 ALPHA
+tuxdriver-0.0.1 b010 BETA
 
-tux_driver is a shared library to control the tuxdroid robot.
+libtuxdriver is a shared library to control Tuxdroid.
 
-For all information about tuxdroid, please visit:
+For all information about Tuxdroid, please visit:
 
   http://www.tuxisalive.com

[tuxdroid-svn] r1300 - software_suite_v2/middleware/tuxdriver/trunk/test

From: remi <c2m...@c2...> - 2008-07-02 13:56:12

Author: remi
Date: 2008-07-02 15:56:21 +0200 (Wed, 02 Jul 2008)
New Revision: 1300

Removed:
   software_suite_v2/middleware/tuxdriver/trunk/test/descriptor.txt
Modified:
   software_suite_v2/middleware/tuxdriver/trunk/test/test_macro.txt
Log:
* Replaced the "wings" command by the "flippers" command
* Deleted a unnecessary file

Deleted: software_suite_v2/middleware/tuxdriver/trunk/test/descriptor.txt
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/test/descriptor.txt	2008-07-02 13:53:28 UTC (rev 1299)
+++ software_suite_v2/middleware/tuxdriver/trunk/test/descriptor.txt	2008-07-02 13:56:21 UTC (rev 1300)
@@ -1,77 +0,0 @@
-Tux droid descriptor
---------------------
-
-- Firmwares
-  - Global release package : 	[Unofficial package]
-  - CPU 1
-    CPU id : 			0
-    CPU name : 			Tuxcore
-    Version major : 		0
-    Version minor : 		4
-    Version update : 		0
-    Revision : 			938
-    Released : 			True
-    Local modification : 	False
-    Mixed revisions : 		False
-    Author id : 		0
-    Variation : 		0
-    Symbolic version : 		[Tuxcore_0.4.0]
-  - CPU 2
-    CPU id : 			1
-    CPU name : 			Tuxaudio
-    Version major : 		0
-    Version minor : 		4
-    Version update : 		0
-    Revision : 			764
-    Released : 			True
-    Local modification : 	False
-    Mixed revisions : 		False
-    Author id : 		0
-    Variation : 		0
-    Symbolic version : 		[Tuxaudio_0.4.0]
-  - CPU 3
-    CPU id : 			2
-    CPU name : 			TuxRF
-    Version major : 		0
-    Version minor : 		3
-    Version update : 		0
-    Revision : 			681
-    Released : 			True
-    Local modification : 	False
-    Mixed revisions : 		False
-    Author id : 		0
-    Variation : 		0
-    Symbolic version : 		[TuxRF_0.3.0]
-  - CPU 4
-    CPU id : 			3
-    CPU name : 			FuxRF
-    Version major : 		0
-    Version minor : 		3
-    Version update : 		0
-    Revision : 			681
-    Released : 			True
-    Local modification : 	False
-    Mixed revisions : 		False
-    Author id : 		0
-    Variation : 		0
-    Symbolic version : 		[FuxRF_0.3.0]
-  - CPU 5
-    CPU id : 			4
-    CPU name : 			FuxUSB
-    Version major : 		0
-    Version minor : 		4
-    Version update : 		1
-    Revision : 			0
-    Released : 			True
-    Local modification : 	False
-    Mixed revisions : 		False
-    Author id : 		0
-    Variation : 		0
-    Symbolic version : 		[FuxUSB_0.4.1]
-- Sound flash
-    Number of sounds : 17
-    Last used block : 52
-    Available record time (sec) : 38
-- ID connection
-  - number : 	[0]
-

Modified: software_suite_v2/middleware/tuxdriver/trunk/test/test_macro.txt
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/test/test_macro.txt	2008-07-02 13:53:28 UTC (rev 1299)
+++ software_suite_v2/middleware/tuxdriver/trunk/test/test_macro.txt	2008-07-02 13:56:21 UTC (rev 1300)
@@ -2,7 +2,7 @@
 1.0:TUX_CMD:LED:OFF:LED_BOTH
 2.0:TUX_CMD:LED:SET:LED_BOTH,1.0,GRADIENT_DELTA,3.0,30
 1.0:TUX_CMD:SOUND_FLASH:PLAY:1:100
-1.0:TUX_CMD:WINGS:ON_DURING:2.0,DOWN
+1.0:TUX_CMD:FLIPPERS:ON_DURING:2.0,DOWN
 4.0:TUX_CMD:EYES:ON_DURING:2.0,OPEN
 7.0:TUX_CMD:MOUTH:ON_DURING:2.0,CLOSE
 10.0:TUX_CMD:SPINNING:LEFT_ON:1

[tuxdroid-svn] r1299 - software_suite_v2/middleware/tuxdriver/trunk/doc

From: remi <c2m...@c2...> - 2008-07-02 13:53:19

Author: remi
Date: 2008-07-02 15:53:28 +0200 (Wed, 02 Jul 2008)
New Revision: 1299

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/doc/Notes.txt
Log:
* updated a notes ...

Modified: software_suite_v2/middleware/tuxdriver/trunk/doc/Notes.txt
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/doc/Notes.txt	2008-07-02 13:50:23 UTC (rev 1298)
+++ software_suite_v2/middleware/tuxdriver/trunk/doc/Notes.txt	2008-07-02 13:53:28 UTC (rev 1299)
@@ -1,5 +1,8 @@
-Directives of compilations:
+Defines:
+========
+
 USE_MUTEX
 LOCK_TUX
 USB_DEBUG
+USB_IDFRAME
 GENERATE_DOC
\ No newline at end of file

[tuxdroid-svn] r1298 - software_suite_v2/middleware/tuxdriver/trunk/doc

From: remi <c2m...@c2...> - 2008-07-02 13:50:14

Author: remi
Date: 2008-07-02 15:50:23 +0200 (Wed, 02 Jul 2008)
New Revision: 1298

Added:
   software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Tuxware-Libtuxdriver.odt
Removed:
   software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Tuxware-Libtuxdriver
Log:
* Updated the name of the doc file of libtuxdriver
(missed *.odt extention ...)

Deleted: software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Tuxware-Libtuxdriver
===================================================================
(Binary files differ)

Copied: software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Tuxware-Libtuxdriver.odt (from rev 1297, software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Tuxware-Libtuxdriver)
===================================================================
(Binary files differ)

[tuxdroid-svn] r1297 - software_suite_v2/middleware/tuxdriver/trunk/doc

From: remi <c2m...@c2...> - 2008-07-02 13:49:11

Author: remi
Date: 2008-07-02 15:49:20 +0200 (Wed, 02 Jul 2008)
New Revision: 1297

Added:
   software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Tuxware-Libtuxdriver
Removed:
   software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Middleware-Driver.odt
Log:
* Updated the name of the doc file of libtuxdriver

Deleted: software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Middleware-Driver.odt
===================================================================
(Binary files differ)

Copied: software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Tuxware-Libtuxdriver (from rev 1296, software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Middleware-Driver.odt)
===================================================================
(Binary files differ)

[tuxdroid-svn] r1296 - software_suite_v2/middleware/tuxdriver/trunk/doc

From: remi <c2m...@c2...> - 2008-07-02 13:47:01

Author: remi
Date: 2008-07-02 15:47:05 +0200 (Wed, 02 Jul 2008)
New Revision: 1296

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Middleware-Driver.odt
Log:
* Updated the doc file of libtuxdriver

Modified: software_suite_v2/middleware/tuxdriver/trunk/doc/TuxSSV2-Middleware-Driver.odt
===================================================================
(Binary files differ)

[tuxdroid-svn] r1295 - in software_suite_v2/middleware/tuxdriver/trunk: include src

From: remi <c2m...@c2...> - 2008-07-02 08:13:53

Author: remi
Date: 2008-07-02 10:13:56 +0200 (Wed, 02 Jul 2008)
New Revision: 1295

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h
   software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas
   software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_cmd.h
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_types.h
Log:
* replaced the word "wings" by "flippers" in the whole of lituxdriver.

Modified: software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h	2008-07-02 08:13:56 UTC (rev 1295)
@@ -27,8 +27,8 @@
  * Id enumeration of high level status.
  */
 typedef enum {
-    SW_ID_WINGS_POSITION = 0,
-    SW_ID_WINGS_REMAINING_MVM,
+    SW_ID_FLIPPERS_POSITION = 0,
+    SW_ID_FLIPPERS_REMAINING_MVM,
     SW_ID_SPINNING_DIRECTION,
     SW_ID_SPINNING_REMAINING_MVM,
     SW_ID_LEFT_WING_BUTTON,

Modified: software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas	2008-07-02 08:13:56 UTC (rev 1295)
@@ -48,8 +48,8 @@
   {** 
    * Id enumeration of high level status.
    *}
-  SW_ID_WINGS_POSITION              = 0;
-  SW_ID_WINGS_REMAINING_MVM         = 1;
+  SW_ID_FLIPPERS_POSITION           = 0;
+  SW_ID_FLIPPERS_REMAINING_MVM      = 1;
   SW_ID_SPINNING_DIRECTION          = 2;
   SW_ID_SPINNING_REMAINING_MVM      = 3;
   SW_ID_LEFT_WING_BUTTON            = 4;

Modified: software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py	2008-07-02 08:13:56 UTC (rev 1295)
@@ -32,8 +32,8 @@
 E_TUXDRV_BUSY                       = E_TUXDRV_BEGIN + 8
 E_TUXDRV_WAVSIZEEXCEDED             = E_TUXDRV_BEGIN + 9
 
-SW_ID_WINGS_POSITION                = 0
-SW_ID_WINGS_REMAINING_MVM           = 1
+SW_ID_FLIPPERS_POSITION             = 0
+SW_ID_FLIPPERS_REMAINING_MVM        = 1
 SW_ID_SPINNING_DIRECTION            = 2
 SW_ID_SPINNING_REMAINING_MVM        = 3
 SW_ID_LEFT_WING_BUTTON              = 4
@@ -74,8 +74,8 @@
 SW_ID_SPIN_RIGHT_MOTOR_ON           = 39
 
 SW_NAME_DRIVER = [
-    "wings_position",
-    "wings_remaining_movements",
+    "flippers_position",
+    "flippers_remaining_movements",
     "spinning_direction",
     "spinning_remaining_movements",
     "left_wing_button",

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c	2008-07-02 08:13:56 UTC (rev 1295)
@@ -544,7 +544,7 @@
  *  
  */
 static TuxDrvError
-parse_tux_wings_command(tokens_t tokens, delay_cmd_t *cmd)
+parse_tux_flippers_command(tokens_t tokens, delay_cmd_t *cmd)
 {
     TuxDrvError ret =  E_TUXDRV_INVALIDCOMMAND;
 
@@ -561,8 +561,8 @@
     else if (strcmp(tokens[2], "ON") == 0)
     {
         cmd->sub_command = ON;
-        if (str_to_uint8(tokens[3], &cmd->wings_on_parameters.nr_movements) &&
-            str_to_state_t(tokens[4], &cmd->wings_on_parameters.state))
+        if (str_to_uint8(tokens[3], &cmd->flippers_on_parameters.nr_movements) &&
+            str_to_state_t(tokens[4], &cmd->flippers_on_parameters.state))
         {
             ret = E_TUXDRV_NOERROR;
         }
@@ -570,8 +570,8 @@
     else if (strcmp(tokens[2], "ON_DURING") == 0)
     {
         cmd->sub_command = ON_DURING;
-        if (str_to_float(tokens[3], &cmd->wings_on_during_parameters.duration) &&
-            str_to_state_t(tokens[4], &cmd->wings_on_during_parameters.state))
+        if (str_to_float(tokens[3], &cmd->flippers_on_during_parameters.duration) &&
+            str_to_state_t(tokens[4], &cmd->flippers_on_during_parameters.state))
         {
             ret = E_TUXDRV_NOERROR;
         }
@@ -586,7 +586,7 @@
     else if (strcmp(tokens[2], "SPEED") == 0)
     {
         cmd->sub_command = SPEED;
-        if (str_to_uint8(tokens[3], &cmd->wings_speed_parameters.speed))
+        if (str_to_uint8(tokens[3], &cmd->flippers_speed_parameters.speed))
         {
             ret = E_TUXDRV_NOERROR;
         }
@@ -637,10 +637,10 @@
         cmd->command = SPINNING;
         ret = parse_tux_spinning_command(tokens, cmd);
     }
-    else if (strcmp(tokens[1], "WINGS") == 0)
+    else if (strcmp(tokens[1], "FLIPPERS") == 0)
     {
-        cmd->command = WINGS;
-        ret = parse_tux_wings_command(tokens, cmd);
+        cmd->command = FLIPPERS;
+        ret = parse_tux_flippers_command(tokens, cmd);
     }
     return ret;
 }
@@ -917,33 +917,33 @@
  *  
  */
 static void
-execute_wings_command (delay_cmd_t *cmd)
+execute_flippers_command (delay_cmd_t *cmd)
 {
     switch (cmd->sub_command) {
         case ON:
-            tux_wings_cmd_on(
-                cmd->wings_on_parameters.nr_movements,
-                cmd->wings_on_parameters.state);
+            tux_flippers_cmd_on(
+                cmd->flippers_on_parameters.nr_movements,
+                cmd->flippers_on_parameters.state);
             break;
         case ON_DURING:
-            tux_wings_cmd_on_during(
-                cmd->wings_on_during_parameters.duration,
-                cmd->wings_on_during_parameters.state);
+            tux_flippers_cmd_on_during(
+                cmd->flippers_on_during_parameters.duration,
+                cmd->flippers_on_during_parameters.state);
             break;
         case OFF:
-            tux_wings_cmd_off();
+            tux_flippers_cmd_off();
             break;
         case UP:
-            tux_wings_cmd_up();
+            tux_flippers_cmd_up();
             break;
         case DOWN:
-            tux_wings_cmd_down();
+            tux_flippers_cmd_down();
             break;
         case SPEED:
-            tux_wings_cmd_speed(cmd->wings_speed_parameters.speed);
+            tux_flippers_cmd_speed(cmd->flippers_speed_parameters.speed);
             break;
         default: /* should not occur */
-            log_error("execute invalid wings command");
+            log_error("execute invalid flippers command");
     }
 }
 
@@ -986,8 +986,8 @@
             case SPINNING:
                 execute_spinning_command(cmd);
                 break;
-            case WINGS:
-                execute_wings_command(cmd);
+            case FLIPPERS:
+                execute_flippers_command(cmd);
                 break;
         }
     }

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c	2008-07-02 08:13:56 UTC (rev 1295)
@@ -138,7 +138,7 @@
     case FRAME_HEADER_POSITION1:
         if (header == ret)
         {
-            tux_wings_update_movements_remaining();
+            tux_flippers_update_movements_remaining();
             tux_mouth_update_movements_remaining();
             tux_eyes_update_movements_remaining();
         }
@@ -146,11 +146,11 @@
     case FRAME_HEADER_POSITION2:
         if (header == ret)
         {
-            tux_wings_update_position();
+            tux_flippers_update_position();
             tux_spinning_update_movements_remaining();
             tux_eyes_update_motor();
             tux_mouth_update_motor();
-            tux_wings_update_motor();
+            tux_flippers_update_motor();
             tux_spinning_update_left_motor();
             tux_spinning_update_right_motor();
         }
@@ -418,7 +418,7 @@
 {
     TuxDrv_PerformCommand(0.0, "TUX_CMD:EYES:OPEN");
     TuxDrv_PerformCommand(0.3, "TUX_CMD:MOUTH:CLOSE");
-    TuxDrv_PerformCommand(0.0, "TUX_CMD:WINGS:DOWN");
+    TuxDrv_PerformCommand(0.0, "TUX_CMD:FLIPPERS:DOWN");
     TuxDrv_PerformCommand(0.0, "TUX_CMD:SPINNING:OFF");
     TuxDrv_PerformCommand(0.0, "TUX_CMD:LED:ON:LED_BOTH,1.0");
 }

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c	2008-07-02 08:13:56 UTC (rev 1295)
@@ -1,5 +1,5 @@
 /*
- * Tux Droid - Wings
+ * Tux Droid - Flippers
  * Copyright (C) 2008 C2ME Sa
  *
  * This program is free software; you can redistribute it and/or modify
@@ -35,11 +35,11 @@
  *
  */
 LIBLOCAL void
-tux_wings_update_position(void)
+tux_flippers_update_position(void)
 {
     char *new_position = ""; 
     
-    if (!hw_status_table.position2.wings_down)
+    if (!hw_status_table.position2.flippers_down)
     {
         new_position = STRING_VALUE_DOWN;
     }
@@ -48,14 +48,14 @@
         new_position = STRING_VALUE_UP;
     }
     
-    tux_sw_status_set_strvalue(SW_ID_WINGS_POSITION, new_position, true);
+    tux_sw_status_set_strvalue(SW_ID_FLIPPERS_POSITION, new_position, true);
 }
 
 /**
  *  Update the status of the motor state of the flippers.
  */
 LIBLOCAL void
-tux_wings_update_motor(void)
+tux_flippers_update_motor(void)
 {
     unsigned char new_state;
     
@@ -67,21 +67,21 @@
  *
  */
 LIBLOCAL void
-tux_wings_update_movements_remaining(void)
+tux_flippers_update_movements_remaining(void)
 {
     unsigned char new_count;
     
-    new_count = hw_status_table.position1.wings_remaining_mvm;
+    new_count = hw_status_table.position1.flippers_remaining_mvm;
     
     mvmt_counter = new_count;
-    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, new_count, true);
+    tux_sw_status_set_intvalue(SW_ID_FLIPPERS_REMAINING_MVM, new_count, true);
 }
 
 /**
  *
  */
 LIBLOCAL bool
-tux_wings_cmd_speed(unsigned char speed)
+tux_flippers_cmd_speed(unsigned char speed)
 {
     return tux_movement_perform(MOVE_FLIPPERS, 0, 0.0, speed,
                 FINAL_ST_UNDEFINED, true); 
@@ -91,7 +91,7 @@
  *
  */
 LIBLOCAL bool
-tux_wings_cmd_on(unsigned char counter, unsigned char final_state)
+tux_flippers_cmd_on(unsigned char counter, unsigned char final_state)
 {
     return tux_movement_cmd_on(MOVE_FLIPPERS, counter, final_state);
 }
@@ -100,11 +100,11 @@
  *
  */
 LIBLOCAL bool
-tux_wings_cmd_on_during(float timeout, unsigned char final_state)
+tux_flippers_cmd_on_during(float timeout, unsigned char final_state)
 {
     bool ret;
-    data_frame frame = {WINGS_WAVE_CMD, 0, 5, 0};
-    delay_cmd_t cmd = { 0.0, TUX_CMD, WINGS };
+    data_frame frame = {FLIPPERS_WAVE_CMD, 0, 5, 0};
+    delay_cmd_t cmd = { 0.0, TUX_CMD, FLIPPERS };
     
     /* Short movements */
     if (timeout < 0.3)
@@ -121,7 +121,7 @@
     }
     
     mvmt_counter = 255;
-    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, mvmt_counter, true);
+    tux_sw_status_set_intvalue(SW_ID_FLIPPERS_REMAINING_MVM, mvmt_counter, true);
     
     switch (final_state) {
     case FINAL_ST_UNDEFINED:
@@ -146,7 +146,7 @@
  *
  */
 LIBLOCAL bool
-tux_wings_cmd_up(void)
+tux_flippers_cmd_up(void)
 {
     return tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_OPEN_UP, false);
 }
@@ -155,7 +155,7 @@
  *
  */
 LIBLOCAL bool
-tux_wings_cmd_down(void)
+tux_flippers_cmd_down(void)
 {
     return tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_CLOSE_DOWN, false);
 }
@@ -164,14 +164,14 @@
  *
  */
 LIBLOCAL bool
-tux_wings_cmd_off(void)
+tux_flippers_cmd_off(void)
 {
     bool ret;
     
-    tux_cmd_parser_clean_sys_command(WINGS);
+    tux_cmd_parser_clean_sys_command(FLIPPERS);
     ret = tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_STOP, false);
     mvmt_counter = 0;
-    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, mvmt_counter, true);
+    tux_sw_status_set_intvalue(SW_ID_FLIPPERS_REMAINING_MVM, mvmt_counter, true);
     
     return ret;
 }

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h	2008-07-02 08:13:56 UTC (rev 1295)
@@ -1,5 +1,5 @@
 /*
- * Tux Droid - Wings
+ * Tux Droid - Flippers
  * Copyright (C) 2008 C2ME Sa
  *
  * This program is free software; you can redistribute it and/or modify
@@ -18,22 +18,22 @@
  * 02111-1307, USA.
  */
 
-#ifndef _TUX_WINGS_H_
-#define _TUX_WINGS_H_
+#ifndef _TUX_FLIPPERS_H_
+#define _TUX_FLIPPERS_H_
 
 #include <stdbool.h>
 
-#define TUX_WINGS_POSITION_DOWN                 0 
-#define TUX_WINGS_POSITION_UP                   1
+#define TUX_FLIPPERS_POSITION_DOWN                 0 
+#define TUX_FLIPPERS_POSITION_UP                   1
 
-extern void tux_wings_update_position(void);
-extern void tux_wings_update_motor(void);
-extern void tux_wings_update_movements_remaining(void);
-extern bool tux_wings_cmd_speed(unsigned char speed);
-extern bool tux_wings_cmd_on(unsigned char counter, unsigned char final_state);
-extern bool tux_wings_cmd_on_during(float timeout, unsigned char final_state);
-extern bool tux_wings_cmd_up(void);
-extern bool tux_wings_cmd_down(void);
-extern bool tux_wings_cmd_off(void);
+extern void tux_flippers_update_position(void);
+extern void tux_flippers_update_motor(void);
+extern void tux_flippers_update_movements_remaining(void);
+extern bool tux_flippers_cmd_speed(unsigned char speed);
+extern bool tux_flippers_cmd_on(unsigned char counter, unsigned char final_state);
+extern bool tux_flippers_cmd_on_during(float timeout, unsigned char final_state);
+extern bool tux_flippers_cmd_up(void);
+extern bool tux_flippers_cmd_down(void);
+extern bool tux_flippers_cmd_off(void);
 
-#endif /* _TUX_WINGS_H_ */
+#endif /* _TUX_FLIPPERS_H_ */

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_cmd.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_cmd.h	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_cmd.h	2008-07-02 08:13:56 UTC (rev 1295)
@@ -59,10 +59,10 @@
     MOUTH_MOVE_CMD              = 0x41,
     MOUTH_STOP_CMD              = 0x36,
 
-    WINGS_RAISE_CMD             = 0x39,
-    WINGS_LOWER_CMD             = 0x3A,
-    WINGS_WAVE_CMD              = 0x80,
-    WINGS_STOP_CMD              = 0x30,
+    FLIPPERS_RAISE_CMD             = 0x39,
+    FLIPPERS_LOWER_CMD             = 0x3A,
+    FLIPPERS_WAVE_CMD              = 0x80,
+    FLIPPERS_STOP_CMD              = 0x30,
 
     SPIN_LEFT_CMD               = 0x82,
     SPIN_RIGHT_CMD              = 0x83,

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c	2008-07-02 08:13:56 UTC (rev 1295)
@@ -306,14 +306,14 @@
     {
         ret = FRAME_HEADER_POSITION1;
     }
-    if (hw_status_table.position1.wings_remaining_mvm != frame[3])
+    if (hw_status_table.position1.flippers_remaining_mvm != frame[3])
     {
         ret = FRAME_HEADER_POSITION1;
     }
     
     hw_status_table.position1.eyes_remaining_mvm = frame[1];
     hw_status_table.position1.mouth_remaining_mvm = frame[2];
-    hw_status_table.position1.wings_remaining_mvm = frame[3];
+    hw_status_table.position1.flippers_remaining_mvm = frame[3];
     
     return ret;
 }
@@ -330,7 +330,7 @@
     {
         ret = FRAME_HEADER_POSITION2;
     }
-    if (hw_status_table.position2.wings_down != frame[2])
+    if (hw_status_table.position2.flippers_down != frame[2])
     {
         ret = FRAME_HEADER_POSITION2;
     }
@@ -340,7 +340,7 @@
     }
     
     hw_status_table.position2.spin_remaining_mvm = frame[1];
-    hw_status_table.position2.wings_down = frame[2];
+    hw_status_table.position2.flippers_down = frame[2];
     hw_status_table.position2.motors.Byte = frame[3];
     
     return ret;

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h	2008-07-02 08:13:56 UTC (rev 1295)
@@ -62,7 +62,7 @@
 
 typedef struct
 {
-    _BIT_ wings_motor_backward:1;
+    _BIT_ flippers_motor_backward:1;
     _BIT_ spin_motor_forward:1;
     _BIT_ spin_motor_backward:1;
     _BIT_ mouth_open_switch:1;
@@ -81,7 +81,7 @@
 typedef struct
 {
     _BIT_ photo_transistor_pull_up:1;
-    _BIT_ wings_position_switch:1;
+    _BIT_ flippers_position_switch:1;
     _BIT_ right_blue_led:1;
     _BIT_ left_blue_led:1;
     _BIT_ i2c_sda_line:1;
@@ -102,7 +102,7 @@
     _BIT_ head_motor_for_eyes:1;
     _BIT_ ir_receiver_signal:1;
     _BIT_ spin_position_switch:1;
-    _BIT_ wings_motor_forward:1;
+    _BIT_ flippers_motor_forward:1;
     _BIT_ ir_led:1;
     _BIT_ eyes_open_switch:1;
     _BIT_ eyes_closed_switch:1;
@@ -243,13 +243,13 @@
 {
     unsigned char   eyes_remaining_mvm;
     unsigned char   mouth_remaining_mvm;
-    unsigned char   wings_remaining_mvm;
+    unsigned char   flippers_remaining_mvm;
 } frame_body_position1_t;
 
 typedef struct
 {
     unsigned char           spin_remaining_mvm;
-    unsigned char           wings_down;
+    unsigned char           flippers_down;
     _MOTORS_STATUS_BYTE_    motors;
 } frame_body_position2_t;
 

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_movements.c	2008-07-02 08:13:56 UTC (rev 1295)
@@ -136,7 +136,7 @@
         }
     case (MOVE_FLIPPERS):
         {
-            condition = !hw_status_table.position2.wings_down;
+            condition = !hw_status_table.position2.flippers_down;
             if (value)
             {
                 value = movement_status_control(final_state, value, condition);
@@ -257,19 +257,19 @@
     case (MOVE_FLIPPERS):
         if (final_state == FINAL_ST_OPEN_UP)
         {
-            frame[0] = WINGS_RAISE_CMD;
+            frame[0] = FLIPPERS_RAISE_CMD;
         }
         else
         {
             if (final_state == FINAL_ST_CLOSE_DOWN)
             {
-                frame[0] = WINGS_LOWER_CMD;
+                frame[0] = FLIPPERS_LOWER_CMD;
             }
             else
             {
                 if (final_state == FINAL_ST_STOP)
                 {
-                    frame[0] = WINGS_STOP_CMD;
+                    frame[0] = FLIPPERS_STOP_CMD;
                 }
             }
         }
@@ -305,7 +305,7 @@
  * \param motor Which motor should be configured
  * \param counter The number of movements to execute
  * \param timeout The duration of the movement (if counter = 0)
- * \param speed The PWM value. Only applicable for the wings and the spinning.
+ * \param speed The PWM value. Only applicable for the flippers and the spinning.
  * \param final_state The final state to reach
  * \param refresh Flag indicate if the entire command must be sent, or just the
  * new PWM value. 

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c	2008-07-02 08:13:56 UTC (rev 1295)
@@ -76,11 +76,11 @@
     { id, name, value_fmt, {.strvalue = initval}, threshold, value_doc, 0.0 },
     
 sw_status_t sw_status_table[SW_STATUS_NUMBER] = {
-   INIT_STRINGID(SW_ID_WINGS_POSITION, ID_FMT_STRING,
-        "wings_position", "DOWN|UP", STRING_VALUE_DOWN, 1) 
+   INIT_STRINGID(SW_ID_FLIPPERS_POSITION, ID_FMT_STRING,
+        "flippers_position", "DOWN|UP", STRING_VALUE_DOWN, 1) 
         
-    INIT_INTID(SW_ID_WINGS_REMAINING_MVM, ID_FMT_UINT8,
-        "wings_remaining_movements", "range[0..255]", 0, 1)
+    INIT_INTID(SW_ID_FLIPPERS_REMAINING_MVM, ID_FMT_UINT8,
+        "flippers_remaining_movements", "range[0..255]", 0, 1)
     
     INIT_STRINGID(SW_ID_SPINNING_DIRECTION, ID_FMT_STRING, 
         "spinning_direction", "NONE|LEFT|RIGHT", STRING_VALUE_NONE, 1)

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h	2008-07-02 08:13:56 UTC (rev 1295)
@@ -54,8 +54,8 @@
 #define STRING_VALUE_ERROR_USB              "ERROR_USB"
 
 typedef enum {
-    SW_ID_WINGS_POSITION = 0,
-    SW_ID_WINGS_REMAINING_MVM,
+    SW_ID_FLIPPERS_POSITION = 0,
+    SW_ID_FLIPPERS_REMAINING_MVM,
     SW_ID_SPINNING_DIRECTION,
     SW_ID_SPINNING_REMAINING_MVM,
     SW_ID_LEFT_WING_BUTTON,

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_types.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_types.h	2008-07-02 07:40:23 UTC (rev 1294)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_types.h	2008-07-02 08:13:56 UTC (rev 1295)
@@ -46,7 +46,7 @@
     MOUTH,
     SOUND_FLASH,
     SPINNING,
-    WINGS
+    FLIPPERS
 } tux_command_t;
 
 /* subcommands */
@@ -175,20 +175,20 @@
     unsigned char speed;
 } spinning_speed_parameters_t;
 
-/* wings */
+/* flippers */
 typedef struct {
     move_final_state_t state;
     unsigned char nr_movements;
-} wings_on_parameters_t;
+} flippers_on_parameters_t;
 
 typedef struct {
     move_final_state_t state;
     float duration;
-} wings_on_during_parameters_t;
+} flippers_on_during_parameters_t;
 
 typedef struct {
     unsigned char speed;
-} wings_speed_parameters_t;
+} flippers_speed_parameters_t;
 
 /* raw */
 typedef struct {
@@ -221,9 +221,9 @@
         spinning_on_parameters_t        spinning_on_parameters;
         spinning_on_during_parameters_t spinning_on_during_parameters;
         spinning_speed_parameters_t     spinning_speed_parameters;
-        wings_on_parameters_t           wings_on_parameters;
-        wings_on_during_parameters_t    wings_on_during_parameters;
-        wings_speed_parameters_t        wings_speed_parameters;
+        flippers_on_parameters_t        flippers_on_parameters;
+        flippers_on_during_parameters_t flippers_on_during_parameters;
+        flippers_speed_parameters_t     flippers_speed_parameters;
         raw_parameters_t                raw_parameters;
     };
     float inserted_at_time;

[tuxdroid-svn] r1294 - firmware/rf/trunk

From: jaguarondi <c2m...@c2...> - 2008-07-02 07:40:14

Author: jaguarondi
Date: 2008-07-02 09:40:23 +0200 (Wed, 02 Jul 2008)
New Revision: 1294

Added:
   firmware/rf/trunk/main.c
Removed:
   firmware/rf/trunk/device.c
Modified:
   firmware/rf/trunk/Makefile
Log:
* Renamed device.c into main.c.


Modified: firmware/rf/trunk/Makefile
===================================================================
--- firmware/rf/trunk/Makefile	2008-07-02 07:38:17 UTC (rev 1293)
+++ firmware/rf/trunk/Makefile	2008-07-02 07:40:23 UTC (rev 1294)
@@ -1,5 +1,5 @@
 ###############################################################################
-# Makefile for the project device
+# Makefile for [TF]UXRF
 ###############################################################################
 
 ## General Flags
@@ -53,9 +53,9 @@
 
 ## Objects that must be built in order to link
 ifeq ($(BOOTLOADER),1)
-OBJECTS = device.o init.o misc.o prot.o rf_ctrl.o varis.o interface.o bootloader.o
+OBJECTS = main.o init.o misc.o prot.o rf_ctrl.o varis.o interface.o bootloader.o
 else
-OBJECTS = device.o init.o misc.o prot.o rf_ctrl.o varis.o interface.o
+OBJECTS = main.o init.o misc.o prot.o rf_ctrl.o varis.o interface.o
 endif
 
 ## Objects explicitly added by the user
@@ -65,7 +65,7 @@
 all: svnrev.h $(TARGET) $(PROJECT).hex $(PROJECT).eep $(PROJECT).lss size
 
 ## Compile
-device.o: device.c
+main.o: main.c
 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
 
 init.o: init.c
@@ -112,7 +112,7 @@
 ## Clean target
 .PHONY: clean
 clean:
-	-rm -rf $(OBJECTS) device.elf dep/* $(PROJECT).* svnrev.h
+	-rm -rf $(OBJECTS) main.elf dep/* $(PROJECT).* svnrev.h
 
 
 ## Other dependencies

Deleted: firmware/rf/trunk/device.c
===================================================================
--- firmware/rf/trunk/device.c	2008-07-02 07:38:17 UTC (rev 1293)
+++ firmware/rf/trunk/device.c	2008-07-02 07:40:23 UTC (rev 1294)
@@ -1,114 +0,0 @@
-/*
- * [TF]UXRF - Firmware for the 2 RF CPU of tuxdroid (TUXRF and FUXRF)
- * Copyright (C) 2007 KySoH S.A. <in...@ky...>
- *
- * 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
- */
-
-/* $Id$ */
-
-#include "defines.h"
-#include "init.h"
-#include "interface.h"
-#include "misc.h"
-#include "varis.h"
-#include "prot.h"
-#include "rf_ctrl.h"
-
-/*
- * Version number
- */
-#include "version.h"
-#include "svnrev.h"
-#include "common/api.h"
-#include "common/defines.h"
-
-#ifdef _SLAVE
-#define CPU_NUMBER      TUXRF_CPU_NUM /* TUXRF CPU */
-#else
-#define CPU_NUMBER      FUXRF_CPU_NUM /* FUXRF CPU */
-#endif
-const author_t author __attribute__ ((section("version.3"))) =
-{AUTHOR_CMD, AUTHOR_ID, VARIATION};
-const revision_t svn_revision __attribute__ ((section("version.2"))) =
-{REVISION_CMD, SVN_REV, RELEASE_TYPE};
-const version_t tag_version __attribute__ ((section("version.1"))) =
-{VERSION_CMD, CPU_VER_JOIN(CPU_NUMBER, VER_MAJOR), VER_MINOR, VER_UPDATE};
-
-/* Set to 1 to enable stack debugging. */
-#define DBG_STACK 0
-
-#if (BOOTLOADER)
-#include "bootloader.h"
-#endif
-
-#if (DBG_STACK)
-extern uint16_t __heap_start;
-void init_ram(void) __attribute__ ((naked))
-    __attribute__ ((section(".init1")));
-void init_ram(void)
-{
-    uint8_t *ptr;
-
-    for (ptr = (uint8_t *) &__heap_start; ptr < (uint8_t *) 0x800300; ptr++)
-        *ptr = 0x5F;
-}
-#endif
-
-/**
- * Main function of the RF firmware.
- * After initialization, the RF is completely handled by interrupts, the main
- * loop is empty.
- */
-int main(void)
-{
-#ifdef _SLAVE
-    volatile uint16_t _count=0;
-    /* Wait for the head button signal to rise if it isn't pressed. */
-    for (;_count<0xFFFF; _count++);
-    /* If head is pushed at startup */
-    if (!(PIND & 0x40))
-        /* jump to bootloader */
-#if (BOOTLOADER)
-        asm volatile ("rjmp bootloader" ::);
-#else
-        asm volatile ("rjmp bootloader_start" ::);
-#endif
-#elif defined(_MASTER)
-    /* If SPI_SS is cleared at startup */
-    if (!(PINB & 0x04))
-        /* jump to bootloader */
-#if (BOOTLOADER)
-        asm volatile ("rjmp bootloader" ::);
-#else
-        asm volatile ("rjmp bootloader_start" ::);
-#endif
-#endif
-
-    /* System init */
-    init_avr();
-    init_varis();
-    interface_init();
-
-    /* XXX debug */
-    DDRB |= _BV(PB3) | _BV(PB5);
-    DDRC |= _BV(PC3);
-
-
-    sei();
-    system_start_up();
-    for(;;){
-    }
-}

Copied: firmware/rf/trunk/main.c (from rev 1293, firmware/rf/trunk/device.c)
===================================================================
--- firmware/rf/trunk/main.c	                        (rev 0)
+++ firmware/rf/trunk/main.c	2008-07-02 07:40:23 UTC (rev 1294)
@@ -0,0 +1,114 @@
+/*
+ * [TF]UXRF - Firmware for the 2 RF CPU of tuxdroid (TUXRF and FUXRF)
+ * Copyright (C) 2007 KySoH S.A. <in...@ky...>
+ *
+ * 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
+ */
+
+/* $Id$ */
+
+#include "defines.h"
+#include "init.h"
+#include "interface.h"
+#include "misc.h"
+#include "varis.h"
+#include "prot.h"
+#include "rf_ctrl.h"
+
+/*
+ * Version number
+ */
+#include "version.h"
+#include "svnrev.h"
+#include "common/api.h"
+#include "common/defines.h"
+
+#ifdef _SLAVE
+#define CPU_NUMBER      TUXRF_CPU_NUM /* TUXRF CPU */
+#else
+#define CPU_NUMBER      FUXRF_CPU_NUM /* FUXRF CPU */
+#endif
+const author_t author __attribute__ ((section("version.3"))) =
+{AUTHOR_CMD, AUTHOR_ID, VARIATION};
+const revision_t svn_revision __attribute__ ((section("version.2"))) =
+{REVISION_CMD, SVN_REV, RELEASE_TYPE};
+const version_t tag_version __attribute__ ((section("version.1"))) =
+{VERSION_CMD, CPU_VER_JOIN(CPU_NUMBER, VER_MAJOR), VER_MINOR, VER_UPDATE};
+
+/* Set to 1 to enable stack debugging. */
+#define DBG_STACK 0
+
+#if (BOOTLOADER)
+#include "bootloader.h"
+#endif
+
+#if (DBG_STACK)
+extern uint16_t __heap_start;
+void init_ram(void) __attribute__ ((naked))
+    __attribute__ ((section(".init1")));
+void init_ram(void)
+{
+    uint8_t *ptr;
+
+    for (ptr = (uint8_t *) &__heap_start; ptr < (uint8_t *) 0x800300; ptr++)
+        *ptr = 0x5F;
+}
+#endif
+
+/**
+ * Main function of the RF firmware.
+ * After initialization, the RF is completely handled by interrupts, the main
+ * loop is empty.
+ */
+int main(void)
+{
+#ifdef _SLAVE
+    volatile uint16_t _count=0;
+    /* Wait for the head button signal to rise if it isn't pressed. */
+    for (;_count<0xFFFF; _count++);
+    /* If head is pushed at startup */
+    if (!(PIND & 0x40))
+        /* jump to bootloader */
+#if (BOOTLOADER)
+        asm volatile ("rjmp bootloader" ::);
+#else
+        asm volatile ("rjmp bootloader_start" ::);
+#endif
+#elif defined(_MASTER)
+    /* If SPI_SS is cleared at startup */
+    if (!(PINB & 0x04))
+        /* jump to bootloader */
+#if (BOOTLOADER)
+        asm volatile ("rjmp bootloader" ::);
+#else
+        asm volatile ("rjmp bootloader_start" ::);
+#endif
+#endif
+
+    /* System init */
+    init_avr();
+    init_varis();
+    interface_init();
+
+    /* XXX debug */
+    DDRB |= _BV(PB3) | _BV(PB5);
+    DDRC |= _BV(PC3);
+
+
+    sei();
+    system_start_up();
+    for(;;){
+    }
+}


Property changes on: firmware/rf/trunk/main.c
___________________________________________________________________
Name: svn:mime-type
   + text/plain
Name: svn:keywords
   + Id
Name: svn:mergeinfo
   + 
Name: svn:eol-style
   + native

[tuxdroid-svn] r1293 - firmware/rf/trunk

From: jaguarondi <c2m...@c2...> - 2008-07-02 07:38:10

Author: jaguarondi
Date: 2008-07-02 09:38:17 +0200 (Wed, 02 Jul 2008)
New Revision: 1293

Modified:
   firmware/rf/trunk/device.c
   firmware/rf/trunk/init.c
Log:
* Some cleanup.



Modified: firmware/rf/trunk/device.c
===================================================================
--- firmware/rf/trunk/device.c	2008-07-02 07:04:25 UTC (rev 1292)
+++ firmware/rf/trunk/device.c	2008-07-02 07:38:17 UTC (rev 1293)
@@ -1,47 +1,24 @@
-//*****************************************************************************
-//* Project: RF-Firmware Point to Multipoint for ISM - Transceiver ATR2406    *
-//* Version: V1.0                                                             *
-//* File: appl.c                                                              *
-//* Target MCU: ATMega88                                                      *
-//* Compiler: GCC                                                             *
-//* Simulator: AVRStudio 4.08                                                 *
-//* Emulator: JTAG ICE                                                        *
-//* Author: Christian Bechter                                                 *
-//* Date: 31.01.06                                                            *
-//* Used Hardware: DEV-KIT-III                                                *
-//*****************************************************************************
-//*****************************************************************************
-//* Copyright 2006, Atmel Germany GmbH                                        *
-//*                                                                           *
-//* This software is owned by the Atmel Germany GmbH                          *
-//* and is protected by and subject to worldwide patent protection.           *
-//* Atmel hereby grants to licensee a personal,                               *
-//* non-exclusive, non-transferable license to copy, use, modify, create      *
-//* derivative works of, and compile the Atmel Source Code and derivative     *
-//* works for the sole purpose of creating custom software in support of      *
-//* licensee product to be used only in conjunction with a Atmel integrated   *
-//* circuit as specified in the applicable agreement. Any reproduction,       *
-//* modification, translation, compilation, or representation of this         *
-//* software except as specified above is prohibited without the express      *
-//* written permission of Atmel.                                              *
-//*                                                                           *
-//* Disclaimer: ATMEL MAKES NO WARRANTY OF ANY KIND,EXPRESS OR IMPLIED,       *
-//* WITH REGARD TO THIS MATERIAL, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED  *
-//* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.       *
-//* Atmel reserves the right to make changes without further notice to the    *
-//* materials described herein. Atmel does not assume any liability arising   *
-//* out of the application or use of any product or circuit described herein. *
-//* Atmel does not authorize its products for use as critical components in   *
-//* life-support systems where a malfunction or failure may reasonably be     *
-//* expected to result in significant injury to the user. The inclusion of    *
-//* Atmel products in a life-support systems application implies that the     *
-//* manufacturer assumes all risk of such use and in doing so indemnifies     *
-//* Atmel against all charges.                                                *
-//*                                                                           *
-//* Use may be limited by and subject to the applicable Atmel software        *
-//* license agreement.                                                        *
-//*****************************************************************************
+/*
+ * [TF]UXRF - Firmware for the 2 RF CPU of tuxdroid (TUXRF and FUXRF)
+ * Copyright (C) 2007 KySoH S.A. <in...@ky...>
+ *
+ * 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
+ */
 
+/* $Id$ */
+
 #include "defines.h"
 #include "init.h"
 #include "interface.h"
@@ -90,31 +67,11 @@
 }
 #endif
 
-//*****************************************************************************
-//* Project: RF-Firmware for ISM                                              *
-//* Function: main                                                            *
-//* Parameters: NONE                                                          *
-//* Returns: NONE                                                             *
-//* Action: Main routine of the Device                                        *
-//* Duration: tbd                                                             *
-//* Size: tbd                                                                 *
-//* Date: 31.01.06                                                            *
-//* Description: Get connected to the Basestation, get values from the sensors*
-//*              and digital I/O                                              *
-//*****************************************************************************
-//*****************************************************************************
-// SETUP of RF_BUFFER_TX:                                                     *
-// 0 - 5   -> Preamble                                                        *
-// 6 - 7   -> Sync                                                            *
-// 8 - 11  -> SOF                                                             *
-// 12      -> LEN                                                             *
-// 13	   -> Command							      *
-// 14 - 30 -> Payload                                                         *
-// 31      -> Checksum                                                        *
-//*****************************************************************************
-typedef void (*AppPtr_t)(void);
-const AppPtr_t RunBoot = (AppPtr_t) 0x0785;
-
+/**
+ * Main function of the RF firmware.
+ * After initialization, the RF is completely handled by interrupts, the main
+ * loop is empty.
+ */
 int main(void)
 {
 #ifdef _SLAVE

Modified: firmware/rf/trunk/init.c
===================================================================
--- firmware/rf/trunk/init.c	2008-07-02 07:04:25 UTC (rev 1292)
+++ firmware/rf/trunk/init.c	2008-07-02 07:38:17 UTC (rev 1293)
@@ -121,16 +121,16 @@
 //*****************************************************************************
 void init_varis(void)
 {
-	//*************************************************************************
-	// SETUP of RF_BUFFER_TX:                                                 *
-	// 0 - 5   -> Preamble                                                    *
-	// 6 - 7   -> Sync                                                        *
-	// 8 - 11  -> SOF                                                         *
-	// 12      -> LEN                                                         *
-	// 13	   -> Command													  *
-	// 14 - 30 -> Payload                                                     *
-	// 31      -> Checksum                                                    *
-	//*************************************************************************
+//*****************************************************************************
+// SETUP of RF_BUFFER_TX:                                                     *
+// 0 - 5   -> Preamble                                                        *
+// 6 - 7   -> Sync                                                            *
+// 8 - 11  -> SOF                                                             *
+// 12      -> LEN                                                             *
+// 13	   -> Command							      *
+// 14 - 30 -> Payload                                                         *
+// 31      -> Checksum                                                        *
+//*****************************************************************************
 	//Default setup of the rf_buffer_tx//
 	rf_buffer_tx[0] = rf_buffer_tx[1] = rf_buffer_tx[2] = 0x55 ^ SCRAMBLE_BYTE;
 	rf_buffer_tx[3] = rf_buffer_tx[4] = rf_buffer_tx[5] = 0x55 ^ SCRAMBLE_BYTE;

[tuxdroid-svn] r1292 - in software_suite_v2/middleware/tuxdriver/trunk: src unix win32

From: remi <c2m...@c2...> - 2008-07-02 07:04:21

Author: remi
Date: 2008-07-02 09:04:25 +0200 (Wed, 02 Jul 2008)
New Revision: 1292

Added:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h
Removed:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h
Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c
   software_suite_v2/middleware/tuxdriver/trunk/unix/Makefile
   software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile
Log:
*renamed tux_wings.* to tux_flippers.*

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c	2008-07-01 16:32:24 UTC (rev 1291)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_cmd_parser.c	2008-07-02 07:04:25 UTC (rev 1292)
@@ -39,7 +39,7 @@
 #include "tux_types.h"
 #include "tux_usb.h"
 #include "tux_user_inputs.h"
-#include "tux_wings.h"
+#include "tux_flippers.h"
 
 #define NRCMDS 512
 

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c	2008-07-01 16:32:24 UTC (rev 1291)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c	2008-07-02 07:04:25 UTC (rev 1292)
@@ -39,7 +39,7 @@
 #include "tux_user_inputs.h"
 #include "tux_spinning.h"
 #include "tux_usb.h"
-#include "tux_wings.h"
+#include "tux_flippers.h"
 #include "version.h"
 
 static bool driver_started = false;

Copied: software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c (from rev 1291, software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c)
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c	                        (rev 0)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.c	2008-07-02 07:04:25 UTC (rev 1292)
@@ -0,0 +1,177 @@
+/*
+ * Tux Droid - Wings
+ * Copyright (C) 2008 C2ME Sa
+ *
+ * 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, 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.
+ */
+
+#include <string.h>
+
+#include "tux_cmd_parser.h"
+#include "tux_hw_status.h"
+#include "tux_hw_cmd.h"
+#include "tux_movements.h"
+#include "tux_sw_status.h"
+#include "tux_types.h"
+#include "tux_usb.h"
+#include "tux_flippers.h"
+
+static unsigned char mvmt_counter = 0;
+
+/**
+ *
+ */
+LIBLOCAL void
+tux_wings_update_position(void)
+{
+    char *new_position = ""; 
+    
+    if (!hw_status_table.position2.wings_down)
+    {
+        new_position = STRING_VALUE_DOWN;
+    }
+    else
+    {
+        new_position = STRING_VALUE_UP;
+    }
+    
+    tux_sw_status_set_strvalue(SW_ID_WINGS_POSITION, new_position, true);
+}
+
+/**
+ *  Update the status of the motor state of the flippers.
+ */
+LIBLOCAL void
+tux_wings_update_motor(void)
+{
+    unsigned char new_state;
+    
+    new_state = hw_status_table.position2.motors.bits.flippers_on;
+    tux_sw_status_set_intvalue(SW_ID_FLIPPERS_MOTOR_ON, new_state, true);
+}
+
+/**
+ *
+ */
+LIBLOCAL void
+tux_wings_update_movements_remaining(void)
+{
+    unsigned char new_count;
+    
+    new_count = hw_status_table.position1.wings_remaining_mvm;
+    
+    mvmt_counter = new_count;
+    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, new_count, true);
+}
+
+/**
+ *
+ */
+LIBLOCAL bool
+tux_wings_cmd_speed(unsigned char speed)
+{
+    return tux_movement_perform(MOVE_FLIPPERS, 0, 0.0, speed,
+                FINAL_ST_UNDEFINED, true); 
+}
+
+/**
+ *
+ */
+LIBLOCAL bool
+tux_wings_cmd_on(unsigned char counter, unsigned char final_state)
+{
+    return tux_movement_cmd_on(MOVE_FLIPPERS, counter, final_state);
+}
+
+/**
+ *
+ */
+LIBLOCAL bool
+tux_wings_cmd_on_during(float timeout, unsigned char final_state)
+{
+    bool ret;
+    data_frame frame = {WINGS_WAVE_CMD, 0, 5, 0};
+    delay_cmd_t cmd = { 0.0, TUX_CMD, WINGS };
+    
+    /* Short movements */
+    if (timeout < 0.3)
+    {
+        return tux_movement_perform(MOVE_FLIPPERS, 0, timeout, 5, final_state,
+                                    false); 
+    }
+
+    /* Long movements */
+    ret = tux_usb_send_to_tux(frame);
+    if (!ret)
+    {
+        return false;
+    }
+    
+    mvmt_counter = 255;
+    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, mvmt_counter, true);
+    
+    switch (final_state) {
+    case FINAL_ST_UNDEFINED:
+        cmd.sub_command = OFF;
+        break;
+    case FINAL_ST_OPEN_UP:
+        cmd.sub_command = UP;
+        break;
+    case FINAL_ST_CLOSE_DOWN:
+        cmd.sub_command = DOWN;
+        break;
+    case FINAL_ST_STOP:
+        cmd.sub_command = OFF;
+        break;
+    }
+    ret = tux_cmd_parser_insert_sys_command(timeout, &cmd);
+
+    return ret;
+}
+
+/**
+ *
+ */
+LIBLOCAL bool
+tux_wings_cmd_up(void)
+{
+    return tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_OPEN_UP, false);
+}
+
+/**
+ *
+ */
+LIBLOCAL bool
+tux_wings_cmd_down(void)
+{
+    return tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_CLOSE_DOWN, false);
+}
+
+/**
+ *
+ */
+LIBLOCAL bool
+tux_wings_cmd_off(void)
+{
+    bool ret;
+    
+    tux_cmd_parser_clean_sys_command(WINGS);
+    ret = tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_STOP, false);
+    mvmt_counter = 0;
+    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, mvmt_counter, true);
+    
+    return ret;
+}

Copied: software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h (from rev 1291, software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h)
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h	                        (rev 0)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_flippers.h	2008-07-02 07:04:25 UTC (rev 1292)
@@ -0,0 +1,39 @@
+/*
+ * Tux Droid - Wings
+ * Copyright (C) 2008 C2ME Sa
+ *
+ * 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, 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.
+ */
+
+#ifndef _TUX_WINGS_H_
+#define _TUX_WINGS_H_
+
+#include <stdbool.h>
+
+#define TUX_WINGS_POSITION_DOWN                 0 
+#define TUX_WINGS_POSITION_UP                   1
+
+extern void tux_wings_update_position(void);
+extern void tux_wings_update_motor(void);
+extern void tux_wings_update_movements_remaining(void);
+extern bool tux_wings_cmd_speed(unsigned char speed);
+extern bool tux_wings_cmd_on(unsigned char counter, unsigned char final_state);
+extern bool tux_wings_cmd_on_during(float timeout, unsigned char final_state);
+extern bool tux_wings_cmd_up(void);
+extern bool tux_wings_cmd_down(void);
+extern bool tux_wings_cmd_off(void);
+
+#endif /* _TUX_WINGS_H_ */

Deleted: software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c	2008-07-01 16:32:24 UTC (rev 1291)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c	2008-07-02 07:04:25 UTC (rev 1292)
@@ -1,177 +0,0 @@
-/*
- * Tux Droid - Wings
- * Copyright (C) 2008 C2ME Sa
- *
- * 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, 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.
- */
-
-#include <string.h>
-
-#include "tux_cmd_parser.h"
-#include "tux_hw_status.h"
-#include "tux_hw_cmd.h"
-#include "tux_movements.h"
-#include "tux_sw_status.h"
-#include "tux_types.h"
-#include "tux_usb.h"
-#include "tux_wings.h"
-
-static unsigned char mvmt_counter = 0;
-
-/**
- *
- */
-LIBLOCAL void
-tux_wings_update_position(void)
-{
-    char *new_position = ""; 
-    
-    if (!hw_status_table.position2.wings_down)
-    {
-        new_position = STRING_VALUE_DOWN;
-    }
-    else
-    {
-        new_position = STRING_VALUE_UP;
-    }
-    
-    tux_sw_status_set_strvalue(SW_ID_WINGS_POSITION, new_position, true);
-}
-
-/**
- *  Update the status of the motor state of the flippers.
- */
-LIBLOCAL void
-tux_wings_update_motor(void)
-{
-    unsigned char new_state;
-    
-    new_state = hw_status_table.position2.motors.bits.flippers_on;
-    tux_sw_status_set_intvalue(SW_ID_FLIPPERS_MOTOR_ON, new_state, true);
-}
-
-/**
- *
- */
-LIBLOCAL void
-tux_wings_update_movements_remaining(void)
-{
-    unsigned char new_count;
-    
-    new_count = hw_status_table.position1.wings_remaining_mvm;
-    
-    mvmt_counter = new_count;
-    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, new_count, true);
-}
-
-/**
- *
- */
-LIBLOCAL bool
-tux_wings_cmd_speed(unsigned char speed)
-{
-    return tux_movement_perform(MOVE_FLIPPERS, 0, 0.0, speed,
-                FINAL_ST_UNDEFINED, true); 
-}
-
-/**
- *
- */
-LIBLOCAL bool
-tux_wings_cmd_on(unsigned char counter, unsigned char final_state)
-{
-    return tux_movement_cmd_on(MOVE_FLIPPERS, counter, final_state);
-}
-
-/**
- *
- */
-LIBLOCAL bool
-tux_wings_cmd_on_during(float timeout, unsigned char final_state)
-{
-    bool ret;
-    data_frame frame = {WINGS_WAVE_CMD, 0, 5, 0};
-    delay_cmd_t cmd = { 0.0, TUX_CMD, WINGS };
-    
-    /* Short movements */
-    if (timeout < 0.3)
-    {
-        return tux_movement_perform(MOVE_FLIPPERS, 0, timeout, 5, final_state,
-                                    false); 
-    }
-
-    /* Long movements */
-    ret = tux_usb_send_to_tux(frame);
-    if (!ret)
-    {
-        return false;
-    }
-    
-    mvmt_counter = 255;
-    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, mvmt_counter, true);
-    
-    switch (final_state) {
-    case FINAL_ST_UNDEFINED:
-        cmd.sub_command = OFF;
-        break;
-    case FINAL_ST_OPEN_UP:
-        cmd.sub_command = UP;
-        break;
-    case FINAL_ST_CLOSE_DOWN:
-        cmd.sub_command = DOWN;
-        break;
-    case FINAL_ST_STOP:
-        cmd.sub_command = OFF;
-        break;
-    }
-    ret = tux_cmd_parser_insert_sys_command(timeout, &cmd);
-
-    return ret;
-}
-
-/**
- *
- */
-LIBLOCAL bool
-tux_wings_cmd_up(void)
-{
-    return tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_OPEN_UP, false);
-}
-
-/**
- *
- */
-LIBLOCAL bool
-tux_wings_cmd_down(void)
-{
-    return tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_CLOSE_DOWN, false);
-}
-
-/**
- *
- */
-LIBLOCAL bool
-tux_wings_cmd_off(void)
-{
-    bool ret;
-    
-    tux_cmd_parser_clean_sys_command(WINGS);
-    ret = tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_STOP, false);
-    mvmt_counter = 0;
-    tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, mvmt_counter, true);
-    
-    return ret;
-}

Deleted: software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h	2008-07-01 16:32:24 UTC (rev 1291)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h	2008-07-02 07:04:25 UTC (rev 1292)
@@ -1,39 +0,0 @@
-/*
- * Tux Droid - Wings
- * Copyright (C) 2008 C2ME Sa
- *
- * 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, 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.
- */
-
-#ifndef _TUX_WINGS_H_
-#define _TUX_WINGS_H_
-
-#include <stdbool.h>
-
-#define TUX_WINGS_POSITION_DOWN                 0 
-#define TUX_WINGS_POSITION_UP                   1
-
-extern void tux_wings_update_position(void);
-extern void tux_wings_update_motor(void);
-extern void tux_wings_update_movements_remaining(void);
-extern bool tux_wings_cmd_speed(unsigned char speed);
-extern bool tux_wings_cmd_on(unsigned char counter, unsigned char final_state);
-extern bool tux_wings_cmd_on_during(float timeout, unsigned char final_state);
-extern bool tux_wings_cmd_up(void);
-extern bool tux_wings_cmd_down(void);
-extern bool tux_wings_cmd_off(void);
-
-#endif /* _TUX_WINGS_H_ */

Modified: software_suite_v2/middleware/tuxdriver/trunk/unix/Makefile
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/unix/Makefile	2008-07-01 16:32:24 UTC (rev 1291)
+++ software_suite_v2/middleware/tuxdriver/trunk/unix/Makefile	2008-07-02 07:04:25 UTC (rev 1292)
@@ -38,7 +38,7 @@
   $(OBJ_DIR)/tux_sw_status.o	\
   $(OBJ_DIR)/tux_usb.o	\
   $(OBJ_DIR)/tux_user_inputs.o	\
-  $(OBJ_DIR)/tux_wings.o	\
+  $(OBJ_DIR)/tux_flippers.o	\
   $(OBJ_DIR)/log.o
 
 
@@ -95,7 +95,7 @@
 ../src/tux_error.h	\
 ../src/tux_eyes.h	\
 ../src/tux_mouth.h	\
-../src/tux_wings.h	\
+../src/tux_flippers.h	\
 ../src/tux_spinning.h	\
 ../src/tux_user_inputs.h	\
 ../src/tux_leds.h	\
@@ -112,7 +112,7 @@
 ../src/tux_firmware.h	\
 ../src/tux_sound_flash.h	\
 ../src/tux_id.h	\
-../src/tux_wings.h	\
+../src/tux_flippers.h	\
 ../src/tux_spinning.h	\
 ../src/tux_user_inputs.h	\
 ../src/tux_mouth.h	\
@@ -303,7 +303,7 @@
 ../src/tux_user_inputs.h
 	$(compile_source)
 
-$(OBJ_DIR)/tux_wings.o: ../src/tux_wings.c	\
+$(OBJ_DIR)/tux_flippers.o: ../src/tux_flippers.c	\
 ../src/tux_hw_status.h	\
 ../src/tux_sw_status.h	\
 ../src/tux_misc.h	\
@@ -311,7 +311,7 @@
 ../src/tux_error.h	\
 ../src/tux_cmd_parser.h	\
 ../src/tux_movements.h	\
-../src/tux_wings.h
+../src/tux_flippers.h
 	$(compile_source)
 
 $(OBJ_DIR)/log.o: ../src/log.c	\

Modified: software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile	2008-07-01 16:32:24 UTC (rev 1291)
+++ software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile	2008-07-02 07:04:25 UTC (rev 1292)
@@ -41,7 +41,7 @@
   $(OBJ_DIR)/tux_sw_status.o	\
   $(OBJ_DIR)/tux_usb.o	\
   $(OBJ_DIR)/tux_user_inputs.o	\
-  $(OBJ_DIR)/tux_wings.o	\
+  $(OBJ_DIR)/tux_flippers.o	\
   $(OBJ_DIR)/log.o
 
 define build_target
@@ -90,7 +90,7 @@
 ../src/tux_error.h	\
 ../src/tux_eyes.h	\
 ../src/tux_mouth.h	\
-../src/tux_wings.h	\
+../src/tux_flippers.h	\
 ../src/tux_spinning.h	\
 ../src/tux_user_inputs.h	\
 ../src/tux_leds.h	\
@@ -107,7 +107,7 @@
 ../src/tux_firmware.h	\
 ../src/tux_sound_flash.h	\
 ../src/tux_id.h	\
-../src/tux_wings.h	\
+../src/tux_flippers.h	\
 ../src/tux_spinning.h	\
 ../src/tux_user_inputs.h	\
 ../src/tux_mouth.h	\
@@ -298,7 +298,7 @@
 ../src/tux_user_inputs.h
 	$(compile_source)
 
-$(OBJ_DIR)/tux_wings.o: ../src/tux_wings.c	\
+$(OBJ_DIR)/tux_flippers.o: ../src/tux_flippers.c	\
 ../src/tux_hw_status.h	\
 ../src/tux_sw_status.h	\
 ../src/tux_misc.h	\
@@ -306,7 +306,7 @@
 ../src/tux_error.h	\
 ../src/tux_cmd_parser.h	\
 ../src/tux_movements.h	\
-../src/tux_wings.h
+../src/tux_flippers.h
 	$(compile_source)
 
 $(OBJ_DIR)/log.o: ../src/log.c	\

[tuxdroid-svn] r1291 - software_suite_v2/middleware/tuxdriver/trunk/src

From: remi <c2m...@c2...> - 2008-07-01 16:32:21

Author: remi
Date: 2008-07-01 18:32:24 +0200 (Tue, 01 Jul 2008)
New Revision: 1291

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.h
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.h
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.h
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h
Log:
* added the events for the motor statuses.
* updated the "off" function for eyes, mouth, flippers and spinning

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_driver.c	2008-07-01 16:32:24 UTC (rev 1291)
@@ -148,6 +148,11 @@
         {
             tux_wings_update_position();
             tux_spinning_update_movements_remaining();
+            tux_eyes_update_motor();
+            tux_mouth_update_motor();
+            tux_wings_update_motor();
+            tux_spinning_update_left_motor();
+            tux_spinning_update_right_motor();
         }
         break;
     case FRAME_HEADER_SENSORS1:

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.c	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.c	2008-07-01 16:32:24 UTC (rev 1291)
@@ -60,6 +60,18 @@
 }
 
 /**
+ *  Update the status of the motor state of the eyes.
+ */
+LIBLOCAL void
+tux_eyes_update_motor(void)
+{
+    unsigned char new_state;
+    
+    new_state = hw_status_table.position2.motors.bits.eyes_on;
+    tux_sw_status_set_intvalue(SW_ID_EYES_MOTOR_ON, new_state, true);
+}
+
+/**
  *  Update the status of the eyes movements remaining.
  */
 LIBLOCAL void
@@ -155,16 +167,7 @@
     bool ret;
     
     tux_cmd_parser_clean_sys_command(EYES);
-    
-    if (mvmt_counter == 0)
-    {
-        ret = tux_movement_perform(MOVE_EYES, 0, 0, 5, FINAL_ST_STOP, false);
-    }
-    else
-    {
-        ret = tux_movement_cmd_on(MOVE_EYES, 1, FINAL_ST_UNDEFINED);
-    }
-    
+    ret = tux_movement_perform(MOVE_EYES, 0, 0, 5, FINAL_ST_STOP, false);
     mvmt_counter = 0;
     tux_sw_status_set_intvalue(SW_ID_EYES_REMAINING_MVM, mvmt_counter, true);
     

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.h	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_eyes.h	2008-07-01 16:32:24 UTC (rev 1291)
@@ -26,6 +26,7 @@
 #define TUX_EYES_POSITION_CLOSE         2
 
 extern void tux_eyes_update_position(void);
+extern void tux_eyes_update_motor(void);
 extern void tux_eyes_update_movements_remaining(void);
 extern bool tux_eyes_cmd_on(unsigned char counter, unsigned char final_state);
 extern bool tux_eyes_cmd_on_during(float timeout, unsigned char final_state);

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.c	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.c	2008-07-01 16:32:24 UTC (rev 1291)
@@ -60,6 +60,18 @@
 }
 
 /**
+ *  Update the status of the motor state of the mouth.
+ */
+LIBLOCAL void
+tux_mouth_update_motor(void)
+{
+    unsigned char new_state;
+    
+    new_state = hw_status_table.position2.motors.bits.mouth_on;
+    tux_sw_status_set_intvalue(SW_ID_MOUTH_MOTOR_ON, new_state, true);
+}
+
+/**
  *
  */
 LIBLOCAL void 
@@ -156,16 +168,7 @@
     bool ret;
     
     tux_cmd_parser_clean_sys_command(MOUTH);
-    
-    if (mvmt_counter == 0)
-    {
-        ret = tux_movement_perform(MOVE_MOUTH, 0, 0, 5, FINAL_ST_STOP, false);
-    }
-    else
-    {
-        ret = tux_movement_cmd_on(MOVE_MOUTH, 1, FINAL_ST_UNDEFINED);
-    }
-    
+    ret = tux_movement_perform(MOVE_MOUTH, 0, 0, 5, FINAL_ST_STOP, false);
     mvmt_counter = 0;
     tux_sw_status_set_intvalue(SW_ID_MOUTH_REMAINING_MVM, mvmt_counter, true);
     

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.h	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_mouth.h	2008-07-01 16:32:24 UTC (rev 1291)
@@ -28,6 +28,7 @@
 #define TUX_MOUTH_POSITION_CLOSE                2
 
 extern void tux_mouth_update_position(void);
+extern void tux_mouth_update_motor(void);
 extern void tux_mouth_update_movements_remaining(void);
 extern bool tux_mouth_cmd_on(unsigned char counter, unsigned char final_state);
 extern bool tux_mouth_cmd_on_during(float timeout, unsigned char final_state);

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.c	2008-07-01 16:32:24 UTC (rev 1291)
@@ -63,6 +63,30 @@
 }
 
 /**
+ *  Update the status of the motor state of the left spin.
+ */
+LIBLOCAL void
+tux_spinning_update_left_motor(void)
+{
+    unsigned char new_state;
+    
+    new_state = hw_status_table.position2.motors.bits.spin_left_on;
+    tux_sw_status_set_intvalue(SW_ID_SPIN_LEFT_MOTOR_ON, new_state, true);
+}
+
+/**
+ *  Update the status of the motor state of the right spin.
+ */
+LIBLOCAL void
+tux_spinning_update_right_motor(void)
+{
+    unsigned char new_state;
+    
+    new_state = hw_status_table.position2.motors.bits.spin_right_on;
+    tux_sw_status_set_intvalue(SW_ID_SPIN_RIGHT_MOTOR_ON, new_state, true);
+}
+
+/**
  *
  */
 LIBLOCAL void
@@ -129,9 +153,6 @@
         return tux_movement_perform(movement, 0, timeout, 5,
                 FINAL_ST_UNDEFINED, false); 
     }
-    
-    mvmt_counter = 255;
-    tux_sw_status_set_intvalue(SW_ID_SPINNING_REMAINING_MVM, mvmt_counter, true);
 
     /* Long movements */
     ret = tux_usb_send_to_tux(frame);
@@ -140,6 +161,9 @@
         return false;
     }
     
+    mvmt_counter = 255;
+    tux_sw_status_set_intvalue(SW_ID_SPINNING_REMAINING_MVM, mvmt_counter, true);
+    
     ret = tux_cmd_parser_insert_sys_command(timeout, &cmd);
     
     return ret;
@@ -172,16 +196,7 @@
     bool ret;
     
     tux_cmd_parser_clean_sys_command(SPINNING);
-    
-    if (mvmt_counter == 0)
-    {
-        ret = tux_movement_perform(MOVE_SPIN_R, 0, 0, 5, FINAL_ST_STOP, false);
-    }
-    else
-    {
-        ret = tux_movement_cmd_on(MOVE_SPIN_R, 1, FINAL_ST_UNDEFINED);
-    }
-    
+    ret = tux_movement_perform(MOVE_SPIN_R, 0, 0, 5, FINAL_ST_STOP, false);
     mvmt_counter = 0;
     tux_sw_status_set_intvalue(SW_ID_SPINNING_REMAINING_MVM, mvmt_counter, true);
     

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.h	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_spinning.h	2008-07-01 16:32:24 UTC (rev 1291)
@@ -28,6 +28,8 @@
 #define TUX_SPINNING_DIRECTION_RIGHT                2
 
 extern void tux_spinning_update_direction(void);
+extern void tux_spinning_update_left_motor(void);
+extern void tux_spinning_update_right_motor(void);
 extern void tux_spinning_update_movements_remaining(void);
 
 extern bool tux_spinning_cmd_speed(unsigned char speed);

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.c	2008-07-01 16:32:24 UTC (rev 1291)
@@ -52,6 +52,18 @@
 }
 
 /**
+ *  Update the status of the motor state of the flippers.
+ */
+LIBLOCAL void
+tux_wings_update_motor(void)
+{
+    unsigned char new_state;
+    
+    new_state = hw_status_table.position2.motors.bits.flippers_on;
+    tux_sw_status_set_intvalue(SW_ID_FLIPPERS_MOTOR_ON, new_state, true);
+}
+
+/**
  *
  */
 LIBLOCAL void
@@ -157,16 +169,7 @@
     bool ret;
     
     tux_cmd_parser_clean_sys_command(WINGS);
-    
-    if (mvmt_counter == 0)
-    {
-        ret = tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_STOP, false);
-    }
-    else
-    {
-        ret = tux_movement_cmd_on(MOVE_FLIPPERS, 1, FINAL_ST_UNDEFINED);
-    }
-    
+    ret = tux_movement_perform(MOVE_FLIPPERS, 0, 0, 5, FINAL_ST_STOP, false);
     mvmt_counter = 0;
     tux_sw_status_set_intvalue(SW_ID_WINGS_REMAINING_MVM, mvmt_counter, true);
     

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h	2008-07-01 14:49:24 UTC (rev 1290)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_wings.h	2008-07-01 16:32:24 UTC (rev 1291)
@@ -27,6 +27,7 @@
 #define TUX_WINGS_POSITION_UP                   1
 
 extern void tux_wings_update_position(void);
+extern void tux_wings_update_motor(void);
 extern void tux_wings_update_movements_remaining(void);
 extern bool tux_wings_cmd_speed(unsigned char speed);
 extern bool tux_wings_cmd_on(unsigned char counter, unsigned char final_state);

[tuxdroid-svn] r1290 - firmware/rf/trunk

From: jaguarondi <c2m...@c2...> - 2008-07-01 14:49:21

Author: jaguarondi
Date: 2008-07-01 16:49:24 +0200 (Tue, 01 Jul 2008)
New Revision: 1290

Modified:
   firmware/rf/trunk/Makefile
   firmware/rf/trunk/device.c
Log:
* Fixed the jump for the bootloader.


Modified: firmware/rf/trunk/Makefile
===================================================================
--- firmware/rf/trunk/Makefile	2008-07-01 08:39:18 UTC (rev 1289)
+++ firmware/rf/trunk/Makefile	2008-07-01 14:49:24 UTC (rev 1290)
@@ -7,6 +7,15 @@
 CC = avr-gcc
 AVRDUDE = avrdude
 
+#Bootloader can be included with the program. If you keep the bootloader
+#already in the RF board, set this to 0.
+#CAUTION: don't set this to 1 if you want to reprogram the RF board with
+#tuxup, you may use a wrong rjump to the bootloader and brick your board. You
+#need an ISP programmer if you intend to play with the bootloader.
+#As of now, only GCC 3.4.6 seems to compile the bootlodaer so that it fits in
+#the 256 bytes section. 4.x generates code slightly too large to fit in.
+BOOTLOADER=0
+
 ## Options common to compile, link and assembly rules
 COMMON = -mmcu=$(MCU)
 
@@ -14,6 +23,7 @@
 CFLAGS = $(COMMON)
 CFLAGS += -Wall -gstabs -DF_CPU=13824000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
 CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d 
+CFLAGS += -DBOOTLOADER=$(BOOTLOADER)
 ifneq (,$(findstring master, $(TYPE)))
     PROJECT = fuxrf
     CFLAGS += -D_MASTER
@@ -32,7 +42,7 @@
 
 ## Linker flags
 LDFLAGS = $(COMMON)
-LDFLAGS += -Wl,--section-start=.bootloader=0x0F00  -Wl,--section-start=.version=0x0EF0 rf.ld
+LDFLAGS += -Wl,--section-start=.bootloader=0x0F00  -Wl,--section-start=.version=0x0EF0 -Wl,--defsym=bootloader_start=0x0F0A rf.ld
 
 ## Intel Hex file production flags
 HEX_FLASH_FLAGS = -R .eeprom
@@ -42,7 +52,11 @@
 HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
 
 ## Objects that must be built in order to link
+ifeq ($(BOOTLOADER),1)
 OBJECTS = device.o init.o misc.o prot.o rf_ctrl.o varis.o interface.o bootloader.o
+else
+OBJECTS = device.o init.o misc.o prot.o rf_ctrl.o varis.o interface.o
+endif
 
 ## Objects explicitly added by the user
 LINKONLYOBJECTS = 

Modified: firmware/rf/trunk/device.c
===================================================================
--- firmware/rf/trunk/device.c	2008-07-01 08:39:18 UTC (rev 1289)
+++ firmware/rf/trunk/device.c	2008-07-01 14:49:24 UTC (rev 1290)
@@ -70,8 +70,6 @@
 const version_t tag_version __attribute__ ((section("version.1"))) =
 {VERSION_CMD, CPU_VER_JOIN(CPU_NUMBER, VER_MAJOR), VER_MINOR, VER_UPDATE};
 
-/* Bootloader can be included with the program */
-#define BOOTLOADER 1
 /* Set to 1 to enable stack debugging. */
 #define DBG_STACK 0
 
@@ -114,18 +112,31 @@
 // 14 - 30 -> Payload                                                         *
 // 31      -> Checksum                                                        *
 //*****************************************************************************
+typedef void (*AppPtr_t)(void);
+const AppPtr_t RunBoot = (AppPtr_t) 0x0785;
+
 int main(void)
 {
-#if (BOOTLOADER)
 #ifdef _SLAVE
     volatile uint16_t _count=0;
+    /* Wait for the head button signal to rise if it isn't pressed. */
     for (;_count<0xFFFF; _count++);
-    if (!(PIND & 0x40)) /* if head is pushed at startup */
-        /* TODO change to a rjump to 0x0F0A */
-        asm volatile ("rjmp bootloader" ::); /* jump to bootloader */
+    /* If head is pushed at startup */
+    if (!(PIND & 0x40))
+        /* jump to bootloader */
+#if (BOOTLOADER)
+        asm volatile ("rjmp bootloader" ::);
+#else
+        asm volatile ("rjmp bootloader_start" ::);
+#endif
 #elif defined(_MASTER)
-    if (!(PINB & 0x04)) /* if SPI_SS is cleared at startup */
-        asm volatile ("rjmp bootloader" ::); /* jump to bootloader */
+    /* If SPI_SS is cleared at startup */
+    if (!(PINB & 0x04))
+        /* jump to bootloader */
+#if (BOOTLOADER)
+        asm volatile ("rjmp bootloader" ::);
+#else
+        asm volatile ("rjmp bootloader_start" ::);
 #endif
 #endif

[tuxdroid-svn] r1289 - in software_suite_v2/middleware/tuxdriver/trunk: include src

From: remi <c2m...@c2...> - 2008-07-01 08:39:14

Author: remi
Date: 2008-07-01 10:39:18 +0200 (Tue, 01 Jul 2008)
New Revision: 1289

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h
   software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas
   software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h
Log:
* added the motor statuses in the high level structures.

Modified: software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h	2008-07-01 08:20:59 UTC (rev 1288)
+++ software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.h	2008-07-01 08:39:18 UTC (rev 1289)
@@ -62,6 +62,11 @@
     SW_ID_SOUND_REFLASH_BEGIN,
     SW_ID_SOUND_REFLASH_END,
     SW_ID_SOUND_REFLASH_CURRENT_TRACK,
+    SW_ID_EYES_MOTOR_ON,
+    SW_ID_MOUTH_MOTOR_ON,
+    SW_ID_FLIPPERS_MOTOR_ON,
+    SW_ID_SPIN_LEFT_MOTOR_ON,
+    SW_ID_SPIN_RIGHT_MOTOR_ON,
 } SW_ID_DRIVER;
 
 #if defined(__cplusplus)

Modified: software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas	2008-07-01 08:20:59 UTC (rev 1288)
+++ software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.pas	2008-07-01 08:39:18 UTC (rev 1289)
@@ -83,6 +83,11 @@
   SW_ID_SOUND_REFLASH_BEGIN         = 32;
   SW_ID_SOUND_REFLASH_END           = 33;
   SW_ID_SOUND_REFLASH_CURRENT_TRACK = 34;
+  SW_ID_EYES_MOTOR_ON               = 35;
+  SW_ID_MOUTH_MOTOR_ON              = 36;
+  SW_ID_FLIPPERS_MOTOR_ON           = 37;
+  SW_ID_SPIN_LEFT_MOTOR_ON          = 38;
+  SW_ID_SPIN_RIGHT_MOTOR_ON         = 39;
 
 type
 

Modified: software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py	2008-07-01 08:20:59 UTC (rev 1288)
+++ software_suite_v2/middleware/tuxdriver/trunk/include/tux_driver.py	2008-07-01 08:39:18 UTC (rev 1289)
@@ -66,6 +66,12 @@
 SW_ID_DRIVER_SYMBOLIC_VERSION       = 31
 SW_ID_SOUND_REFLASH_BEGIN           = 32
 SW_ID_SOUND_REFLASH_END             = 33
+SW_ID_SOUND_REFLASH_CURRENT_TRACK   = 34
+SW_ID_EYES_MOTOR_ON                 = 35
+SW_ID_MOUTH_MOTOR_ON                = 36
+SW_ID_FLIPPERS_MOTOR_ON             = 37
+SW_ID_SPIN_LEFT_MOTOR_ON            = 38
+SW_ID_SPIN_RIGHT_MOTOR_ON           = 39
 
 SW_NAME_DRIVER = [
     "wings_position",
@@ -101,7 +107,13 @@
     "tuxrf_symbolic_version",
     "driver_symbolic_version",
     "sound_reflash_begin",
-    "sound_reflash_end"
+    "sound_reflash_end",
+    "sound_reflash_current_track",
+    "eyes_motor_on",
+    "mouth_motor_on",
+    "flippers_motor_on",
+    "spin_left_motor_on",
+    "spin_right_motor_on"
 ]
 
 LOG_LEVEL_DEBUG             = 0

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c	2008-07-01 08:20:59 UTC (rev 1288)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.c	2008-07-01 08:39:18 UTC (rev 1289)
@@ -189,6 +189,21 @@
         
     INIT_INTID(SW_ID_SOUND_REFLASH_CURRENT_TRACK, ID_FMT_UINT8,
         "sound_reflash_current_track", "range[0..255]", 0, 1)
+        
+    INIT_INTID(SW_ID_EYES_MOTOR_ON, ID_FMT_BOOL,
+        "eyes_motor_on", "False|True", 0, 1)
+        
+    INIT_INTID(SW_ID_MOUTH_MOTOR_ON, ID_FMT_BOOL,
+        "mouth_motor_on", "False|True", 0, 1)
+    
+    INIT_INTID(SW_ID_FLIPPERS_MOTOR_ON, ID_FMT_BOOL,
+        "flippers_motor_on", "False|True", 0, 1)
+        
+    INIT_INTID(SW_ID_SPIN_LEFT_MOTOR_ON, ID_FMT_BOOL,
+        "spin_left_motor_on", "False|True", 0, 1)
+        
+    INIT_INTID(SW_ID_SPIN_RIGHT_MOTOR_ON, ID_FMT_BOOL,
+        "spin_right_motor_on", "False|True", 0, 1)
 };
 
 /**

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h	2008-07-01 08:20:59 UTC (rev 1288)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_sw_status.h	2008-07-01 08:39:18 UTC (rev 1289)
@@ -89,6 +89,11 @@
     SW_ID_SOUND_REFLASH_BEGIN,
     SW_ID_SOUND_REFLASH_END,
     SW_ID_SOUND_REFLASH_CURRENT_TRACK,
+    SW_ID_EYES_MOTOR_ON,
+    SW_ID_MOUTH_MOTOR_ON,
+    SW_ID_FLIPPERS_MOTOR_ON,
+    SW_ID_SPIN_LEFT_MOTOR_ON,
+    SW_ID_SPIN_RIGHT_MOTOR_ON,
     SW_STATUS_NUMBER // SW_STATUS_NUMBER must be last and may not be removed !!
 } SW_ID;

[tuxdroid-svn] r1288 - software_suite_v2/middleware/tuxdriver/trunk/src

From: remi <c2m...@c2...> - 2008-07-01 08:20:51

Author: remi
Date: 2008-07-01 10:20:59 +0200 (Tue, 01 Jul 2008)
New Revision: 1288

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h
Log:
* added the motor statuses in the low level structures and in the low level statuses parsing.

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c	2008-07-01 07:51:25 UTC (rev 1287)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c	2008-07-01 08:20:59 UTC (rev 1288)
@@ -334,9 +334,14 @@
     {
         ret = FRAME_HEADER_POSITION2;
     }
+    if (hw_status_table.position2.motors.Byte != frame[3])
+    {
+        ret = FRAME_HEADER_POSITION2;
+    }
     
     hw_status_table.position2.spin_remaining_mvm = frame[1];
     hw_status_table.position2.wings_down = frame[2];
+    hw_status_table.position2.motors.Byte = frame[3];
     
     return ret;
 }

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h	2008-07-01 07:51:25 UTC (rev 1287)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.h	2008-07-01 08:20:59 UTC (rev 1288)
@@ -204,6 +204,22 @@
 
 typedef struct
 {
+    _BIT_ spin_left_on:1;
+    _BIT_ spin_right_on:1;
+    _BIT_ eyes_on:1;
+    _BIT_ mouth_on:1;
+    _BIT_ flippers_on:1;
+    _BIT_ ndef:3;
+} _MOTORS_STATUS_BITS_;
+
+typedef union
+{
+    unsigned char              Byte;
+    _MOTORS_STATUS_BITS_       bits;
+} _MOTORS_STATUS_BYTE_;
+
+typedef struct
+{
     _PORTB_BYTE_ portb;
     _PORTC_BYTE_ portc;
     _PORTD_BYTE_ portd;
@@ -232,9 +248,9 @@
 
 typedef struct
 {
-    unsigned char   spin_remaining_mvm;
-    unsigned char   wings_down;
-    /*unsigned char   ??;                       NDEF */
+    unsigned char           spin_remaining_mvm;
+    unsigned char           wings_down;
+    _MOTORS_STATUS_BYTE_    motors;
 } frame_body_position2_t;
 
 typedef struct

[tuxdroid-svn] r1287 - software_suite_v2/middleware/tuxdriver/trunk/win32

From: remi <c2m...@c2...> - 2008-07-01 07:51:16

Author: remi
Date: 2008-07-01 09:51:25 +0200 (Tue, 01 Jul 2008)
New Revision: 1287

Removed:
   software_suite_v2/middleware/tuxdriver/trunk/win32/compile.bat
Log:
* Removed the compile.bat file

Deleted: software_suite_v2/middleware/tuxdriver/trunk/win32/compile.bat
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/win32/compile.bat	2008-07-01 07:43:17 UTC (rev 1286)
+++ software_suite_v2/middleware/tuxdriver/trunk/win32/compile.bat	2008-07-01 07:51:25 UTC (rev 1287)
@@ -1,7 +0,0 @@
-set MAKEPATH=E:\MinGWStudio\MinGW\bin\mingw32-make.exe
-set OSLPATH=F:\Shared\Developpement\Boulot\svn_tuxisalive_com\software_suite_v2\middleware\tuxdriver\trunk
-
-C:
-%MAKEPATH% -C %OSLPATH%\win32 -f %OSLPATH%\win32\Makefile
-del /Q %OSLPATH%\obj\*.o
-cmd
\ No newline at end of file

[tuxdroid-svn] r1286 - software_suite_v2/middleware/tuxdriver/trunk/src

From: remi <c2m...@c2...> - 2008-07-01 07:43:09

Author: remi
Date: 2008-07-01 09:43:17 +0200 (Tue, 01 Jul 2008)
New Revision: 1286

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c
Log:
* Changed the condition to show the statuses headers report.

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c	2008-07-01 07:38:51 UTC (rev 1285)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_hw_status.c	2008-07-01 07:43:17 UTC (rev 1286)
@@ -174,33 +174,29 @@
    
     /* as there is only debug code in this for loop it might make sense
        to have a guarding ifdef around the for loop to save a few cycles */
-    for (i = 0; i < 16; i++)
+    if (p_count >= 15)
     {
-        if ((tux_hw_status_header_counter[i] > 1) && (p_count > 12))
-        {
-            log_debug("Frames counter (%d) :\n\t%s:[%d]\n\t%s:[%d]\n\
-                    \r\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\
-                    \r\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\
-                    \r\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n",
-                p_count,
-                tux_hw_status_id_to_str(0), tux_hw_status_header_counter[0],
-                tux_hw_status_id_to_str(1), tux_hw_status_header_counter[1],
-                tux_hw_status_id_to_str(2), tux_hw_status_header_counter[2],
-                tux_hw_status_id_to_str(3), tux_hw_status_header_counter[3],
-                tux_hw_status_id_to_str(4), tux_hw_status_header_counter[4],
-                tux_hw_status_id_to_str(5), tux_hw_status_header_counter[5],
-                tux_hw_status_id_to_str(6), tux_hw_status_header_counter[6],
-                tux_hw_status_id_to_str(7), tux_hw_status_header_counter[7],
-                tux_hw_status_id_to_str(8), tux_hw_status_header_counter[8],
-                tux_hw_status_id_to_str(9), tux_hw_status_header_counter[9],
-                tux_hw_status_id_to_str(10), tux_hw_status_header_counter[10],
-                tux_hw_status_id_to_str(11), tux_hw_status_header_counter[11],
-                tux_hw_status_id_to_str(12), tux_hw_status_header_counter[12],
-                tux_hw_status_id_to_str(13), tux_hw_status_header_counter[13],
-                tux_hw_status_id_to_str(14), tux_hw_status_header_counter[14],
-                tux_hw_status_id_to_str(15), tux_hw_status_header_counter[15]);
-            break;
-        }
+        log_debug("Frames counter (%d) :\n\t%s:[%d]\n\t%s:[%d]\n\
+                \r\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\
+                \r\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\
+                \r\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n\t%s:[%d]\n",
+            p_count,
+            tux_hw_status_id_to_str(0), tux_hw_status_header_counter[0],
+            tux_hw_status_id_to_str(1), tux_hw_status_header_counter[1],
+            tux_hw_status_id_to_str(2), tux_hw_status_header_counter[2],
+            tux_hw_status_id_to_str(3), tux_hw_status_header_counter[3],
+            tux_hw_status_id_to_str(4), tux_hw_status_header_counter[4],
+            tux_hw_status_id_to_str(5), tux_hw_status_header_counter[5],
+            tux_hw_status_id_to_str(6), tux_hw_status_header_counter[6],
+            tux_hw_status_id_to_str(7), tux_hw_status_header_counter[7],
+            tux_hw_status_id_to_str(8), tux_hw_status_header_counter[8],
+            tux_hw_status_id_to_str(9), tux_hw_status_header_counter[9],
+            tux_hw_status_id_to_str(10), tux_hw_status_header_counter[10],
+            tux_hw_status_id_to_str(11), tux_hw_status_header_counter[11],
+            tux_hw_status_id_to_str(12), tux_hw_status_header_counter[12],
+            tux_hw_status_id_to_str(13), tux_hw_status_header_counter[13],
+            tux_hw_status_id_to_str(14), tux_hw_status_header_counter[14],
+            tux_hw_status_id_to_str(15), tux_hw_status_header_counter[15]);
     }
     
     // use memset instead ?

[tuxdroid-svn] r1285 - software_suite_v2/middleware/tuxdriver/trunk/src

From: remi <c2m...@c2...> - 2008-07-01 07:38:43

Author: remi
Date: 2008-07-01 09:38:51 +0200 (Tue, 01 Jul 2008)
New Revision: 1285

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.c
   software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.h
Log:
* Added a check of the id frame which must be incremented after each request. To activate it, you must to define -DUSB_IDFRAME in the makefile. This check only work with a dongle which implement this counter ! The automatic reset of the RF after too many errors on this counter is disabled with the define -DUSB_DEBUG.
* The automatic reset of the RF after too many empty frames can be disabled with the define -DUSB_DEBUG.

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.c
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.c	2008-07-01 07:32:16 UTC (rev 1284)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.c	2008-07-01 07:38:51 UTC (rev 1285)
@@ -41,7 +41,6 @@
 static simple_callback_t loop_cycle_complete_function;
 static rf_state_callback_t rf_state_callback_function;
 static unsigned char last_knowed_rf_state = 0;
-static int read_error_counter = 0;
 static char frame_status_request[5] = {1, 1, 0, 0, 0};
 static char frame_reset_dongle[5] = {1, 1, 0, 0, 0xFE};
 static char frame_reset_rf[5] = {1, 1, 0, 0, 0xFD};
@@ -60,6 +59,12 @@
 static bool get_read_loop_started(void);
 static void read_usb_loop(void);
 
+#ifdef USB_IDFRAME 
+static int id_frame_last = 999;
+static int freezed_frame_cnt = 0;
+#endif
+static int empty_frame_cnt = 0;
+
 /**
  *
  */
@@ -215,7 +220,11 @@
 LIBLOCAL TuxUSBError
 tux_usb_capture(void)
 {   
-    read_error_counter = 0;
+    empty_frame_cnt = 0;
+#ifdef USB_IDFRAME 
+    id_frame_last = 999;
+    freezed_frame_cnt = 0;
+#endif
     
     if (!tux_hid_capture(TUX_VID, TUX_PID))
     {
@@ -303,28 +312,67 @@
     int i, j;
     int rf_state;
     int packet_count;
+    int id_frame;
     char *data_buf;
     char packet_data[4];
     
+    id_frame = data[0];
     rf_state = data[1];
     packet_count = data[3]; 
     data_buf = (char *)data;
     data_buf += 4;
-    
+
+#ifdef USB_IDFRAME    
+    /* Check if the frame is newer than the last received one */
+    if (id_frame == id_frame_last)
+    {
+        freezed_frame_cnt++;
+        log_warning("The id of USB frame is the same than the previous [%d]", 
+            freezed_frame_cnt);
+#ifndef USB_DEBUG
+        if (freezed_frame_cnt >= TUX_USB_FREEZED_FRAMES_LIMIT)
+        {
+            freezed_frame_cnt = 0;
+            id_frame_last = 999;
+            log_error("The USB frame retriving seems to be freezed [%d]",
+                TUX_USB_FREEZED_FRAMES_LIMIT);
+            log_info("The RF connection will be reinitialized");
+            tux_usb_rf_reset();
+        }
+#endif
+        return;
+    }
+    else
+    {
+        freezed_frame_cnt = 0;
+        id_frame_last = id_frame;
+    }
+#endif
+   
     /* Having RF state to ON and no status frame is not normal */
     if ((packet_count == 0) && (rf_state == 1))
     {
-        read_error_counter++;
-        log_warning("Read errors count : %d", read_error_counter);
-        if (read_error_counter >= TUX_USB_ERROR_LIMIT)
+        empty_frame_cnt++;
+#ifndef USB_DEBUG
+        if (empty_frame_cnt > 2)
         {
-            /* Reset of the RF */
+            log_warning("Consecutive frames without status : %d", empty_frame_cnt);
+        }
+        if (empty_frame_cnt >= TUX_USB_ERROR_LIMIT)
+        {
+            log_error("DONGLE ERROR : Too many consecutive frames without status [%d], but the RF is online", 
+                TUX_USB_ERROR_LIMIT);
+            empty_frame_cnt = 0;
+            log_info("The RF connection will be reinitialized");
             tux_usb_rf_reset();
         }
+#else
+        log_warning("Consecutive frames without status : %d", empty_frame_cnt);
+#endif
     }
     else
     {
-        read_error_counter = 0;
+        empty_frame_cnt = 0;
     }
     
     if (last_knowed_rf_state != rf_state)
@@ -342,6 +390,12 @@
 #endif
     }
     
+    if (packet_count > 15)
+    {
+        log_error("DONGLE ERROR : Statuses packets count is wrong (>15)");
+        return;
+    }
+    
     for (i = 0; i < packet_count; i++)
     {
         for (j = 0; j < 4; j++)
@@ -488,6 +542,8 @@
         {
             usleep(1000);
         }
+        
+        current_timeout = get_time();
     }
     
     set_read_loop_started(false);

Modified: software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.h
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.h	2008-07-01 07:32:16 UTC (rev 1284)
+++ software_suite_v2/middleware/tuxdriver/trunk/src/tux_usb.h	2008-07-01 07:38:51 UTC (rev 1285)
@@ -26,18 +26,13 @@
 
 #include "tux_misc.h"
 
-#define TUX_PID                     0xFF07
-#define TUX_VID                     0x03EB
-#define TUX_INTERFACE               0x03
-#define TUX_SEND_LENGTH             0x05
-#define TUX_RECEIVE_LENGTH          64
-#define TUX_WRITE_EP                0x05
-#define TUX_READ_EP                 0x84
-#define TUX_WRITE_TIMEOUT           1000
-#define TUX_READ_TIMEOUT            1000
-#define TUX_READ_LOOP_INTERVAL      0.1
-#define TUX_USB_ERROR_LIMIT         10
-#define MIN_FIRMWARE_VERSION        0x030
+#define TUX_PID                         0xFF07
+#define TUX_VID                         0x03EB
+#define TUX_SEND_LENGTH                 5
+#define TUX_RECEIVE_LENGTH              64
+#define TUX_READ_LOOP_INTERVAL          0.1
+#define TUX_USB_ERROR_LIMIT             20
+#define TUX_USB_FREEZED_FRAMES_LIMIT    10
 
 #ifdef WIN32
 #   define usb_busses               usb_get_busses()

[tuxdroid-svn] r1284 - software_suite_v2/middleware/tuxdriver/trunk/win32

From: remi <c2m...@c2...> - 2008-07-01 07:32:12

Author: remi
Date: 2008-07-01 09:32:16 +0200 (Tue, 01 Jul 2008)
New Revision: 1284

Modified:
   software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile
Log:
* changed makefile. Syntax work now in the MSYS env.

Modified: software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile
===================================================================
--- software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile	2008-06-30 14:26:38 UTC (rev 1283)
+++ software_suite_v2/middleware/tuxdriver/trunk/win32/Makefile	2008-07-01 07:32:16 UTC (rev 1284)
@@ -1,14 +1,14 @@
-#################################################################
-## This Makefile Exported by MinGW Developer Studio
-## Copyright (c) 2002-2004 by Parinya Thipchart
-#################################################################
-
+#
+# You can use this makefile in the MSYS environement with MinGW installed.
+# This soft need the windows DDK.
+# Please change the "C_INCLUDE_DIRS" variable with you DDK path.
+#
 PROJECT = libtuxdriver.dll
-CC = "E:\MinGWStudio\MinGW\bin\gcc.exe"
-OBJ_DIR = ..\obj
-OUTPUT_DIR = ..\win32
+CC = gcc
+OBJ_DIR = ../obj
+OUTPUT_DIR = ../win32
 TARGET = libtuxdriver.dll
-C_INCLUDE_DIRS = -I"E:\MinGWStudio\MinGW\include\ddk"
+C_INCLUDE_DIRS = -I C:/MinGWStudio/MinGW/include/ddk
 C_PREPROC = 
 CFLAGS = -pipe -DUSE_MUTEX -Wall -g2 -O0
 RC_INCLUDE_DIRS = 
@@ -16,14 +16,8 @@
 RCFLAGS = 
 LIB_DIRS =
 LIBS = -lwinmm -lhid -lsetupapi -lhidparse
-LDFLAGS = -pipe -shared -Wl,--output-def,"$(OUTPUT_DIR)\libtuxdriver.def",--out-implib,"$(OUTPUT_DIR)\libtuxdriver.a" 
+LDFLAGS = -pipe -shared -Wl,--output-def,$(OUTPUT_DIR)/libtuxdriver.def,--out-implib,$(OUTPUT_DIR)/libtuxdriver.a
 
-ifeq ($(OS),Windows_NT)
-  NULL =
-else
-  NULL = nul
-endif
-
 SRC_OBJS = \
   $(OBJ_DIR)/tux_battery.o	\
   $(OBJ_DIR)/tux_cmd_parser.o	\
@@ -65,26 +59,18 @@
 $(TARGET): print_header directories $(SRC_OBJS)
 	$(build_target)
 
-.PHONY: clean cleanall
+.PHONY: clean
 
-cleanall:
-	@echo Deleting intermediate files for 'libtuxdriver.dll'
-	-@del $(OBJ_DIR)\*.o
-	-@del "$(OUTPUT_DIR)\$(TARGET)"
-	-@del "$(OBJ_DIR)\$(PROJECT).def"
-	-@del "$(OBJ_DIR)\lib$(PROJECT).dll.a"
-	-@rmdir "$(OUTPUT_DIR)"
-
 clean:
 	@echo Deleting intermediate files for 'libtuxdriver.dll'
-	-@del $(OBJ_DIR)\*.o
+	-@rm -fR $(OBJ_DIR)/*
 
 print_header:
 	@echo ----------Configuration: tux_driver.dll----------
 
 directories:
-	-@if not exist "$(OUTPUT_DIR)\$(NULL)" mkdir "$(OUTPUT_DIR)"
-	-@if not exist "$(OBJ_DIR)\$(NULL)" mkdir "$(OBJ_DIR)"
+	-@if [ ! -d "$(OUTPUT_DIR)" ]; then mkdir "$(OUTPUT_DIR)"; fi
+	-@if [ ! -d "$(OBJ_DIR)" ]; then mkdir "$(OBJ_DIR)"; fi
 
 $(OBJ_DIR)/tux_battery.o: ../src/tux_battery.c	\
 ../src/tux_hw_status.h	\
@@ -326,4 +312,3 @@
 $(OBJ_DIR)/log.o: ../src/log.c	\
 ../src/log.h
 	$(compile_source)
-

[tuxdroid-svn] r1283 - firmware/rf/trunk

From: jaguarondi <c2m...@c2...> - 2008-06-30 14:26:35

Author: jaguarondi
Date: 2008-06-30 16:26:38 +0200 (Mon, 30 Jun 2008)
New Revision: 1283

Modified:
   firmware/rf/trunk/device.c
   firmware/rf/trunk/init.c
   firmware/rf/trunk/rf_ctrl.c
Log:
* Added some comments for future work.



Modified: firmware/rf/trunk/device.c
===================================================================
--- firmware/rf/trunk/device.c	2008-06-30 09:47:23 UTC (rev 1282)
+++ firmware/rf/trunk/device.c	2008-06-30 14:26:38 UTC (rev 1283)
@@ -110,7 +110,7 @@
 // 6 - 7   -> Sync                                                            *
 // 8 - 11  -> SOF                                                             *
 // 12      -> LEN                                                             *
-// 13	   -> Command														  *
+// 13	   -> Command							      *
 // 14 - 30 -> Payload                                                         *
 // 31      -> Checksum                                                        *
 //*****************************************************************************
@@ -121,6 +121,7 @@
     volatile uint16_t _count=0;
     for (;_count<0xFFFF; _count++);
     if (!(PIND & 0x40)) /* if head is pushed at startup */
+        /* TODO change to a rjump to 0x0F0A */
         asm volatile ("rjmp bootloader" ::); /* jump to bootloader */
 #elif defined(_MASTER)
     if (!(PINB & 0x04)) /* if SPI_SS is cleared at startup */

Modified: firmware/rf/trunk/init.c
===================================================================
--- firmware/rf/trunk/init.c	2008-06-30 09:47:23 UTC (rev 1282)
+++ firmware/rf/trunk/init.c	2008-06-30 14:26:38 UTC (rev 1283)
@@ -137,6 +137,7 @@
 	rf_buffer_tx[6] = rf_buffer_tx[7] = 0xFF ^ SCRAMBLE_BYTE;
 	//Default setup of the rf_buffer_tx//
         /* XXX to be cleaned */
+        /* TODO sof_ary can be a pointer to rf_buffer_tx[8] */
 	sof_ary[0] = TRX_CHANNEL;
 	sof_ary[1] = 0x56;
 	sof_ary[2] = 0xFF;
@@ -146,7 +147,7 @@
 	rf_buffer_tx[10]=sof_ary[2];
 	rf_buffer_tx[11]=sof_ary[3];
 
-	//generate dummy packet
+        /* TODO increase the frame size to add the previosu audio data */
 	rf_buffer_tx[12]=52; /* Number of bytes from here */
 	rf_buffer_tx[13]=0x55;
 	rf_buffer_tx[14]=0x55;
@@ -199,10 +200,6 @@
 	rf_buffer_tx[61]=0x55;
 	rf_buffer_tx[62]=0x55;
 	rf_buffer_tx[63]=0x34; /* Parity checksum manually calculated */
-
-        /*uint8_t i;*/
-        /*for (i=13; i<63; i++)*/
-            /*rf_buffer_tx[i] = 0x01;//1<<(i&7);*/
 }
 
 

Modified: firmware/rf/trunk/rf_ctrl.c
===================================================================
--- firmware/rf/trunk/rf_ctrl.c	2008-06-30 09:47:23 UTC (rev 1282)
+++ firmware/rf/trunk/rf_ctrl.c	2008-06-30 14:26:38 UTC (rev 1283)
@@ -155,6 +155,7 @@
         /* Request a SPI communication. */
         /* XXX Should check here whether we're connected or not */
         if (rf_status)
+            /* XXX I think we don't need this 'if' anymore */
         {
             spi_request();
         }
@@ -428,6 +429,7 @@
     /* Last data buffered. */
     if(tmp == rf_buffer_tx[12] + 11)
     {
+    /* TODO this can be moved out of the if/else */
         UDR0 = rf_buffer_tx[tmp] ^ SCRAMBLE_BYTE;
         //UDR0 = (0-checksum_tx) ^ SCRAMBLE_BYTE;
         /* Enable USART Transmit complete interrupt (SIG_USART_TRANS) and

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