static void debug_fiq(void *data, void *regs) { int c; static int last_c; while ((c = debug_getc()) != -1) { if (!debug_enable) { if ((c == 13) || (c == 10)) { debug_enable = true; debug_count = 0; debug_prompt(); } } else if ((c >= ' ') && (c < 127)) { if (debug_count < (DEBUG_MAX - 1)) { debug_buf[debug_count++] = c; debug_putc(c); } } else if ((c == 8) || (c == 127)) { if (debug_count > 0) { debug_count--; debug_putc(8); debug_putc(' '); debug_putc(8); } } else if ((c == 13) || (c == 10)) { if (c == '\r' || (c == '\n' && last_c != '\r')) { debug_putc('\r'); debug_putc('\n'); } if (debug_count) { debug_buf[debug_count] = 0; debug_count = 0; debug_exec(debug_buf, regs); } else { debug_prompt(); } } last_c = c; } debug_flush(); }
void main(void) { BRD_init(); //Initalise NP2 Hardware_init(); HAL_Delay(3000); struct PanTilt pantiltvars; pantilt = &pantiltvars; pantilt->write_angles = 0; pantilt->read_angles = 0; pantilt->set_angle_pan = 0; pantilt->set_angle_tilt = 0; struct Variables variables; vars = &variables; vars->count = 0; vars->bit_half = 1; vars->bit_count = 0; vars->encoded_bit_count = -1; vars->encoded_bit = 0; vars->encoded_char = hamming_byte_encoder('<'); vars->transmit_frequency = 1000; vars->period_multiplyer = ((1.000000/vars->transmit_frequency)*500)*0.998; vars->recieve_element = 0; vars->recieve_flag = 0; Pb_init(); s4353096_radio_setchan(s4353096_chan); s4353096_radio_settxaddress(s4353096_tx_addr); s4353096_radio_setrxaddress(s4353096_rx_addr); while (1) { s4353096_radio_setfsmrx(); s4353096_radio_fsmprocessing(); if (vars->recieve_flag == 1) { manchester_decode(); vars->recieve_flag = 0; } if (mode == S4353096_RADIO) { /*Processes the current fsm state*/ RxChar = debug_getc(); if (RxChar != '\0') { s4353096_keystroke = 1; while(s4353096_keystroke == 1){ if (RxChar == '\r' || s4353096_payload_length == 7) { for (int j = s4353096_payload_length; j < 7; j++) { s4353096_payload_buffer[j] = '-'; } s4353096_radio_fsmcurrentstate = S4353096_IDLE_STATE; s4353096_radio_fsmprocessing(); s4353096_radio_fsmcurrentstate = S4353096_TX_STATE; debug_printf("\n"); /*Compiles the transmit packet. Transmits packet if in TX state*/ s4353096_radio_sendpacket(s4353096_radio_getchan(), s4353096_addr_get, s4353096_payload_buffer); s4353096_radio_fsmprocessing(); s4353096_radio_setfsmrx(); s4353096_radio_fsmprocessing(); s4353096_payload_length = 0; s4353096_keystroke = 0; } else if (RxChar != '\0') { s4353096_payload_buffer[s4353096_payload_length] = RxChar; s4353096_payload_length++; debug_putc(RxChar); //reflect byte using putc - puts character into buffer debug_flush(); //Must call flush, to send character //reflect byte using printf - must delay before calling printf again. } else { } HAL_Delay(125); RxChar = debug_getc(); } } else { } s4353096_radio_fsmprocessing(); if (s4353096_radio_getrxstatus() == 1) { //Checks if packet has been recieved /*Prints recieved packet to console*/ s4353096_radio_getpacket(s4353096_rx_buffer); } else { } } if (pantilt->write_angles == 1) { s4353096_pantilt_angle_write(1, pantilt->set_angle_pan); s4353096_pantilt_angle_write(0, pantilt->set_angle_tilt); pantilt->write_angles = 0; } if (((HAL_GetTick()/10000) % 100) == 0) { debug_printf("\nPan: %d Tlit: %d\n", pantilt->set_angle_pan, pantilt->set_angle_tilt); } if (pantilt->read_angles == 1) { /*Delay for 1 second or setup to delay for 0.2 seconds and set angle to += or -= 1 each time*/ if (mode == S4353096_JOYSTICK) { y_value = s4353096_joystick_y_read(); if ((y_value > 2500) && (pantilt->set_angle_pan < 76)) { pantilt->set_angle_pan += 1; } else if ((y_value < 1550) && (pantilt->set_angle_pan > -76)) { pantilt->set_angle_pan -= 1; } else { //Joystick is stationary, no input } x_value = s4353096_joystick_x_read(); if ((x_value > 2500) && (pantilt->set_angle_tilt < 76)) { pantilt->set_angle_tilt += 1; } else if ((x_value < 1550) && (pantilt->set_angle_tilt > -76)) { pantilt->set_angle_tilt -= 1; } else { } } else if (mode == S4353096_TERMINAL) { /* Receive characters using getc */ RxChar = debug_getc(); /* Check if character is not Null */ if (RxChar != '\0') { switch (RxChar) { case 'w': pantilt->set_angle_tilt += 1; break; case 's': pantilt->set_angle_tilt -= 1; break; case 'a': pantilt->set_angle_pan += 1; break; case 'd': pantilt->set_angle_pan -= 1; break; case 't': mode = S4353096_LASER_TRANSMIT; break; default: break; } debug_flush(); } s4353096_terminal_angle_check(); } pantilt->read_angles = 0; } } }
void bsp_start( void ) { rtems_status_code sc = RTEMS_SUCCESSFUL; #if !defined(mvme2100) unsigned l2cr; #endif uintptr_t intrStackStart; uintptr_t intrStackSize; ppc_cpu_id_t myCpu; ppc_cpu_revision_t myCpuRevision; prep_t boardManufacturer; motorolaBoard myBoard; Triv121PgTbl pt=0; /* * Get CPU identification dynamically. Note that the get_ppc_cpu_type() * function store the result in global variables so that it can be used * later... */ myCpu = get_ppc_cpu_type(); myCpuRevision = get_ppc_cpu_revision(); /* * Init MMU block address translation to enable hardware access */ #if !defined(mvme2100) /* * PC legacy IO space used for inb/outb and all PC compatible hardware */ setdbat(1, _IO_BASE, _IO_BASE, 0x10000000, IO_PAGE); #endif /* * PCI devices memory area. Needed to access OpenPIC features * provided by the Raven * * T. Straumann: give more PCI address space */ setdbat(2, PCI_MEM_BASE+PCI_MEM_WIN0, PCI_MEM_BASE+PCI_MEM_WIN0, 0x10000000, IO_PAGE); /* * Must have acces to open pic PCI ACK registers provided by the RAVEN */ setdbat(3, 0xf0000000, 0xf0000000, 0x10000000, IO_PAGE); #if defined(mvme2100) /* Need 0xfec00000 mapped for this */ EUMBBAR = get_eumbbar(); #endif /* * enables L1 Cache. Note that the L1_caches_enables() codes checks for * relevant CPU type so that the reason why there is no use of myCpu... */ L1_caches_enables(); #if !defined(mvme2100) /* * Enable L2 Cache. Note that the set_L2CR(L2CR) codes checks for * relevant CPU type (mpc750)... */ l2cr = get_L2CR(); #ifdef SHOW_LCR2_REGISTER printk("Initial L2CR value = %x\n", l2cr); #endif if ( (! (l2cr & 0x80000000)) && ((int) l2cr == -1)) set_L2CR(0xb9A14000); #endif /* * Initialize the interrupt related settings. */ intrStackStart = (uintptr_t) __rtems_end; intrStackSize = rtems_configuration_get_interrupt_stack_size(); /* * Initialize default raw exception handlers. */ sc = ppc_exc_initialize( PPC_INTERRUPT_DISABLE_MASK_DEFAULT, intrStackStart, intrStackSize ); if (sc != RTEMS_SUCCESSFUL) { BSP_panic("cannot initialize exceptions"); } select_console(CONSOLE_LOG); /* * We check that the keyboard is present and immediately * select the serial console if not. */ #if defined(BSP_KBD_IOBASE) { int err; err = kbdreset(); if (err) select_console(CONSOLE_SERIAL); } #else select_console(CONSOLE_SERIAL); #endif boardManufacturer = checkPrepBoardType(&residualCopy); if (boardManufacturer != PREP_Motorola) { printk("Unsupported hardware vendor\n"); while (1); } myBoard = getMotorolaBoard(); printk("-----------------------------------------\n"); printk("Welcome to %s on %s\n", _RTEMS_version, motorolaBoardToString(myBoard)); printk("-----------------------------------------\n"); #ifdef SHOW_MORE_INIT_SETTINGS printk("Residuals are located at %x\n", (unsigned) &residualCopy); printk("Additionnal boot options are %s\n", loaderParam); printk("Initial system stack at %x\n",stack); printk("Software IRQ stack starts at %x with size %u\n", intrStackStart, intrStackSize); printk("-----------------------------------------\n"); #endif #ifdef TEST_RETURN_TO_PPCBUG printk("Hit <Enter> to return to PPCBUG monitor\n"); printk("When Finished hit GO. It should print <Back from monitor>\n"); debug_getc(); _return_to_ppcbug(); printk("Back from monitor\n"); _return_to_ppcbug(); #endif /* TEST_RETURN_TO_PPCBUG */ #ifdef SHOW_MORE_INIT_SETTINGS printk("Going to start PCI buses scanning and initialization\n"); #endif pci_initialize(); { const struct _int_map *bspmap = motorolaIntMap(currentBoard); if( bspmap ) { printk("pci : Configuring interrupt routing for '%s'\n", motorolaBoardToString(currentBoard)); FixupPCI(bspmap, motorolaIntSwizzle(currentBoard)); } else printk("pci : Interrupt routing not available for this bsp\n"); } #ifdef SHOW_MORE_INIT_SETTINGS printk("Number of PCI buses found is : %d\n", pci_bus_count()); #endif #ifdef TEST_RAW_EXCEPTION_CODE printk("Testing exception handling Part 1\n"); /* * Cause a software exception */ __asm__ __volatile ("sc"); /* * Check we can still catch exceptions and return coorectly. */ printk("Testing exception handling Part 2\n"); __asm__ __volatile ("sc"); /* * Somehow doing the above seems to clobber SPRG0 on the mvme2100. The * interrupt disable mask is stored in SPRG0. Is this a problem? */ ppc_interrupt_set_disable_mask( PPC_INTERRUPT_DISABLE_MASK_DEFAULT); #endif /* See above */ BSP_mem_size = residualCopy.TotalMemory; BSP_bus_frequency = residualCopy.VitalProductData.ProcessorBusHz; BSP_processor_frequency = residualCopy.VitalProductData.ProcessorHz; BSP_time_base_divisor = (residualCopy.VitalProductData.TimeBaseDivisor? residualCopy.VitalProductData.TimeBaseDivisor : 4000); /* clear hostbridge errors but leave MCP disabled - * PCI config space scanning code will trip otherwise :-( */ _BSP_clear_hostbridge_errors(0 /* enableMCP */, 0/*quiet*/); /* Allocate and set up the page table mappings * This is only available on >604 CPUs. * * NOTE: This setup routine may modify the available memory * size. It is essential to call it before * calculating the workspace etc. */ pt = BSP_pgtbl_setup(&BSP_mem_size); if (!pt || TRIV121_MAP_SUCCESS != triv121PgTblMap( pt, TRIV121_121_VSID, 0xfeff0000, 1, TRIV121_ATTR_IO_PAGE, TRIV121_PP_RW_PAGE)) { printk("WARNING: unable to setup page tables VME " "bridge must share PCI space\n"); } /* * initialize the device driver parameters */ bsp_clicks_per_usec = BSP_bus_frequency/(BSP_time_base_divisor * 1000); /* * Initalize RTEMS IRQ system */ BSP_rtems_irq_mng_init(0); /* Activate the page table mappings only after * initializing interrupts because the irq_mng_init() * routine needs to modify the text */ if (pt) { #ifdef SHOW_MORE_INIT_SETTINGS printk("Page table setup finished; will activate it NOW...\n"); #endif BSP_pgtbl_activate(pt); /* finally, switch off DBAT3 */ setdbat(3, 0, 0, 0, 0); } #if defined(DEBUG_BATS) ShowBATS(); #endif #ifdef SHOW_MORE_INIT_SETTINGS printk("Exit from bspstart\n"); #endif }