actually working code

diff --git a/Makefile b/Makefile
index cef4b6a..5f19a89 100644 (file)
--- a/Makefile
+++ b/Makefile
@@ -26,6 +26,7 @@ CLMLIBS:=\
 BINARIES:= mTaskExamples mTaskInterpret miTask
 
 all: $(BINARIES) int/mTaskSymbols.h
+       make -C CleanSerial
 
 int/mTaskSymbols.h: mTaskMakeSymbols
        ./$< -nr > $@

diff --git a/int/.gitignore b/int/.gitignore
index c63175d..db3bf7c 100644 (file)
--- a/int/.gitignore
+++ b/int/.gitignore
@@ -1,3 +1,4 @@
 main
 *.o
 build
+.dep

diff --git a/int/Makefile b/int/Makefile
index d0ea634..ec6ad97 100644 (file)
--- a/int/Makefile
+++ b/int/Makefile
@@ -201,7 +201,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #\r
 \r
 # List all user C define here, like -D_DEBUG=1\r
-UDEFS = -DSTM\r
+UDEFS = -DSTM #-DDEBUG\r
 \r
 # Define ASM defines here\r
 UADEFS =\r

diff --git a/int/halconf.h b/int/halconf.h
index 82602b4..e556d48 100644 (file)
--- a/int/halconf.h
+++ b/int/halconf.h
@@ -294,7 +294,7 @@
  *          default configuration.\r
  */\r
 #if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)\r
-#define SERIAL_DEFAULT_BITRATE      38400\r
+#define SERIAL_DEFAULT_BITRATE      9600\r
 #endif\r
 \r
 /**\r
@@ -305,7 +305,7 @@
  *          buffers.\r
  */\r
 #if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)\r
-#define SERIAL_BUFFERS_SIZE         16\r
+#define SERIAL_BUFFERS_SIZE         256\r
 #endif\r
 \r
 /*===========================================================================*/\r

diff --git a/int/interface.c b/int/interface.c
index 5c9b500..e94f11c 100644 (file)
--- a/int/interface.c
+++ b/int/interface.c
@@ -2,17 +2,16 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
+#include <stdarg.h>
 
 #include "interface.h"
 #include "ch.h"
 #include "hal.h"
 
-//char buf[1024];
-
 //Globals
 bool input_available(void)
 {
-       return qSizeX(&(&SD3)->iqueue) > 0;
+       return iqGetFullI(&(&SD3)->iqueue)>0;
 }
 
 uint8_t read_byte(void)
@@ -39,8 +38,23 @@ bool read_dpin(uint8_t i)
 
 void write_apin(uint8_t i, uint8_t a)
 {
-       (void)i;
-       (void)a;
+       if(a){
+               if(i == 0){
+                       palSetLine(LINE_LED1);
+               } else if(i == 1){
+                       palSetLine(LINE_LED2);
+               } else if(i == 2){
+                       palSetLine(LINE_LED3);
+               }
+       } else {
+               if(i == 0){
+                       palClearLine(LINE_LED1);
+               } else if(i == 1){
+                       palClearLine(LINE_LED2);
+               } else if(i == 2){
+                       palClearLine(LINE_LED3);
+               }
+       }
 }
 
 uint8_t read_apin(uint8_t i)
@@ -65,6 +79,25 @@ void setup(void)
        sdStart(&SD3, NULL);
 }
 
-void test(void)
+void debug(char *fmt, ...)
+{
+       unsigned int i;
+       write_byte('m');
+       for(i = 0; i<strlen(fmt); i++){
+               write_byte((uint8_t)fmt[i]);
+       }
+       write_byte('\n');
+#ifdef DEBUG
+#endif
+       (void)fmt;
+}
+
+void pdie(char *s)
+{
+       (void)s;
+}
+
+void die(char *fmt, ...)
 {
+       (void)fmt;
 }

diff --git a/int/interface.h b/int/interface.h
index 1547501..2d54bdf 100644 (file)
--- a/int/interface.h
+++ b/int/interface.h
@@ -3,6 +3,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdarg.h>
 
 #ifndef STM
 extern int gargc;
@@ -24,16 +25,8 @@ bool input_available(void);
 void delay(long ms);
 
 void setup(void);
-void test(void);
-
-#ifdef STM
-#define debug(s, ...) {};
-#define pdie(s) {};
-#define die(s, ...) {};
-#else
-#define debug(s, ...) printf(s "\n", ##__VA_ARGS__);
-#define pdie(s) {perror(s); exit(1);}
-#define die(s, ...) {fprintf(stderr, s "\n", ##__VA_ARGS__); exit(1);}
-#endif
+void debug(char *fmt, ...);
+void pdie(char *s);
+void die(char *fmt, ...);
 
 #endif

diff --git a/int/interface_linux.c b/int/interface_linux.c
index 33fd003..1ec9347 100644 (file)
--- a/int/interface_linux.c
+++ b/int/interface_linux.c
@@ -144,7 +144,25 @@ void setup(void)
                pdie("accept");
 }
 
-void test(void)
+void debug(char *fmt, ...)
 {
+       va_list ap;
+       va_start(ap, fmt);
+       vfprintf(stderr, fmt, ap);
+       va_end(ap);
+}
 
+void pdie(char *s)
+{
+       perror(s);
+       die("");
+}
+
+void die(char *fmt, ...)
+{
+       va_list ap;
+       va_start(ap, fmt);
+       vfprintf(stderr, fmt, ap);
+       va_end(ap);
+       exit(EXIT_FAILURE);
 }

diff --git a/int/interpret.c b/int/interpret.c
index e124589..0a92dd0 100644 (file)
--- a/int/interpret.c
+++ b/int/interpret.c
@@ -7,7 +7,7 @@
 #include "task.h"
 #include "sds.h"
 
-#ifdef STM32F767xx
+#ifdef STM
 #define trace(op, ...) ;
 #else
 #define trace(op, ...) ;

diff --git a/int/main.c b/int/main.c
index 026fd5d..3a95d0e 100644 (file)
--- a/int/main.c
+++ b/int/main.c
@@ -76,7 +76,7 @@ void loop(void)
                debug("Current task to run: %d", ct);
                run_task(curtask);
                curtask->lastrun = cyclestart;
-               write_byte('\n');
+//             write_byte('\n');
        }
 }
 
@@ -88,18 +88,21 @@ int main(int argc, char *argv[]){
        gargv = argv;
 #endif
 
+       read_byte();
        //Initialize systems
        setup();
        sds_init();
        task_init();
 
+       while(!input_available()){
+               delay(100);
+       }
        debug("booting up");
 
        while(true){
                //Check for newetasks
                debug("loop");
                loop();
-               input_available();
                delay(100);
        }
        return 0;

diff --git a/int/sds.c b/int/sds.c
index b424ff7..80c31f9 100644 (file)
--- a/int/sds.c
+++ b/int/sds.c
@@ -1,7 +1,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#ifndef STM32F767xx
+#ifndef STM
 #include <unistd.h>
 #include <stdio.h>
 #endif
@@ -52,8 +52,6 @@ bool sds_update(void)
                        sdss[cs].value = read16();
                        debug("Received sds update %d: %d",
                              sdss[cs].id, sdss[cs].value);
-                       printf("Received sds update %d: %d",
-                             sdss[cs].id, sdss[cs].value);
                        return true;
                }
        }

diff --git a/int/task.c b/int/task.c
index d00959a..882baa4 100644 (file)
--- a/int/task.c
+++ b/int/task.c
@@ -1,7 +1,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#ifndef STM32F767xx
+#ifndef STM
 #include <unistd.h>
 #include <stdio.h>
 #endif

diff --git a/miTask.icl b/miTask.icl
index f7c476c..d07c760 100644 (file)
--- a/miTask.icl
+++ b/miTask.icl
@@ -49,8 +49,8 @@ deviceSelectorSerial = accWorld getDevices
 
 mTaskTask :: (Shared ([MTaskMSGRecv],Bool,[MTaskMSGSend],Bool)) -> Task ()
 mTaskTask ch =
-       deviceSelectorNetwork >>= \(p,h)->syncNetworkChannel h p "\n" decode encode ch ||-
-//     deviceSelectorSerial >>= \(s,set)->syncSerialChannel s set decode encode ch ||- 
+//     deviceSelectorNetwork >>= \(p,h)->syncNetworkChannel h p "\n" decode encode ch ||-
+       deviceSelectorSerial >>= \(s,set)->syncSerialChannel s set decode encode ch ||- 
        sendMsg msgs ch ||-
        (
                (