fix rt-kernel build
parent
edcce5af0f
commit
bdb212942b
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@ -41,7 +41,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${MACHINE_FLAGS}" CACHE STRING "" FORCE)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MACHINE_FLAGS}" CACHE STRING "" FORCE)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MACHINE_FLAGS}" CACHE STRING "" FORCE)
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# Default libs
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# Default libs
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set(RTK_LIBS "-l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -lptpd -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lcounter -lc -lm")
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set(RTK_LIBS "-l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -lptpd -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lcounter -lc -lm -lshell")
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set(CMAKE_CXX_LINK_EXECUTABLE "<CMAKE_CXX_COMPILER> <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")
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set(CMAKE_CXX_LINK_EXECUTABLE "<CMAKE_CXX_COMPILER> <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")
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set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_C_COMPILER> <FLAGS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")
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set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_C_COMPILER> <FLAGS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> -nostartfiles -T${RTK}/bsp/${BSP}/${BSP}.ld -Wl,--start-group <LINK_LIBRARIES> ${RTK_LIBS} -Wl,--end-group")
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@ -16,6 +16,8 @@
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#include <string.h>
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#include <string.h>
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#include <gpio.h>
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#include <gpio.h>
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#define MAX_READ_SIZE 128
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#define ESC_CMD_READ 0x02
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#define ESC_CMD_READ 0x02
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#define ESC_CMD_READWS 0x03
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#define ESC_CMD_READWS 0x03
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#define ESC_CMD_WRITE 0x04
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#define ESC_CMD_WRITE 0x04
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@ -24,7 +26,7 @@
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#define ESC_NEXT 0x00
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#define ESC_NEXT 0x00
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static int et1100 = -1;
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static int et1100 = -1;
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static uint8_t read_termination[MAX(sizeof(Wb), 128)] = { 0 };
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static uint8_t read_termination[MAX_READ_SIZE] = { 0 };
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#define GPIO_ECAT_RESET 1 /* specific function to hold ESC reset on startup
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#define GPIO_ECAT_RESET 1 /* specific function to hold ESC reset on startup
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* when emulating EEPROM
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* when emulating EEPROM
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@ -56,7 +58,7 @@ static void esc_address (uint16_t address, uint8_t command)
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*/
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*/
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void ESC_read (uint16_t address, void *buf, uint16_t len)
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void ESC_read (uint16_t address, void *buf, uint16_t len)
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{
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{
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ASSERT(len <= sizeof(read_termination));
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ASSERT(len <= MAX_READ_SIZE);
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/* Select device. */
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/* Select device. */
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spi_select (et1100);
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spi_select (et1100);
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@ -69,7 +71,7 @@ void ESC_read (uint16_t address, void *buf, uint16_t len)
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* Read (and write termination bytes).
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* Read (and write termination bytes).
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*/
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*/
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spi_bidirectionally_transfer (et1100, buf, read_termination +
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spi_bidirectionally_transfer (et1100, buf, read_termination +
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(sizeof(read_termination) - len), len);
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(MAX_READ_SIZE - len), len);
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/* Un-select device. */
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/* Un-select device. */
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spi_unselect (et1100);
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spi_unselect (et1100);
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@ -122,5 +124,5 @@ void ESC_init (const esc_cfg_t * config)
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{
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{
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const char * spi_name = (char *)config->user_arg;
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const char * spi_name = (char *)config->user_arg;
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et1100 = open (spi_name, O_RDWR, 0);
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et1100 = open (spi_name, O_RDWR, 0);
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read_termination[sizeof(read_termination) - 1] = 0xFF;
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read_termination[MAX_READ_SIZE - 1] = 0xFF;
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}
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}
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@ -33,7 +33,11 @@ extern "C"
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#define CC_PACKED_END
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#define CC_PACKED_END
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#define CC_PACKED __attribute__((packed))
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#define CC_PACKED __attribute__((packed))
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#ifdef __rtk__
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#define CC_ASSERT(exp) ASSERT (exp)
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#else
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#define CC_ASSERT(exp) assert (exp)
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#define CC_ASSERT(exp) assert (exp)
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#endif
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#define CC_STATIC_ASSERT(exp) _Static_assert (exp, "")
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#define CC_STATIC_ASSERT(exp) _Static_assert (exp, "")
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#define CC_DEPRECATED __attribute__((deprecated))
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#define CC_DEPRECATED __attribute__((deprecated))
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@ -66,7 +70,8 @@ extern "C"
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#endif
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#endif
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#ifdef ESC_DEBUG
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#ifdef ESC_DEBUG
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#define DPRINT(...) rprintp ("esc_foe: "__VA_ARGS__) /* TODO */
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#include <rprint.h>
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#define DPRINT(...) rprintp ("soes: "__VA_ARGS__) /* TODO */
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#else
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#else
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#define DPRINT(...)
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#define DPRINT(...)
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#endif /* DEBUG */
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#endif /* DEBUG */
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