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translator: working firmware, car_hw includes, blink and engines from kotlin

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This commit is contained in:
e5l
2016-08-12 12:18:59 +03:00
parent abdc44b0a0
commit f9018a235a
23 changed files with 118 additions and 273 deletions
Download Patch File Download Diff File Expand all files Collapse all files
car_fmw/Makefile
+3 -3
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@@ -5,12 +5,12 @@ TRANSLATOR_DIR=$(PWD)/../translator
KOTSTD_DIR=$(PWD)/../kotstd
CAR_HW_DIR=$(PWD)/../car_hw
OS_ARCH=linux-arm
OS_ARCH=linux-x86_64
CAR_FMW_OBJ=$(BIN_DIR)/car_fmw.o
CAR_FMW_ELF=$(BIN_DIR)/car_fmw.elf
CAR_FMW_BIN=$(BIN_DIR)/car_fmw.bin
ST_DIR=$(SRC_DIR)/../../devloader/data/$(OS_ARCH)
ST_DIR=$(PWD)/../mcu_utils/$(OS_ARCH)
LIB_KOT=$(BIN_DIR)/kotlib.o
LIB_KOTSTD=$(KOTSTD_DIR)/build/stdlib_arm.ll
@@ -67,7 +67,7 @@ $(BIN_DIR)/kotlib.ll: $(LIB_DIR)/app.ll $(LIB_KOTSTD)
$(LIB_KOTSTD):
cd $(KOTSTD_DIR) && make
$(LIB_DIR)/app.ll: $(SRC_DIR)/*.kt
$(LIB_DIR)/app.ll: $(SRC_DIR)/**/*.kt $(SRC_DIR)/*.kt
$(KT_ALL_DEPS)
$(KT):
car_fmw/src/include/engine.kt
+8
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@@ -0,0 +1,8 @@
external fun engine_init()
external fun engine_stop()
external fun engine_forward()
external fun engine_backward()
external fun engine_turn_left()
external fun engine_turn_right()
car_fmw/src/include/general.kt
+6
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@@ -0,0 +1,6 @@
fun init() {
time_init()
engine_init()
leds_init()
}
car_fmw/src/include/leds.kt
+9
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@@ -0,0 +1,9 @@
external fun leds_init()
external fun leds_clear_all()
external fun led_set(led: Int, on: Boolean)
val LED_GREEN = 0
val LED_ORANGE = 1
val LED_RED = 2
val LED_BLUE = 3
car_fmw/src/include/time.kt
+4
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@@ -0,0 +1,4 @@
external fun time_init()
external fun wait(msec: Int)
car_fmw/src/include/user_btn.kt
+4
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@@ -0,0 +1,4 @@
external fun user_btn_init(handler: () -> Unit)
external fun user_btn_is_pushed(): Boolean
external fun EXTI0_IRQHandler()
car_fmw/src/main.kt
+3 -54
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@@ -1,56 +1,5 @@
external fun time_init()
external fun leds_init()
external fun engine_init()
external fun engine_stop()
external fun engine_forward()
external fun engine_backward()
external fun engine_turn_left()
external fun engine_turn_right()
external fun user_brn_init(i: () -> Unit)
external fun run_programmed_car(i: () -> Unit)
external fun run_rc_car(i: () -> Unit)
external fun VCP_init()
external fun wait(i: Int)
val CAR_MODE_PROGRAMMED: Int = 0
val CAR_MODE_REMOTE_CONTROL: Int = 1
val CAR_MODE_LAST: Int = 2
val PROGRAM_DURATION: Int = 3000
annotation class Native(val type: String = "")
@Native
class MyClass(@Native("i32") val i: Int, @Native("i16") val j: Int, @Native("i8") val k: Int)
fun engine_program() {
engine_init()
while (2 < 3) {
engine_forward()
wait(PROGRAM_DURATION)
engine_stop()
engine_backward()
wait(PROGRAM_DURATION)
engine_stop()
engine_turn_right()
wait(PROGRAM_DURATION)
engine_stop()
engine_turn_right()
wait(PROGRAM_DURATION)
engine_stop()
}
}
fun kotlin_main() {
time_init()
engine_program()
fun main() {
init()
simpleRoute()
}
car_fmw/src/simpleRoute.kt
+35
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@@ -0,0 +1,35 @@
val PROGRAM_DURATION: Int = 3000
val BLINK_DURATION: Int = 500
fun blink() {
led_set(LED_GREEN, true)
led_set(LED_BLUE, true)
led_set(LED_RED, true)
led_set(LED_ORANGE, true)
wait(BLINK_DURATION)
led_set(LED_GREEN, false)
led_set(LED_BLUE, false)
led_set(LED_RED, false)
led_set(LED_ORANGE, false)
}
fun simpleRoute() {
while (true) {
engine_forward()
wait(PROGRAM_DURATION)
blink()
engine_turn_right()
wait(PROGRAM_DURATION)
blink()
engine_backward()
wait(PROGRAM_DURATION)
blink()
engine_turn_left()
wait(PROGRAM_DURATION)
blink()
}
}
car_hw/Makefile
+3 -1
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@@ -36,7 +36,9 @@ INCLUDES=-I$(LIB_CMSIS_DIR) \
-I$(LIB_USB_OTG_DIR) \
-I$(LIB_USB_VCP_DIR) \
-I$(USB_CONF_DIR) \
-I$(SRC_DIR)
-I$(SRC_DIR) \
-I$(SRC_DIR)/include
DEFINES=-DUSE_STM32_DISCOVERY=1 -DUSE_STDPERIPH_DRIVER=1 -DSTM32F4XX=1 -DHSE_VALUE=8000000
CFLAGS=-g -nostdlib -ffreestanding -O0 \
-mcpu=cortex-m3 -mfloat-abi=soft -mthumb \
car_hw/src/car_engine.c
+1
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@@ -1,4 +1,5 @@
#include "car_engine.h"
#include "stm32f4_discovery.h"
#include "stm32f4xx_conf.h"
car_hw/src/car_leds.c
+2 -1
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@@ -1,6 +1,7 @@
#include <stdbool.h>
#include "car_leds.h"
#include "stm32f4_discovery.h"
#include "stm32f4xx_conf.h"
@@ -12,7 +13,7 @@ void leds_init(void)
STM_EVAL_LEDInit(LED_BLUE);
}
void led_set(led_t led, bool on)
void led_set(int led, bool on)
{
if (on)
STM_EVAL_LEDOn(led);
car_hw/src/car_prog.c
+3 -2
View File
@@ -3,10 +3,11 @@
#include "car_leds.h"
#include "car_engine.h"
#include "time.h"
#include "car_prog.h"
#include "time.h"
const uint32_t PROGRAM_DURATION_MS = 3000;
const uint32_t PROGRAM_DURATION_MS = 3000;
static void program_stop(void)
{
wait(PROGRAM_DURATION_MS);
car_hw/src/car_engine.h → car_hw/src/include/car_engine.h
View File
car_hw/src/car_leds.h → car_hw/src/include/car_leds.h
+1 -1
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@@ -13,4 +13,4 @@ typedef enum
void leds_init(void);
void leds_clear_all(void);
void led_set(led_t led, bool on);
void led_set(int led, bool on);
car_hw/src/car_prog.h → car_hw/src/include/car_prog.h
View File
car_hw/src/car_rc.h → car_hw/src/include/car_rc.h
View File
car_hw/src/car_user_btn.h → car_hw/src/include/car_user_btn.h
View File
car_hw/src/stm32f4xx_conf.h → car_hw/src/include/stm32f4xx_conf.h
View File
car_hw/src/stm32f4xx_it.h → car_hw/src/include/stm32f4xx_it.h
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car_hw/src/time.h → car_hw/src/include/time.h
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car_hw/src/main.c
+35 -34
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@@ -1,10 +1,14 @@
/* #include <stddef.h> */
/* #include <stdbool.h> */
#include <stddef.h>
#include <stdbool.h>
/* #include "car_leds.h" */
/* #include "car_engine.h" */
/* #include "time.h" */
/* #include "car_user_btn.h" */
#include "car_engine.h"
#include "car_leds.h"
#include "car_rc.h"
#include "car_user_btn.h"
#include "time.h"
#include "stm32f4xx_conf.h"
#include "stm32f4xx_it.h"
/* typedef enum { */
/* CAR_MODE_PROGRAMMED, */
@@ -19,31 +23,28 @@
/* cur_mode_stop = true; */
/* } */
extern void kotlin_main();
int main(void)
{
kotlin_main();
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* time_init(); */
/* leds_init(); */
/* engine_init(); */
/* user_btn_init(stop_cur_mode); */
/* VCP_init(); */
/* while(1) { */
/* if (cur_mode == CAR_MODE_PROGRAMMED) */
/* run_programmed_car(&cur_mode_stop); */
/* else if(cur_mode == CAR_MODE_REMOTE_CONTROL) */
/* run_rc_car(&cur_mode_stop); */
/* cur_mode = (cur_mode + 1) % CAR_MODE_LAST; */
/* cur_mode_stop = false; */
/* } */
}
//int main(void)
//{
// /*!< At this stage the microcontroller clock setting is already configured,
// this is done through SystemInit() function which is called from startup
// file (startup_stm32f4xx.s) before to branch to application main.
// To reconfigure the default setting of SystemInit() function, refer to
// system_stm32f4xx.c file
// */
//
// /* time_init(); */
// /* leds_init(); */
// /* engine_init(); */
// /* user_btn_init(stop_cur_mode); */
// /* VCP_init(); */
//
// /* while(1) { */
// /* if (cur_mode == CAR_MODE_PROGRAMMED) */
// /* run_programmed_car(&cur_mode_stop); */
// /* else if(cur_mode == CAR_MODE_REMOTE_CONTROL) */
// /* run_rc_car(&cur_mode_stop); */
//
// /* cur_mode = (cur_mode + 1) % CAR_MODE_LAST; */
// /* cur_mode_stop = false; */
// /* } */
//}
car_hw/src/stm32_flash.ld
-177
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@@ -1,177 +0,0 @@
/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 192KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/*
* _estack is the highest address of user mode stack
* (sp initial value, stack grows down).
* We have 192K RAM on our MCU and _estack should be 0x20030000.
* But our MCU maps only 128K SRAM at 0x20000000 after boot.
* We need to perform some memory remapping to use more.
* This isn't implemented yet.
*/
_estack = 0x20020000; /* end of 128K SRAM region */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data : AT ( _sidata )
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}
car_hw/src/time.c
+1
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@@ -1,4 +1,5 @@
#include <stm32f4xx.h>
#include "time.h"
static volatile uint32_t pending_timer_ticks, ticks_since_boot;