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

car_fmw/Makefile

@@ -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

@@ -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

@@ -0,0 +1,6 @@
+
+fun init() {
+    time_init()
+    engine_init()
+    leds_init()
+}

car_fmw/src/include/leds.kt

@@ -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

@@ -0,0 +1,4 @@
+
+external fun time_init()
+
+external fun wait(msec: Int)

car_fmw/src/include/user_btn.kt

@@ -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

@@ -1,56 +1,5 @@
-external fun time_init()
 
-external fun leds_init()
+fun main() {
-
+    init()
-external fun engine_init()
+    simpleRoute()
-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()
 }

car_fmw/src/simpleRoute.kt

@@ -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

@@ -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

@@ -1,4 +1,5 @@
 #include "car_engine.h"
+
 #include "stm32f4_discovery.h"
 #include "stm32f4xx_conf.h"
 

car_hw/src/car_leds.c

@@ -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

@@ -3,10 +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/include/car_leds.h

@@ -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/main.c

@@ -1,10 +1,14 @@
-/* #include <stddef.h> */
+#include <stddef.h>
-/* #include <stdbool.h> */
+#include <stdbool.h>
 
-/* #include "car_leds.h" */
+#include "car_engine.h"
-/* #include "car_engine.h" */
+#include "car_leds.h"
-/* #include "time.h" */
+#include "car_rc.h"
-/* #include "car_user_btn.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)
-
+//{
-int main(void)
+//    /*!< At this stage the microcontroller clock setting is already configured,
-{
+//       this is done through SystemInit() function which is called from startup
-	kotlin_main();
+//       file (startup_stm32f4xx.s) before to branch to application main.
-    /*!< At this stage the microcontroller clock setting is already configured,
+//       To reconfigure the default setting of SystemInit() function, refer to
-       this is done through SystemInit() function which is called from startup
+//       system_stm32f4xx.c file
-       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(); */
-    /* time_init(); */
+//    /* user_btn_init(stop_cur_mode); */
-    /* leds_init(); */
+//    /* VCP_init(); */
-    /* engine_init(); */
+//
-    /* user_btn_init(stop_cur_mode); */
+//    /* while(1) { */
-    /* VCP_init(); */
+//    /*     if (cur_mode == CAR_MODE_PROGRAMMED) */
-
+//    /*         run_programmed_car(&cur_mode_stop); */
-    /* while(1) { */
+//    /*     else if(cur_mode == CAR_MODE_REMOTE_CONTROL) */
-    /*     if (cur_mode == CAR_MODE_PROGRAMMED) */
+//    /*         run_rc_car(&cur_mode_stop); */
-    /*         run_programmed_car(&cur_mode_stop); */
+//
-    /*     else if(cur_mode == CAR_MODE_REMOTE_CONTROL) */
+//    /*     cur_mode = (cur_mode + 1) % CAR_MODE_LAST; */
-    /*         run_rc_car(&cur_mode_stop); */
+//    /*     cur_mode_stop = false; */
-
+//    /* } */
-    /*     cur_mode = (cur_mode + 1) % CAR_MODE_LAST; */
+//}
-    /*     cur_mode_stop = false; */
-    /* } */
-}

car_hw/src/stm32_flash.ld

@@ -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

@@ -1,4 +1,5 @@
 #include <stm32f4xx.h>
+
 #include "time.h"
 
 static volatile uint32_t pending_timer_ticks, ticks_since_boot;