bootloader

diff --git a/projects/microb2010/bootloader/.config b/projects/microb2010/bootloader/.config
index b70ba8913586a1c0a427a7babf4df0e2b162ca29..e9f4820c94388a5b0285de7cf1058027f1acf62a 100644 (file)
--- a/projects/microb2010/bootloader/.config
+++ b/projects/microb2010/bootloader/.config
@@ -82,8 +82,9 @@ CONFIG_FORMAT_IHEX=y
 # CONFIG_MODULE_FIXED_POINT is not set
 # CONFIG_MODULE_VECT2 is not set
 # CONFIG_MODULE_GEOMETRY is not set
-# CONFIG_MODULE_GEOMETRY_CREATE_CONFIG is not set
+# CONFIG_MODULE_HOSTSIM is not set
 # CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_STATS is not set
 # CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
 # CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
 CONFIG_MODULE_SCHEDULER_TIMER0=y
@@ -168,11 +169,13 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y
 # CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
 
 #
-# Robot specific modules
+# Robot specific modules (fixed point lib may be needed)
 #
 # CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 is not set
 # CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
 # CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
 # CONFIG_MODULE_TRAJECTORY_MANAGER is not set
 # CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
 # CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set

diff --git a/projects/microb2010/bootloader/main.c b/projects/microb2010/bootloader/main.c
index 8595d720f9150546478728fe49774d2a4c740622..5db7a6dd1379ce8f1dfabf927e5ea12516b59245 100755 (executable)
--- a/projects/microb2010/bootloader/main.c
+++ b/projects/microb2010/bootloader/main.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  Copyright Droids Corporation
  *  Olivier Matz <zer0@droids-corp.org>
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -115,16 +115,16 @@
 #endif
 
 
-static char uart_recv(void) 
-{ 
-       while ( !(UCSRxA & (1<<RXCx)) ) ; 
-       return UDRx; 
+static char uart_recv(void)
+{
+       while ( !(UCSRxA & (1<<RXCx)) ) ;
+       return UDRx;
 }
 
-static void uart_send(char c) 
-{ 
+static void uart_send(char c)
+{
        while ( !( UCSRxA & (1<<UDREx)) ) ;
-       UDRx = c; 
+       UDRx = c;
 }
 
 static void uart_puts(const char *buf)
@@ -149,15 +149,15 @@ static int8_t bootloader_query_hex(uint32_t *val)
                else if (c >= '0' && c <= '9') {
                        tmp <<= 4;
                        tmp += (c - '0');
-               } 
+               }
                else if (c >= 'a' && c <= 'f') {
                        tmp <<= 4;
                        tmp += (c - 'a' + 10);
-               } 
+               }
                else if (c >= 'A' && c <= 'F') {
                        tmp <<= 4;
                        tmp += (c - 'A' + 10);
-               } 
+               }
                else
                        return -1;
        }
@@ -194,6 +194,12 @@ static void disp_hex16(uint16_t x)
        disp_hex8(x);
 }
 
+static void disp_hex32(uint32_t x)
+{
+       disp_hex16(x>>16);
+       disp_hex16(x);
+}
+
 static void crc_app(void)
 {
        uint32_t start_addr, addr, size;
@@ -243,7 +249,7 @@ static void read32(void)
                val <<= 8;
                val |= c;
        }
-       disp_hex16(val);
+       disp_hex32(val);
        return;
  fail:
        uart_puts("KO");
@@ -291,22 +297,22 @@ static void prog_page(void)
         eeprom_busy_wait();
         boot_page_erase(addr);
         boot_spm_busy_wait();
-       
+
        /* Set up little-endian word and fill tmp buf. */
        for (i=0; i<SPM_PAGESIZE; i+=2) {
                uint16_t w = buf[i] + ((uint16_t)(buf[i+1]) << 8);
                boot_page_fill(addr + i, w);
        }
-       
+
        PORTJ = 0xFC;
 
        boot_page_write(addr);
        boot_spm_busy_wait();
-       
+
        /* Reenable RWW-section again. We need this if we want to jump
         * back to the application after bootloading. */
        boot_rww_enable();
-       
+
        uart_puts("OK");
        return;
  fail:
@@ -356,6 +362,6 @@ int main(void)
                else
                        uart_puts("p:prog_page c:crc x:exec d:dump32");
        }
-       
+
        return 0;
 }