Mercurial > hg > beaglert
changeset 68:59edd5780fef
Changed d-box code to run cleanly when built on board. Updated Makefile to add ne10 include path on board. Some extra docs in Utilities.h
| author | andrewm |
|---|---|
| date | Fri, 17 Jul 2015 16:57:08 +0100 |
| parents | 472e892c6e41 |
| children | 272154649c46 |
| files | Makefile include/Utilities.h projects/d-box/DboxSensors.h projects/d-box/I2c_TouchKey.h projects/d-box/StatusLED.cpp projects/d-box/how_to_build_dbox.txt projects/d-box/main.cpp projects/tank_wars/game.cpp |
| diffstat | 8 files changed, 102 insertions(+), 14 deletions(-) [+] |
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--- a/Makefile Fri Jul 17 15:28:18 2015 +0100 +++ b/Makefile Fri Jul 17 16:57:08 2015 +0100 @@ -10,6 +10,9 @@ STATIC_LIBS := ./libprussdrv.a ./libNE10.a LIBS := -lrt -lnative -lxenomai +INCLUDES := -I/usr/include/ne10 -I/usr/xenomai/include -I/usr/arm-linux-gnueabihf/include/xenomai/include -I/usr/arm-linux-gnueabihf/include/ne10 + + ASM_SRCS := $(wildcard source/*.S) ASM_OBJS := $(addprefix build/source/,$(notdir $(ASM_SRCS:.S=.o))) ASM_DEPS := $(addprefix build/source/,$(notdir $(ASM_SRCS:.S=.d))) @@ -55,34 +58,34 @@ DEFAULT_MAIN_CPP_SRCS := ./core/default_main.cpp DEFAULT_MAIN_OBJS := ./build/core/default_main.o DEFAULT_MAIN_CPP_DEPS := ./build/core/default_main.d - + # All = build BeagleRT all: BeagleRT - + # Rule for BeagleRT core C++ files build/core/%.o: ./core/%.cpp @echo 'Building file: $<' @echo 'Invoking: GCC C++ Compiler' - g++ -I/usr/xenomai/include -I/usr/arm-linux-gnueabihf/include/xenomai/include -I/usr/arm-linux-gnueabihf/include/ne10 -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + g++ $(INCLUDES) -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" @echo 'Finished building: $<' @echo ' ' - + # Rule for user-supplied C++ files build/source/%.o: ./source/%.cpp @echo 'Building file: $<' @echo 'Invoking: GCC C++ Compiler' - g++ -I./include -I/usr/xenomai/include -I/usr/arm-linux-gnueabihf/include/xenomai/include -I/usr/arm-linux-gnueabihf/include/ne10 -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + g++ -I./include $(INCLUDES) -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" @echo 'Finished building: $<' @echo ' ' - + # Rule for user-supplied C files build/source/%.o: ./source/%.c @echo 'Building file: $<' @echo 'Invoking: GCC C Compiler' - gcc -I./include -I/usr/xenomai/include -I/usr/arm-linux-gnueabihf/include/xenomai/include -I/usr/arm-linux-gnueabihf/include/ne10 -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" + gcc -I./include $(INCLUDES) -O2 -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" @echo 'Finished building: $<' @echo ' ' - + # Rule for user-supplied assembly files build/source/%.o: ./source/%.S @echo 'Building file: $<' @@ -102,7 +105,7 @@ @echo 'Finished building target: $@' @echo ' ' # $(MAKE) --no-print-directory post-build - + # Rule for building BeagleRT including the default main file (no user-supplied main()) BeagleRT_with_main: $(CORE_OBJS) $(DEFAULT_MAIN_OBJS) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) @echo 'Building target: $@'
--- a/include/Utilities.h Fri Jul 17 15:28:18 2015 +0100 +++ b/include/Utilities.h Fri Jul 17 16:57:08 2015 +0100 @@ -32,8 +32,58 @@ // Likewise, thread launch should be able to be called from setup() // Also, make volume change functions callable from render() thread -- as an aux task? +/** + * \brief Read an analog input, specifying the frame number (when to read) and the channel. + * + * This function returns the value of an analog input, at the time indicated by \c frame. + * The returned value ranges from 0 to 1, corresponding to a voltage range of 0 to 4.096V. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to read the analog input. Valid values range + * from 0 to (context->analogFrames - 1). + * \param channel Which analog input to read. Valid values are between 0 and + * (context->analogChannels - 1), typically 0 to 7 by default. + * \return Value of the analog input, range 0 to 1. + */ float analogReadFrame(BeagleRTContext *context, int frame, int channel); + +/** + * \brief Write an analog output, specifying the frame number (when to write) and the channel. + * + * This function sets the value of an analog output, at the time indicated by \c frame. Valid + * values are between 0 and 1, corresponding to the range 0 to 5V. + * + * The value written will persist for all future frames if BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST + * is set in context->flags. This is the default behaviour. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to write the analog output. Valid values range + * from 0 to (context->analogFrames - 1). + * \param channel Which analog output to write. Valid values are between 0 and + * (context->analogChannels - 1), typically 0 to 7 by default. + * \param value Value to write to the output, range 0 to 1. + */ void analogWriteFrame(BeagleRTContext *context, int frame, int channel, float value); + +/** + * \brief Write an analog output, specifying the frame number (when to write) and the channel. + * + * This function sets the value of an analog output, at the time indicated by \c frame. Valid + * values are between 0 and 1, corresponding to the range 0 to 5V. + * + * Unlike analogWriteFrame(), the value written will affect \b only the frame specified, with + * future values unchanged. This is more efficient than analogWriteFrame() so is better suited + * to applications where every frame will be written to a different value. If + * BEAGLERT_FLAG_ANALOG_OUTPUTS_PERSIST is not set within context->flags, then + * analogWriteFrameOnce() and analogWriteFrame() are equivalent. + * + * \param context The I/O data structure which is passed by BeagleRT to render(). + * \param frame Which frame (i.e. what time) to write the analog output. Valid values range + * from 0 to (context->analogFrames - 1). + * \param channel Which analog output to write. Valid values are between 0 and + * (context->analogChannels - 1), typically 0 to 7 by default. + * \param value Value to write to the output, range 0 to 1. + */ void analogWriteFrameOnce(BeagleRTContext *context, int frame, int channel, float value); int digitalReadFrame(BeagleRTContext *context, int frame, int channel);
--- a/projects/d-box/DboxSensors.h Fri Jul 17 15:28:18 2015 +0100 +++ b/projects/d-box/DboxSensors.h Fri Jul 17 16:57:08 2015 +0100 @@ -21,7 +21,7 @@ #include "I2c_TouchKey.h" #include "AnalogInput.h" -#include "../../include/GPIOcontrol.h" // TODO wrap this into a class +#include <GPIOcontrol.h> // TODO wrap this into a class /*--------------------------------------------------------------------------------------------------------------------------------------------------- * This class retrieves data from all the connected sensors,
--- a/projects/d-box/I2c_TouchKey.h Fri Jul 17 15:28:18 2015 +0100 +++ b/projects/d-box/I2c_TouchKey.h Fri Jul 17 16:57:08 2015 +0100 @@ -8,7 +8,7 @@ #ifndef I2CTK_H_ #define I2CTK_H_ -#include "../../include/I2c.h" +#include <I2c.h> // #define NUM_BYTES_OLD 9 // #define NUM_BYTES_NEW 13
--- a/projects/d-box/StatusLED.cpp Fri Jul 17 15:28:18 2015 +0100 +++ b/projects/d-box/StatusLED.cpp Fri Jul 17 16:57:08 2015 +0100 @@ -9,7 +9,7 @@ #include <iostream> #include "StatusLED.h" -#include "../../include/GPIOcontrol.h" +#include <GPIOcontrol.h> extern int gShouldStop; extern int gVerbose;
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/projects/d-box/how_to_build_dbox.txt Fri Jul 17 16:57:08 2015 +0100 @@ -0,0 +1,35 @@ +The D-Box code can be built on the board using the scripts included with +BeagleRT. To build the code, do the following from the scripts/ directory: + +./setup_board.sh # Only if BeagleRT is not already copied to the board +./build_project.sh -n ../projects/d-box # -n means don't run yet + +You will now need to copy the .dbx sound files to the box. These need to +be in a directory: /root/d-box/sounds + +Log into the board via ssh to create the d-box directory, or run: + +ssh root@192.168.7.2 "mkdir /root/d-box" + +Now copy the .dbx files from a source of your choice to the board. Assuming +they are in a directory called "sounds": + +scp -r sounds root@192.168.7.2:/root/d-box/ + +Now you can run the D-Box program to make sure it plays. You will need the +sensors and matrix connected to the box (i.e. a complete hardware D-Box). +From the scripts/ directory: + +./run_project.sh -f -c "-q 24 -r 25 -t 2 -s -p 2 -l 0 -u 0 -i 1 -n f -g 3 -v" + +If this plays properly, the D-Box can then be set to run automatically on boot: + +./set_startup.sh -l -c "-q 24 -r 25 -t 2 -s -p 2 -l 0 -u 0 -i 1 -n f -g 3 -v" + +If at any time you want to stop the D-Box program running, you can run: + +./stop_running.sh + +To turn off further autoboot, run: + +./set_startup.sh -n
--- a/projects/d-box/main.cpp Fri Jul 17 15:28:18 2015 +0100 +++ b/projects/d-box/main.cpp Fri Jul 17 16:57:08 2015 +0100 @@ -76,7 +76,7 @@ char sdPath[256] = "/dev/mmcblk0p2"; // system path of the SD, partition 2 char mountPath[256] = "/root/d-box/usersounds"; // mount point of SD partition 2 [where user files are] char gUserDirName[256] = "usersounds"; // Directory in which user analysis files can be found [dir of mountPath] -char gDefaultDirName[256] = "sounds"; // Directory in which built in analysis files can be found +char gDefaultDirName[256] = "/root/d-box/sounds"; // Directory in which built in analysis files can be found char *gDirName; bool gIsLoading = false; int fileCnt = 0;
--- a/projects/tank_wars/game.cpp Fri Jul 17 15:28:18 2015 +0100 +++ b/projects/tank_wars/game.cpp Fri Jul 17 16:57:08 2015 +0100 @@ -8,7 +8,7 @@ #include <cmath> #include <cstdlib> #include "vector_graphics.h" -#include "../../include/Utilities.h" +#include <Utilities.h> // Virtual screen size int screenWidth, screenHeight;