The host code always issues a get_config command immediately after
finalize_config, so there is no need to send the two config response
messages.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the spi_config commands so that bus configuration and shutdown
message configuration is done separately from the main "config_spi"
command. This makes the spi configuration more flexible. It's now
possible to use software spi without a CS pin. It's now possible to
define multiple SPI messages to send on a shutdown event.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make it clear that the name of the constant being defined is a string.
When the value being defined is also a string, use a new
DECL_CONSTANT_STR() macro.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the get_status command to get_clock. Don't report the shutdown
status in the new get_clock command.
The primary purpose of this change is to force the host code to report
a firmware version mismatch with older firmwares as recent changes
(namely the ordering of message block acks) have subtle
incompatibilities if different host/mcu code is used.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Normally, the MCU is restarted on a config change. However, that
should not be done automatically if the MCU is in a shutdown state.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Track when tasks are pending and spin in irq_wait() when no tasks are
pending. This improves the mechanism for sleeping the processor -
it's simpler for the board specific code and it reduces the
possibility of the processor sleeping when tasks are busy.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement new dynmem_start() and dynmem_end() functions instead of
alloc_chunk() and alloc_chunks() in the board code. This simplifies
the board code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid using linker magic to define the init, task, and shutdown
functions. Instead, use the compile_time_request system. This
simplifies the build and produces more efficient code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a new board function alloc_chunk() to allocate dynamic
memory. This allows the board code to implement memory allocations
without using the standard malloc() interface.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move sched_is_before() from sched.c to timer_is_before() in the board
specific timer code. This allows the board code to provide its own
definition.
Also, remove the sched_from_us() and sched_read_time() wrapper
functions and change the callers to directly invoke timer_from_us() /
timer_read_time().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's better to not have the unimplemented command defined so that the
host can detect when it is actually implemented.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Consistently use an "oid_" prefix on the oid functions - this makes
them similar to other functions with a common prefix.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Detect the maximum size of each "move queue" item during the
configuration phase instead of using the stepper move struct. This
allows the stepper code to be contained entirely in stepper.c and it
allows for future run time allocations from other types of objects.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store a full 64bit uptime in the mcu and query it at the start of each
connection. This ensures the host's 64bit clock is always in synch
with the mcu's clock.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use a base of 256 instead of 65536 when calculating the sum of the
square of the clock differences in the stats. This makes the
calculation more accurate. Export the new base via DECL_CONSTANT for
the host to access. Use DIV_ROUND_UP() when adjusting for the base to
ensure no lost ticks. Do the division after multiplication in the
common case where the time between stats_task() invocations is less
than 64K ticks.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some architectures are faster passing regular integers than 8bit
integers. Use uint_fast8_t so that the architecture chooses the
appropriate type.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The AVR wants a uint8_t return type for irq_save(), but other
architectures will generally prefer int. Allow the board to configure
the size of the flag by introducing an irqstatus_t typedef.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor