Merge pull request #35 from ROBOTIS-GIT/develop

merge from develop
ROBOTIS-GIT · Mar 22, 2017 · aee6189 · aee6189
2 parents 22167e0 + 1c03e71
commit aee6189
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diff --git a/arduino/opencr_arduino/opencr/.cproject b/arduino/opencr_arduino/opencr/.cproject
diff --git a/arduino/opencr_arduino/opencr/.settings/language.settings.xml b/arduino/opencr_arduino/opencr/.settings/language.settings.xml
diff --git a/arduino/opencr_arduino/opencr/.settings/org.eclipse.ltk.core.refactoring.prefs b/arduino/opencr_arduino/opencr/.settings/org.eclipse.ltk.core.refactoring.prefs
diff --git a/arduino/opencr_arduino/opencr/Makefile b/arduino/opencr_arduino/opencr/Makefile
diff --git a/arduino/opencr_arduino/opencr/boards.txt b/arduino/opencr_arduino/opencr/boards.txt
@@ -18,20 +18,20 @@ OpenCR.upload.params.quiet=no
 OpenCR.build.mcu=cortex-m7
 OpenCR.build.f_cpu=216000000L
 OpenCR.build.board=OpenCR
-OpenCR.build.core=mapleMX
-OpenCR.build.common_flags=-mthumb  -DSTM32F746xx -D__OPENCR__  
+OpenCR.build.core=arduino
+OpenCR.build.common_flags=-mthumb  -DSTM32F746xx -D__OPENCR__
 
-OpenCR.build.ldscript=bsp/opencr/ld/opencr_flash.ld
+OpenCR.build.ldscript=bsp/opencr/ldscript/opencr_flash.ld
 OpenCR.build.variant=OpenCR
 OpenCR.build.variant_system_lib=lib_f746.a
 OpenCR.build.extra_flags=
 
 
-OpenCR.build.inc1=src
-OpenCR.build.inc2=bsp/opencr
-OpenCR.build.inc3=bsp/opencr/include
-OpenCR.build.inc4=bsp/opencr/cfg
-OpenCR.build.inc5=hal
+OpenCR.build.inc1=bsp/opencr
+OpenCR.build.inc2=bsp/opencr/include
+OpenCR.build.inc3=hw
+OpenCR.build.inc4=hw/driver
+OpenCR.build.inc5=hw/usb_cdc
 OpenCR.build.inc6=lib/STM32F7xx_HAL_Driver/Inc/
 OpenCR.build.inc7=
 

diff --git a/...cr_arduino/opencr/cores/mapleMX/Arduino.h → ...cr_arduino/opencr/cores/arduino/Arduino.h b/...cr_arduino/opencr/cores/mapleMX/Arduino.h → ...cr_arduino/opencr/cores/arduino/Arduino.h
@@ -33,8 +33,7 @@
 #include <avr/interrupt.h>
 
 #include "binary.h"
-#include "hal.h"
-#include "drv.h"
+#include "hw.h"
 #include "itoa.h"
 
 #ifdef __cplusplus

diff --git a/...ncr_arduino/opencr/cores/mapleMX/Client.h → ...ncr_arduino/opencr/cores/arduino/Client.h b/...ncr_arduino/opencr/cores/mapleMX/Client.h → ...ncr_arduino/opencr/cores/arduino/Client.h
diff --git a/...ino/opencr/cores/mapleMX/HardwareSerial.h → ...ino/opencr/cores/arduino/HardwareSerial.h b/...ino/opencr/cores/mapleMX/HardwareSerial.h → ...ino/opencr/cores/arduino/HardwareSerial.h
@@ -26,8 +26,8 @@
 class HardwareSerial : public Stream
 {
   public:
-    virtual void begin(unsigned long);
-    virtual void end();
+    virtual void begin(unsigned long) = 0;
+    virtual void end() = 0;
     virtual int available(void) = 0;
     virtual int peek(void) = 0;
     virtual int read(void) = 0;

diff --git a/...no/opencr/cores/mapleMX/HardwareTimer.cpp → ...no/opencr/cores/arduino/HardwareTimer.cpp b/...no/opencr/cores/mapleMX/HardwareTimer.cpp → ...no/opencr/cores/arduino/HardwareTimer.cpp
@@ -27,6 +27,7 @@
 #include  <chip.h>
 
 #include <USBSerial.h>
+#include "drv_timer.h"
 #include "variant.h"
 #include "HardwareTimer.h"
 

diff --git a/...uino/opencr/cores/mapleMX/HardwareTimer.h → ...uino/opencr/cores/arduino/HardwareTimer.h b/...uino/opencr/cores/mapleMX/HardwareTimer.h → ...uino/opencr/cores/arduino/HardwareTimer.h
@@ -29,7 +29,7 @@
 #define _HARDWARETIMER_H_
 
 #include <inttypes.h>
-#include "drv_timer.h"
+
 
 
 
@@ -43,7 +43,7 @@ class HardwareTimer {
     void pause(void);
     void resume(void);
     void stop(void);
-    void start(void);    
+    void start(void);
     uint16_t setPeriod(uint32_t microseconds);
     void attachInterrupt(voidFuncPtr handler);
     void detachInterrupt(void);

diff --git a/..._arduino/opencr/cores/mapleMX/IPAddress.h → ..._arduino/opencr/cores/arduino/IPAddress.h b/..._arduino/opencr/cores/mapleMX/IPAddress.h → ..._arduino/opencr/cores/arduino/IPAddress.h
diff --git a/...cr_arduino/opencr/cores/mapleMX/Print.cpp → ...cr_arduino/opencr/cores/arduino/Print.cpp b/...cr_arduino/opencr/cores/mapleMX/Print.cpp → ...cr_arduino/opencr/cores/arduino/Print.cpp
diff --git a/...encr_arduino/opencr/cores/mapleMX/Print.h → ...encr_arduino/opencr/cores/arduino/Print.h b/...encr_arduino/opencr/cores/mapleMX/Print.h → ...encr_arduino/opencr/cores/arduino/Print.h
diff --git a/..._arduino/opencr/cores/mapleMX/Printable.h → ..._arduino/opencr/cores/arduino/Printable.h b/..._arduino/opencr/cores/mapleMX/Printable.h → ..._arduino/opencr/cores/arduino/Printable.h
diff --git a/...encr_arduino/opencr/cores/mapleMX/Reset.h → ...encr_arduino/opencr/cores/arduino/Reset.h b/...encr_arduino/opencr/cores/mapleMX/Reset.h → ...encr_arduino/opencr/cores/arduino/Reset.h
diff --git a/...duino/opencr/cores/mapleMX/RingBuffer.cpp → ...duino/opencr/cores/arduino/RingBuffer.cpp b/...duino/opencr/cores/mapleMX/RingBuffer.cpp → ...duino/opencr/cores/arduino/RingBuffer.cpp
diff --git a/...arduino/opencr/cores/mapleMX/RingBuffer.h → ...arduino/opencr/cores/arduino/RingBuffer.h b/...arduino/opencr/cores/mapleMX/RingBuffer.h → ...arduino/opencr/cores/arduino/RingBuffer.h
diff --git a/...ncr_arduino/opencr/cores/mapleMX/Server.h → ...ncr_arduino/opencr/cores/arduino/Server.h b/...ncr_arduino/opencr/cores/mapleMX/Server.h → ...ncr_arduino/opencr/cores/arduino/Server.h
diff --git a/...r_arduino/opencr/cores/mapleMX/Stream.cpp → ...r_arduino/opencr/cores/arduino/Stream.cpp b/...r_arduino/opencr/cores/mapleMX/Stream.cpp → ...r_arduino/opencr/cores/arduino/Stream.cpp
diff --git a/...ncr_arduino/opencr/cores/mapleMX/Stream.h → ...ncr_arduino/opencr/cores/arduino/Stream.h b/...ncr_arduino/opencr/cores/mapleMX/Stream.h → ...ncr_arduino/opencr/cores/arduino/Stream.h
diff --git a/...ncr_arduino/opencr/cores/mapleMX/Tone.cpp → ...ncr_arduino/opencr/cores/arduino/Tone.cpp b/...ncr_arduino/opencr/cores/mapleMX/Tone.cpp → ...ncr_arduino/opencr/cores/arduino/Tone.cpp
diff --git a/...pencr_arduino/opencr/cores/mapleMX/Tone.h → ...pencr_arduino/opencr/cores/arduino/Tone.h b/...pencr_arduino/opencr/cores/mapleMX/Tone.h → ...pencr_arduino/opencr/cores/arduino/Tone.h
diff --git a/...rduino/opencr/cores/mapleMX/UARTClass.cpp → ...rduino/opencr/cores/arduino/UARTClass.cpp b/...rduino/opencr/cores/mapleMX/UARTClass.cpp → ...rduino/opencr/cores/arduino/UARTClass.cpp
diff --git a/..._arduino/opencr/cores/mapleMX/UARTClass.h → ..._arduino/opencr/cores/arduino/UARTClass.h b/..._arduino/opencr/cores/mapleMX/UARTClass.h → ..._arduino/opencr/cores/arduino/UARTClass.h
diff --git a/...rduino/opencr/cores/mapleMX/USBSerial.cpp → ...rduino/opencr/cores/arduino/USBSerial.cpp b/...rduino/opencr/cores/mapleMX/USBSerial.cpp → ...rduino/opencr/cores/arduino/USBSerial.cpp
diff --git a/..._arduino/opencr/cores/mapleMX/USBSerial.h → ..._arduino/opencr/cores/arduino/USBSerial.h b/..._arduino/opencr/cores/mapleMX/USBSerial.h → ..._arduino/opencr/cores/arduino/USBSerial.h
diff --git a/...opencr_arduino/opencr/cores/mapleMX/Udp.h → ...opencr_arduino/opencr/cores/arduino/Udp.h b/...opencr_arduino/opencr/cores/mapleMX/Udp.h → ...opencr_arduino/opencr/cores/arduino/Udp.h
diff --git a/...arduino/opencr/cores/mapleMX/WCharacter.h → ...arduino/opencr/cores/arduino/WCharacter.h b/...arduino/opencr/cores/mapleMX/WCharacter.h → ...arduino/opencr/cores/arduino/WCharacter.h
diff --git a/...rduino/opencr/cores/mapleMX/WInterrupts.c → ...rduino/opencr/cores/arduino/WInterrupts.c b/...rduino/opencr/cores/mapleMX/WInterrupts.c → ...rduino/opencr/cores/arduino/WInterrupts.c
diff --git a/...rduino/opencr/cores/mapleMX/WInterrupts.h → ...rduino/opencr/cores/arduino/WInterrupts.h b/...rduino/opencr/cores/mapleMX/WInterrupts.h → ...rduino/opencr/cores/arduino/WInterrupts.h
diff --git a/...cr_arduino/opencr/cores/mapleMX/WMath.cpp → ...cr_arduino/opencr/cores/arduino/WMath.cpp b/...cr_arduino/opencr/cores/mapleMX/WMath.cpp → ...cr_arduino/opencr/cores/arduino/WMath.cpp
diff --git a/...encr_arduino/opencr/cores/mapleMX/WMath.h → ...encr_arduino/opencr/cores/arduino/WMath.h b/...encr_arduino/opencr/cores/mapleMX/WMath.h → ...encr_arduino/opencr/cores/arduino/WMath.h
diff --git a/..._arduino/opencr/cores/mapleMX/WString.cpp → ..._arduino/opencr/cores/arduino/WString.cpp b/..._arduino/opencr/cores/mapleMX/WString.cpp → ..._arduino/opencr/cores/arduino/WString.cpp
diff --git a/...cr_arduino/opencr/cores/mapleMX/WString.h → ...cr_arduino/opencr/cores/arduino/WString.h b/...cr_arduino/opencr/cores/mapleMX/WString.h → ...cr_arduino/opencr/cores/arduino/WString.h
diff --git a/...rduino/opencr/cores/mapleMX/avr/dtostrf.c → ...rduino/opencr/cores/arduino/avr/dtostrf.c b/...rduino/opencr/cores/mapleMX/avr/dtostrf.c → ...rduino/opencr/cores/arduino/avr/dtostrf.c
diff --git a/...rduino/opencr/cores/mapleMX/avr/dtostrf.h → ...rduino/opencr/cores/arduino/avr/dtostrf.h b/...rduino/opencr/cores/mapleMX/avr/dtostrf.h → ...rduino/opencr/cores/arduino/avr/dtostrf.h
diff --git a/...uino/opencr/cores/mapleMX/avr/interrupt.h → ...uino/opencr/cores/arduino/avr/interrupt.h b/...uino/opencr/cores/mapleMX/avr/interrupt.h → ...uino/opencr/cores/arduino/avr/interrupt.h
diff --git a/...duino/opencr/cores/mapleMX/avr/pgmspace.h → ...duino/opencr/cores/arduino/avr/pgmspace.h b/...duino/opencr/cores/mapleMX/avr/pgmspace.h → ...duino/opencr/cores/arduino/avr/pgmspace.h
diff --git a/...ncr_arduino/opencr/cores/mapleMX/binary.h → ...ncr_arduino/opencr/cores/arduino/binary.h b/...ncr_arduino/opencr/cores/mapleMX/binary.h → ...ncr_arduino/opencr/cores/arduino/binary.h
diff --git a/...pencr_arduino/opencr/cores/mapleMX/itoa.c → ...pencr_arduino/opencr/cores/arduino/itoa.c b/...pencr_arduino/opencr/cores/mapleMX/itoa.c → ...pencr_arduino/opencr/cores/arduino/itoa.c
@@ -8,7 +8,7 @@
 
   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
   See the GNU Lesser General Public License for more details.
 
   You should have received a copy of the GNU Lesser General Public
@@ -23,48 +23,6 @@
 extern "C"{
 #endif // __cplusplus
 
-#if 0
-/* reverse:  reverse string s in place */
-static void reverse( char s[] )
-{
-  int i, j ;
-  char c ;
-
-  for ( i = 0, j = strlen(s)-1 ; i < j ; i++, j-- )
-  {
-    c = s[i] ;
-    s[i] = s[j] ;
-    s[j] = c ;
-  }
-}
-
-/* itoa:  convert n to characters in s */
-extern void itoa( int n, char s[] )
-{
-  int i, sign ;
-
-  if ( (sign = n) < 0 )  /* record sign */
-  {
-    n = -n;          /* make n positive */
-  }
-
-  i = 0;
-  do
-  {       /* generate digits in reverse order */
-    s[i++] = n % 10 + '0';   /* get next digit */
-  } while ((n /= 10) > 0) ;     /* delete it */
-
-  if (sign < 0 )
-  {
-    s[i++] = '-';
-  }
-
-  s[i] = '\0';
-
-  reverse( s ) ;
-}
-
-#else
 
 extern char* itoa( int value, char *string, int radix )
 {
@@ -143,7 +101,7 @@ extern char* ultoa( unsigned long value, char *string, int radix )
   {
     return 0;
   }
- 
+
   while (v || tp == tmp)
   {
     i = v % radix;
@@ -156,14 +114,14 @@ extern char* ultoa( unsigned long value, char *string, int radix )
 
   sp = string;
 
- 
+
   while (tp > tmp)
     *sp++ = *--tp;
   *sp = 0;
 
   return string;
 }
-#endif /* 0 */
+
 
 #ifdef __cplusplus
 } // extern "C"

diff --git a/...pencr_arduino/opencr/cores/mapleMX/itoa.h → ...pencr_arduino/opencr/cores/arduino/itoa.h b/...pencr_arduino/opencr/cores/mapleMX/itoa.h → ...pencr_arduino/opencr/cores/arduino/itoa.h
diff --git a/...encr_arduino/opencr/cores/mapleMX/new.cpp → ...encr_arduino/opencr/cores/arduino/new.cpp b/...encr_arduino/opencr/cores/mapleMX/new.cpp → ...encr_arduino/opencr/cores/arduino/new.cpp
diff --git a/...r_arduino/opencr/cores/mapleMX/syscalls.h → ...r_arduino/opencr/cores/arduino/syscalls.h b/...r_arduino/opencr/cores/mapleMX/syscalls.h → ...r_arduino/opencr/cores/arduino/syscalls.h
diff --git a/...ncr_arduino/opencr/cores/mapleMX/wiring.c → ...ncr_arduino/opencr/cores/arduino/wiring.c b/...ncr_arduino/opencr/cores/mapleMX/wiring.c → ...ncr_arduino/opencr/cores/arduino/wiring.c
@@ -17,7 +17,7 @@
 */
 
 #include "Arduino.h"
-
+#include "drv_micros.h"
 #ifdef __cplusplus
 extern "C" {
 #endif

diff --git a/...ncr_arduino/opencr/cores/mapleMX/wiring.h → ...ncr_arduino/opencr/cores/arduino/wiring.h b/...ncr_arduino/opencr/cores/mapleMX/wiring.h → ...ncr_arduino/opencr/cores/arduino/wiring.h
diff --git a/...uino/opencr/cores/mapleMX/wiring_analog.c → ...uino/opencr/cores/arduino/wiring_analog.c b/...uino/opencr/cores/mapleMX/wiring_analog.c → ...uino/opencr/cores/arduino/wiring_analog.c
diff --git a/...uino/opencr/cores/mapleMX/wiring_analog.h → ...uino/opencr/cores/arduino/wiring_analog.h b/...uino/opencr/cores/mapleMX/wiring_analog.h → ...uino/opencr/cores/arduino/wiring_analog.h
diff --git a/...o/opencr/cores/mapleMX/wiring_constants.h → ...o/opencr/cores/arduino/wiring_constants.h b/...o/opencr/cores/mapleMX/wiring_constants.h → ...o/opencr/cores/arduino/wiring_constants.h
diff --git a/...ino/opencr/cores/mapleMX/wiring_digital.c → ...ino/opencr/cores/arduino/wiring_digital.c b/...ino/opencr/cores/mapleMX/wiring_digital.c → ...ino/opencr/cores/arduino/wiring_digital.c
diff --git a/...ino/opencr/cores/mapleMX/wiring_digital.h → ...ino/opencr/cores/arduino/wiring_digital.h b/...ino/opencr/cores/mapleMX/wiring_digital.h → ...ino/opencr/cores/arduino/wiring_digital.h
diff --git a/...ino/opencr/cores/mapleMX/wiring_private.h → ...ino/opencr/cores/arduino/wiring_private.h b/...ino/opencr/cores/mapleMX/wiring_private.h → ...ino/opencr/cores/arduino/wiring_private.h
diff --git a/...duino/opencr/cores/mapleMX/wiring_pulse.c → ...duino/opencr/cores/arduino/wiring_pulse.c b/...duino/opencr/cores/mapleMX/wiring_pulse.c → ...duino/opencr/cores/arduino/wiring_pulse.c
diff --git a/...duino/opencr/cores/mapleMX/wiring_pulse.h → ...duino/opencr/cores/arduino/wiring_pulse.h b/...duino/opencr/cores/mapleMX/wiring_pulse.h → ...duino/opencr/cores/arduino/wiring_pulse.h
diff --git a/...duino/opencr/cores/mapleMX/wiring_shift.c → ...duino/opencr/cores/arduino/wiring_shift.c b/...duino/opencr/cores/mapleMX/wiring_shift.c → ...duino/opencr/cores/arduino/wiring_shift.c
diff --git a/...duino/opencr/cores/mapleMX/wiring_shift.h → ...duino/opencr/cores/arduino/wiring_shift.h b/...duino/opencr/cores/mapleMX/wiring_shift.h → ...duino/opencr/cores/arduino/wiring_shift.h
diff --git a/...cr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk_opencr/port_handler_opencr.cpp b/...cr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk_opencr/port_handler_opencr.cpp
@@ -73,23 +73,6 @@ void PortHandlerOpenCR::closePort()
 void PortHandlerOpenCR::clearPort()
 {
   DYNAMIXEL_SERIAL.flush();
-  // double tTime;
-  //
-  // tTime = getCurrentTime();
-  // while(1)
-  // {
-  //   if (DYNAMIXEL_SERIAL.available())
-  //   {
-  //     DYNAMIXEL_SERIAL.read();
-  //   }
-  //   else
-  //   {
-  //     break;
-  //   }
-  //
-  //   if (getCurrentTime() - tTime > 1000)
-  //     break;
-  // }
 }
 
 void PortHandlerOpenCR::setPortName(const char *port_name)
@@ -176,6 +159,7 @@ bool PortHandlerOpenCR::isPacketTimeout()
     packet_timeout_ = 0;
     return true;
   }
+
   return false;
 }