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qrobosdk: コミット


コミットメタ情報

リビジョン1923 (tree)
日時2010-09-21 03:15:26
作者satofumi

ログメッセージ

rom 用のリンカスクリプトを修正

変更サマリ

差分

--- branches/tsukuba_2010/libs/run_drive/Makefile (revision 1922)
+++ branches/tsukuba_2010/libs/run_drive/Makefile (revision 1923)
@@ -14,7 +14,7 @@
1414 LD_ROM_FOR_BUILD = $(SOURCE_DIR)/aki_sh7125_rom.x
1515
1616
17-TARGET = run_drive.mot run_drive.rom
17+TARGET = run_drive.mot run_drive.rom run_drive.dis
1818 all : $(TARGET)
1919
2020 clean :
@@ -28,7 +28,7 @@
2828
2929 .PHONY : all clean html upload
3030 ######################################################################
31-run_drive.mot run_drive.rom : run_drive.o setup_state.o control_state.o pause_state.o clock_initialize.o imask.o run_system.o connection.o connection_utilities.o protocol_handler.o sci_interrupt_read_write.o emergency_io_control.o timer_control.o path_follow.o position_handler.o velocity_handler.o body_handler.o wheel_velocity.o motor_velocity.o motor_pwm.o encoder_reader.o odometry_calculate.o mtu2_initialize.o ring_buffer.o run_commands.o htoi.o
31+run_drive.mot run_drive.rom run_drive.dis : run_drive.o setup_state.o control_state.o pause_state.o clock_initialize.o imask.o run_system.o connection.o connection_utilities.o protocol_handler.o sci_interrupt_read_write.o emergency_io_control.o timer_control.o path_follow.o position_handler.o velocity_handler.o body_handler.o wheel_velocity.o motor_velocity.o motor_pwm.o encoder_reader.o odometry_calculate.o mtu2_initialize.o ring_buffer.o run_commands.o htoi.o
3232
3333 # DO NOT DELETE
3434
--- branches/tsukuba_2010/libs/run_drive/test/Run_commands_test.cpp (revision 1922)
+++ branches/tsukuba_2010/libs/run_drive/test/Run_commands_test.cpp (revision 1923)
@@ -73,5 +73,11 @@
7373 reply_line = receive_response_line();
7474 CPPUNIT_ASSERT_EQUAL(string("WV0\n"), reply_line);
7575 CPPUNIT_ASSERT_EQUAL(-1, run_.wheel[0].target_velocity);
76+
77+ // 範囲外の ID がエラーになるかのテスト
78+ send_command("WV20000\n");
79+ protocol_update(&run_);
80+ reply_line = receive_response_line();
81+ CPPUNIT_ASSERT_EQUAL(string("WV2\n"), reply_line);
7682 }
7783
--- branches/tsukuba_2010/libs/run_drive/samples/Makefile (revision 1922)
+++ branches/tsukuba_2010/libs/run_drive/samples/Makefile (revision 1923)
@@ -15,7 +15,7 @@
1515
1616
1717 TARGET = \
18- sci_write.mot \
18+ sci_write.mot sci_write.rom \
1919 sci_echoback.mot \
2020 timer_1sec.mot \
2121 timer_1sec.dis \
@@ -23,8 +23,8 @@
2323 motor_velocity_run.mot \
2424 encoder_print.mot \
2525 wheel_velocity_run.mot \
26- sci_interrupt_write.mot \
27- sci_interrupt_echoback.mot \
26+ sci_interrupt_write.mot sci_interrupt_write.rom \
27+ sci_interrupt_echoback.mot sci_interrupt_echoback.rom \
2828
2929 all : $(TARGET)
3030
@@ -38,7 +38,7 @@
3838 ######################################################################
3939 BASE_OBJ = $(SOURCE_DIR)/clock_initialize.o $(SOURCE_DIR)/imask.o
4040
41-sci_write.mot : sci_write.o $(BASE_OBJ) $(SOURCE_DIR)/sci_utilities.o $(SOURCE_DIR)/sci_read_write.o
41+sci_write.mot sci_write.rom : sci_write.o $(BASE_OBJ) $(SOURCE_DIR)/sci_utilities.o $(SOURCE_DIR)/sci_read_write.o
4242 sci_echoback.mot : sci_echoback.o $(BASE_OBJ) $(SOURCE_DIR)/sci_read_write.o
4343 timer_1sec.mot timer_1sec.dis : timer_1sec.o $(BASE_OBJ) $(SOURCE_DIR)/timer_control.o itoa.o $(SOURCE_DIR)/std_string.o $(SOURCE_DIR)/sci_read_write.o
4444 encoder_print.mot : encoder_print.o $(BASE_OBJ) $(SOURCE_DIR)/sci_utilities.o $(SOURCE_DIR)/encoder_reader.o $(SOURCE_DIR)/sci_read_write.o $(SOURCE_DIR)/mtu2_initialize.o $(SOURCE_DIR)/motor_pwm.o
@@ -46,8 +46,8 @@
4646 motor_velocity_run.mot : motor_velocity_run.o $(BASE_OBJ) $(SOURCE_DIR)/timer_control.o $(SOURCE_DIR)/encoder_reader.o $(SOURCE_DIR)/motor_pwm.o $(SOURCE_DIR)/motor_velocity.o $(SOURCE_DIR)/mtu2_initialize.o
4747 pwm_output.mot : pwm_output.o $(SOURCE_DIR)/pwm_control.o
4848 wheel_velocity_run.mot : wheel_velocity_run.o $(BASE_OBJ) $(SOURCE_DIR)/wheel_velocity.o $(SOURCE_DIR)/encoder_reader.o $(SOURCE_DIR)/motor_velocity.o $(SOURCE_DIR)/mtu2_initialize.o $(SOURCE_DIR)/motor_pwm.o $(SOURCE_DIR)/timer_control.o
49-sci_interrupt_write.mot : sci_interrupt_write.o $(BASE_OBJ) $(SOURCE_DIR)/sci_interrupt_read_write.o $(SOURCE_DIR)/sci_utilities.o $(SOURCE_DIR)/ring_buffer.o
50-sci_interrupt_echoback.mot : sci_interrupt_echoback.o $(BASE_OBJ) $(SOURCE_DIR)/sci_interrupt_read_write.o $(SOURCE_DIR)/ring_buffer.o
49+sci_interrupt_write.mot sci_interrupt_write.rom : sci_interrupt_write.o $(BASE_OBJ) $(SOURCE_DIR)/sci_interrupt_read_write.o $(SOURCE_DIR)/sci_utilities.o $(SOURCE_DIR)/ring_buffer.o
50+sci_interrupt_echoback.mot sci_interrupt_echoback.rom : sci_interrupt_echoback.o $(BASE_OBJ) $(SOURCE_DIR)/sci_interrupt_read_write.o $(SOURCE_DIR)/ring_buffer.o
5151
5252 # DO NOT DELETE
5353
--- branches/tsukuba_2010/libs/run_drive/run_commands.c (revision 1922)
+++ branches/tsukuba_2010/libs/run_drive/run_commands.c (revision 1923)
@@ -30,7 +30,7 @@
3030 run->run_system.mode = DIRECT_WHEEL_CONTROL;
3131 } else {
3232 // ID 範囲外のエラー
33- response[2] = '1';
33+ response[2] = '2';
3434 }
3535
3636 connection_write(response, 4);
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