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PyMite: add a new 'openpilot_sitl' platform which allows for stdio to the console and make it the default platform for win32 SiTL.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2436 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
cwabbott
cwabbott
parent
1f7f9486c3
commit
24a058c8c7
67
flight/Libraries/PyMite/platform/openpilot_sitl/SConscript
Normal file
67
flight/Libraries/PyMite/platform/openpilot_sitl/SConscript
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@ -0,0 +1,67 @@
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import os
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import glob
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TCHAIN = "arm-eabi"
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#TCHAIN = "arm-elf"
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#TCHAIN = "arm-none-eabi"
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Import("vars")
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vars.Add("PM_UART_BAUD", "Baud rate of the ipm serial connection.", "19200")
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vars.Add("IPM", "Add the interactive library to the standard lib", True)
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vars.Add("MCU", "Type of ARM device; the arg to -mcpu.", "cortex-m3")
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vars.Add("NM", "", "arm-eabi-nm")
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vars.Add("OBJCOPY", "", "%s-objcopy" % TCHAIN)
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vars.Add("OBJDUMP", "", "%s-objdump" % TCHAIN)
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vars.Add("SIZE", "", "%s-size" % TCHAIN)
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#vars.Add("DEBUG","", True)
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CFLAGS = " -DUART_BAUD=$PM_UART_BAUD -Dgcc" \
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" -DUSE_STDPERIPH_DRIVER -DSTM32F10X_HD" \
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" -Wall -Wimplicit" \
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" -mcpu=$MCU -mthumb -Os -fomit-frame-pointer -mlittle-endian" \
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" -ffunction-sections -fdata-sections -fno-strict-aliasing"
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LDFLAGS = "-mcpu=$MCU -mthumb -Wl,-T -Xlinker src/platform/stm32/stm32f10x.ld" \
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" -u _start-Wl,-e,Reset_Handler -Wl,-static -Wl,--gc-sections" \
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" -nostartfiles -Wl,--allow-multiple-definition"
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AFLAGS = "-x assembler-with-cpp $_CPPINCFLAGS -mcpu=$MCU -mthumb -Wall -c"
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if "DEBUG" in vars.args.keys():
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CFLAGS = "-g -gstabs -D__DEBUG__=1 " + CFLAGS
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SOURCES = ["main.c", "plat.c", "stm32f10x_it.c", "syscalls.c"]
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SOURCES += glob.glob("FWlib/src/*.c")
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SOURCES += glob.glob("FWlib/src/*.s")
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PY_SOURCES = ["main.py"]
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PM_LIB_ROOT = ["pmvm_%s" % vars.args["PLATFORM"]]
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env = Environment(variables = vars,
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CPPPATH = ["#src/vm", "#src/platform/stm32", "#src/platform/stm32/FWlib/inc"],
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CC = "%s-gcc" % TCHAIN,
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AS = "%s-gcc" % TCHAIN,
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ASFLAGS = AFLAGS,
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CCFLAGS = CFLAGS,
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CXX = "%s-g++" % TCHAIN,
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AR = "%s-ar" % TCHAIN,
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ARFLAGS = "rcs",
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RANLIB = "%s-ranlib" % TCHAIN,
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LINKFLAGS = LDFLAGS,
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ENV = os.environ)
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vmlib = SConscript(["../../vm/SConscript"], ["env", "vars"])
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pmfeatures = env.Command(["pmfeatures.h"], ["pmfeatures.py"],
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"src/tools/pmGenPmFeatures.py $SOURCE > $TARGET")
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img_sources = env.Command(["main_img.c", "main_nat.c"], [PY_SOURCES],
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"src/tools/pmImgCreator.py -f src/platform/stm32/pmfeatures.py -c -u " \
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"-o src/platform/stm32/main_img.c " \
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"--native-file=src/platform/stm32/main_nat.c $SOURCES")
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elf = env.Program("main.elf", SOURCES + img_sources + vmlib,
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LIBS = [PM_LIB_ROOT,"c","gcc","m"], LIBPATH = ["../../vm"])
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bin = env.Command("main.bin", "main.elf", "$OBJCOPY -O binary $SOURCE $TARGET")
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307
flight/Libraries/PyMite/platform/openpilot_sitl/plat.c
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307
flight/Libraries/PyMite/platform/openpilot_sitl/plat.c
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@ -0,0 +1,307 @@
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/**
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* @file plat.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PyMite platform definitions for OpenPilot
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pm.h"
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#include "openpilot.h"
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PmReturn_t plat_init(void)
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{
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return PM_RET_OK;
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}
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PmReturn_t plat_deinit(void)
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{
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return PM_RET_OK;
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}
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/*
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* Gets a byte from the address in the designated memory space
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* Post-increments *paddr.
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*/
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uint8_t plat_memGetByte(PmMemSpace_t memspace, uint8_t const **paddr)
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{
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uint8_t b = 0;
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switch (memspace)
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{
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case MEMSPACE_RAM:
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case MEMSPACE_PROG:
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b = **paddr;
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*paddr += 1;
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return b;
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case MEMSPACE_EEPROM:
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case MEMSPACE_SEEPROM:
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case MEMSPACE_OTHER0:
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case MEMSPACE_OTHER1:
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case MEMSPACE_OTHER2:
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case MEMSPACE_OTHER3:
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default:
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return 0;
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}
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}
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PmReturn_t plat_getByte(uint8_t *b)
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{
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int c;
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PmReturn_t retval = PM_RET_OK;
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c = getchar();
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*b = c & 0xFF;
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if (c == EOF)
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{
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PM_RAISE(retval, PM_RET_EX_IO);
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}
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return retval;
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}
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PmReturn_t plat_putByte(uint8_t b)
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{
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int i;
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PmReturn_t retval = PM_RET_OK;
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i = putchar(b);
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fflush(stdout);
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if ((i != b) || (i == EOF))
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{
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PM_RAISE(retval, PM_RET_EX_IO);
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}
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return retval;
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}
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PmReturn_t plat_getMsTicks(uint32_t *r_ticks)
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{
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*r_ticks = xTaskGetTickCount() * portTICK_RATE_MS;
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return PM_RET_OK;
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}
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void plat_reportError(PmReturn_t result)
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{
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#ifdef HAVE_DEBUG_INFO
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#define LEN_FNLOOKUP 26
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#define LEN_EXNLOOKUP 17
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uint8_t res;
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pPmFrame_t pframe;
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pPmObj_t pstr;
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PmReturn_t retval;
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uint8_t bcindex;
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uint16_t bcsum;
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uint16_t linesum;
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uint16_t len_lnotab;
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uint8_t const *plnotab;
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uint16_t i;
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/* This table should match src/vm/fileid.txt */
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char const * const fnlookup[LEN_FNLOOKUP] = {
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"<no file>",
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"codeobj.c",
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"dict.c",
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"frame.c",
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"func.c",
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"global.c",
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"heap.c",
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"img.c",
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"int.c",
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"interp.c",
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"pmstdlib_nat.c",
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"list.c",
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"main.c",
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"mem.c",
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"module.c",
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"obj.c",
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"seglist.c",
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"sli.c",
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"strobj.c",
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"tuple.c",
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"seq.c",
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"pm.c",
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"thread.c",
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"float.c",
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"class.c",
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"bytearray.c",
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};
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/* This table should match src/vm/pm.h PmReturn_t */
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char const * const exnlookup[LEN_EXNLOOKUP] = {
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"Exception",
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"SystemExit",
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"IoError",
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"ZeroDivisionError",
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"AssertionError",
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"AttributeError",
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"ImportError",
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"IndexError",
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"KeyError",
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"MemoryError",
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"NameError",
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"SyntaxError",
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"SystemError",
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"TypeError",
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"ValueError",
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"StopIteration",
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"Warning",
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};
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/* Print traceback */
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printf("Traceback (most recent call first):\n");
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/* Get the top frame */
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pframe = gVmGlobal.pthread->pframe;
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/* If it's the native frame, print the native function name */
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if (pframe == (pPmFrame_t)&(gVmGlobal.nativeframe))
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{
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/* The last name in the names tuple of the code obj is the name */
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retval = tuple_getItem((pPmObj_t)gVmGlobal.nativeframe.nf_func->
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f_co->co_names, -1, &pstr);
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if ((retval) != PM_RET_OK)
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{
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printf(" Unable to get native func name.\n");
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return;
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}
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else
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{
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printf(" %s() __NATIVE__\n", ((pPmString_t)pstr)->val);
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}
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/* Get the frame that called the native frame */
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pframe = (pPmFrame_t)gVmGlobal.nativeframe.nf_back;
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}
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/* Print the remaining frame stack */
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for (; pframe != C_NULL; pframe = pframe->fo_back)
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{
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/* The last name in the names tuple of the code obj is the name */
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retval = tuple_getItem((pPmObj_t)pframe->fo_func->f_co->co_names,
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-1,
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&pstr);
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if ((retval) != PM_RET_OK) break;
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/*
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* Get the line number of the current bytecode. Algorithm comes from:
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* http://svn.python.org/view/python/trunk/Objects/lnotab_notes.txt?view=markup
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*/
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bcindex = pframe->fo_ip - pframe->fo_func->f_co->co_codeaddr;
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plnotab = pframe->fo_func->f_co->co_lnotab;
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len_lnotab = mem_getWord(MEMSPACE_PROG, &plnotab);
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bcsum = 0;
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linesum = pframe->fo_func->f_co->co_firstlineno;
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for (i = 0; i < len_lnotab; i += 2)
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{
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bcsum += mem_getByte(MEMSPACE_PROG, &plnotab);
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if (bcsum > bcindex) break;
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linesum += mem_getByte(MEMSPACE_PROG, &plnotab);
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}
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printf(" File \"%s\", line %d, in %s\n",
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((pPmFrame_t)pframe)->fo_func->f_co->co_filename,
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linesum,
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((pPmString_t)pstr)->val);
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}
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/* Print error */
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res = (uint8_t)result;
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if ((res > 0) && ((res - PM_RET_EX) < LEN_EXNLOOKUP))
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{
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printf("%s", exnlookup[res - PM_RET_EX]);
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}
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else
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{
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printf("Error code 0x%02X", result);
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}
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printf(" detected by ");
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if ((gVmGlobal.errFileId > 0) && (gVmGlobal.errFileId < LEN_FNLOOKUP))
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{
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printf("%s:", fnlookup[gVmGlobal.errFileId]);
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}
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else
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{
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printf("FileId 0x%02X line ", gVmGlobal.errFileId);
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}
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printf("%d\n", gVmGlobal.errLineNum);
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#else /* HAVE_DEBUG_INFO */
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/* Print error */
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printf("Error: 0x%02X\n", result);
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printf(" Release: 0x%02X\n", gVmGlobal.errVmRelease);
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printf(" FileId: 0x%02X\n", gVmGlobal.errFileId);
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printf(" LineNum: %d\n", gVmGlobal.errLineNum);
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/* Print traceback */
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{
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pPmObj_t pframe;
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pPmObj_t pstr;
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PmReturn_t retval;
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printf("Traceback (top first):\n");
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/* Get the top frame */
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pframe = (pPmObj_t)gVmGlobal.pthread->pframe;
|
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|
|
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|
/* If it's the native frame, print the native function name */
|
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if (pframe == (pPmObj_t)&(gVmGlobal.nativeframe))
|
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{
|
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|
|
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/* The last name in the names tuple of the code obj is the name */
|
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retval = tuple_getItem((pPmObj_t)gVmGlobal.nativeframe.nf_func->
|
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f_co->co_names, -1, &pstr);
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if ((retval) != PM_RET_OK)
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|
{
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|
printf(" Unable to get native func name.\n");
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|
return;
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|
}
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|
else
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|
{
|
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|
printf(" %s() __NATIVE__\n", ((pPmString_t)pstr)->val);
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|
}
|
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|
/* Get the frame that called the native frame */
|
||||||
|
pframe = (pPmObj_t)gVmGlobal.nativeframe.nf_back;
|
||||||
|
}
|
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|
|
||||||
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/* Print the remaining frame stack */
|
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|
for (;
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|
pframe != C_NULL;
|
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pframe = (pPmObj_t)((pPmFrame_t)pframe)->fo_back)
|
||||||
|
{
|
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|
/* The last name in the names tuple of the code obj is the name */
|
||||||
|
retval = tuple_getItem((pPmObj_t)((pPmFrame_t)pframe)->
|
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|
fo_func->f_co->co_names, -1, &pstr);
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|
if ((retval) != PM_RET_OK) break;
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|
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printf(" %s()\n", ((pPmString_t)pstr)->val);
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}
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printf(" <module>.\n");
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}
|
||||||
|
#endif /* HAVE_DEBUG_INFO */
|
||||||
|
|
||||||
|
/* TODO: Copy error information to UAVObject */
|
||||||
|
/* gVmGlobal.errVmRelease gVmGlobal.errFileId gVmGlobal.errLineNum */
|
||||||
|
}
|
||||||
31
flight/Libraries/PyMite/platform/openpilot_sitl/plat.h
Normal file
31
flight/Libraries/PyMite/platform/openpilot_sitl/plat.h
Normal file
@ -0,0 +1,31 @@
|
|||||||
|
/**
|
||||||
|
* @file plat.h
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||||
|
* @brief PyMite platform definitions for OpenPilot
|
||||||
|
*
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* 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 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program 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. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _PLAT_H_
|
||||||
|
#define _PLAT_H_
|
||||||
|
|
||||||
|
#define PM_HEAP_SIZE 0x2000
|
||||||
|
#define PM_FLOAT_LITTLE_ENDIAN
|
||||||
|
|
||||||
|
#endif /* _PLAT_H_ */
|
||||||
@ -0,0 +1,29 @@
|
|||||||
|
# This file is Copyright 2010 Dean Hall.
|
||||||
|
#
|
||||||
|
# This file is part of the Python-on-a-Chip program.
|
||||||
|
# Python-on-a-Chip is free software: you can redistribute it and/or modify
|
||||||
|
# it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1.
|
||||||
|
#
|
||||||
|
# Python-on-a-Chip 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.
|
||||||
|
# A copy of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1
|
||||||
|
# is seen in the file COPYING up one directory from this.
|
||||||
|
|
||||||
|
PM_FEATURES = {
|
||||||
|
"HAVE_PRINT": True,
|
||||||
|
"HAVE_GC": True,
|
||||||
|
"HAVE_FLOAT": True,
|
||||||
|
"HAVE_DEL": True,
|
||||||
|
"HAVE_IMPORTS": True,
|
||||||
|
"HAVE_DEFAULTARGS": True,
|
||||||
|
"HAVE_REPLICATION": True,
|
||||||
|
"HAVE_CLASSES": True,
|
||||||
|
"HAVE_ASSERT": True,
|
||||||
|
"HAVE_GENERATORS": True,
|
||||||
|
"HAVE_BACKTICK": False,
|
||||||
|
"HAVE_STRING_FORMAT": False,
|
||||||
|
"HAVE_CLOSURES": False,
|
||||||
|
"HAVE_BYTEARRAY": False,
|
||||||
|
"HAVE_DEBUG_INFO": False,
|
||||||
|
}
|
||||||
47
flight/Libraries/PyMite/platform/windows/main_img.c
Normal file
47
flight/Libraries/PyMite/platform/windows/main_img.c
Normal file
@ -0,0 +1,47 @@
|
|||||||
|
/**
|
||||||
|
* PyMite library image file.
|
||||||
|
*
|
||||||
|
* Automatically created from:
|
||||||
|
* main.py
|
||||||
|
* img-list-terminator
|
||||||
|
* by pmImgCreator.py on
|
||||||
|
* Tue Jan 11 21:25:50 2011.
|
||||||
|
*
|
||||||
|
* Byte count: 127
|
||||||
|
*
|
||||||
|
* Selected memspace type: RAM
|
||||||
|
*
|
||||||
|
* DO NOT EDIT THIS FILE.
|
||||||
|
* ANY CHANGES WILL BE LOST.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Place the image into RAM */
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern
|
||||||
|
#endif
|
||||||
|
unsigned char const
|
||||||
|
usrlib_img[] =
|
||||||
|
{
|
||||||
|
|
||||||
|
|
||||||
|
/* main.py */
|
||||||
|
0x0A, 0x7E, 0x00, 0x00, 0x40, 0x03, 0x00, 0x00,
|
||||||
|
0x0C, 0x00, 0x04, 0x03, 0x03, 0x03, 0x00, 0x69,
|
||||||
|
0x70, 0x6D, 0x03, 0x07, 0x00, 0x67, 0x6C, 0x6F,
|
||||||
|
0x62, 0x61, 0x6C, 0x73, 0x03, 0x04, 0x00, 0x6D,
|
||||||
|
0x61, 0x69, 0x6E, 0x03, 0x06, 0x00, 0x05, 0x02,
|
||||||
|
0x0C, 0x01, 0x10, 0x02, 0x03, 0x08, 0x00, 0x6D,
|
||||||
|
0x61, 0x69, 0x6E, 0x2E, 0x70, 0x79, 0x00, 0x04,
|
||||||
|
0x04, 0x03, 0x05, 0x00, 0x48, 0x65, 0x6C, 0x6C,
|
||||||
|
0x6F, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x03,
|
||||||
|
0x08, 0x00, 0x47, 0x6F, 0x6F, 0x64, 0x2D, 0x62,
|
||||||
|
0x79, 0x65, 0x04, 0x00, 0x64, 0x00, 0x00, 0x47,
|
||||||
|
0x48, 0x64, 0x01, 0x00, 0x64, 0x02, 0x00, 0x6B,
|
||||||
|
0x00, 0x00, 0x5A, 0x00, 0x00, 0x65, 0x00, 0x00,
|
||||||
|
0x69, 0x00, 0x00, 0x65, 0x01, 0x00, 0x83, 0x00,
|
||||||
|
0x00, 0x83, 0x01, 0x00, 0x01, 0x64, 0x03, 0x00,
|
||||||
|
0x47, 0x48, 0x64, 0x02, 0x00, 0x53,
|
||||||
|
|
||||||
|
/* img-list-terminator */
|
||||||
|
0xFF,
|
||||||
|
};
|
||||||
37
flight/Libraries/PyMite/platform/windows/main_nat.c
Normal file
37
flight/Libraries/PyMite/platform/windows/main_nat.c
Normal file
@ -0,0 +1,37 @@
|
|||||||
|
#undef __FILE_ID__
|
||||||
|
#define __FILE_ID__ 0x0A
|
||||||
|
/**
|
||||||
|
* PyMite usr native function file
|
||||||
|
*
|
||||||
|
* automatically created by pmImgCreator.py
|
||||||
|
* on Tue Jan 11 21:25:50 2011
|
||||||
|
*
|
||||||
|
* DO NOT EDIT THIS FILE.
|
||||||
|
* ANY CHANGES WILL BE LOST.
|
||||||
|
*
|
||||||
|
* @file main_nat.c
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define __IN_LIBNATIVE_C__
|
||||||
|
#include "pm.h"
|
||||||
|
|
||||||
|
PmReturn_t
|
||||||
|
nat_placeholder_func(pPmFrame_t *ppframe)
|
||||||
|
{
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Use placeholder because an index
|
||||||
|
* value of zero denotes the stdlib.
|
||||||
|
* This function should not be called.
|
||||||
|
*/
|
||||||
|
PmReturn_t retval;
|
||||||
|
PM_RAISE(retval, PM_RET_EX_SYS);
|
||||||
|
return retval;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Native function lookup table */
|
||||||
|
pPmNativeFxn_t const usr_nat_fxn_table[] =
|
||||||
|
{
|
||||||
|
nat_placeholder_func,
|
||||||
|
};
|
||||||
15
flight/Libraries/PyMite/platform/windows/pmfeatures.h
Normal file
15
flight/Libraries/PyMite/platform/windows/pmfeatures.h
Normal file
@ -0,0 +1,15 @@
|
|||||||
|
/* Automatically generated by ../../tools/pmGenPmFeatures.py on Tue Jan 11 21:25:50 2011. DO NOT EDIT. */
|
||||||
|
#define HAVE_PRINT
|
||||||
|
#define HAVE_CLASSES
|
||||||
|
#define HAVE_REPLICATION
|
||||||
|
#define HAVE_GENERATORS
|
||||||
|
#define HAVE_STRING_FORMAT
|
||||||
|
#define HAVE_CLOSURES
|
||||||
|
#define HAVE_DEBUG_INFO
|
||||||
|
#define HAVE_ASSERT
|
||||||
|
#define HAVE_DEFAULTARGS
|
||||||
|
#define HAVE_DEL
|
||||||
|
#define HAVE_BACKTICK
|
||||||
|
#define HAVE_FLOAT
|
||||||
|
#define HAVE_GC
|
||||||
|
#define HAVE_IMPORTS
|
||||||
@ -102,7 +102,7 @@ RTOSINCDIR = $(RTOSSRCDIR)/include
|
|||||||
DOXYGENDIR = ../Doc/Doxygen
|
DOXYGENDIR = ../Doc/Doxygen
|
||||||
PYMITE = $(FLIGHTLIB)/PyMite
|
PYMITE = $(FLIGHTLIB)/PyMite
|
||||||
PYMITELIB = $(PYMITE)/lib
|
PYMITELIB = $(PYMITE)/lib
|
||||||
PYMITEPLAT = $(PYMITE)/platform/openpilot
|
PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl
|
||||||
PYMITETOOLS = $(PYMITE)/tools
|
PYMITETOOLS = $(PYMITE)/tools
|
||||||
PYMITEVM = $(PYMITE)/vm
|
PYMITEVM = $(PYMITE)/vm
|
||||||
PYMITEINC = $(PYMITEVM)
|
PYMITEINC = $(PYMITEVM)
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user