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2023-03-06Simplify source treeNicolas Schodet
Now just use make in the root directory to build.
2023-03-06Remove resources filesNicolas Schodet
While delivered by LEGO with the firmware package, those files are not explicitly covered by the LEGO MINDSTORMS NXT Firmware Open Source licence. Remove them to suppress the ambiguity.
2023-03-06Remove unused IAR only filesNicolas Schodet
Building with IAR is no longer supported.
2021-10-31AT91SAM7S256/scripts: remove obsolete fileNicolas Schodet
2021-10-09Change to version 1.29.21.29.2Nicolas Schodet
2021-10-09armdebug: remove commented code from eCosNicolas Schodet
This code was included as a reference but not used.
2021-09-28Change to version 1.29.11.29.1Nicolas Schodet
2021-09-28Change the versioning scheme to use a third numberNicolas Schodet
NXT Improved firmware will now use a x.y.z version numbering scheme. The current version is 1.29.0 and the next one will be 1.29.1. Previously, the commit hash was included in the custom version. This is replaced with a build date corresponding to the newest git commit, unless the SOURCE_DATE_EPOCH environment variable is defined, in which case it will be used as build date. When out of git, if no SOURCE_DATE_EPOCH is defined, it will fall back to the current date. The weird date parsing code in BtTest is gone.
2021-08-18link with libnosysNicolas Schodet
Some version of newlib will link with unused stubs, use libnosys to make the linker happy.
2012-09-08merge armdebug d881039Nicolas Schodet
2012-02-11do not reserve space for stacks if armdebug is disabledNicolas Schodet
2012-02-11make armdebug compilation conditionalNicolas Schodet
Set ARMDEBUG to y in the Makefile to enable armdebug compilation.
2012-02-11merge armdebug rc1Tat-Chee Wan
This enables the use of GDB or GDB based debuggers to debug the code running on the NXT brick using the USB connection.
2011-08-09gcc: add debug informationNicolas Schodet
2011-08-06gcc: add support for unwinderNicolas Schodet
The unwinder is not really wanted, but it can be included on some version of gcc. In this case, it needs some special sections and the abort function.
2011-02-09provide access to the maximum speed and acceleration from user code and iomapNicolas Schodet
2011-02-09add speed and acceleration limit to absolute position regulationNicolas Schodet
When the set position is changed, absolute position regulation will run the motor as fast as possible to reach the requested position. This is not always the needed behaviour. This commit add speed and acceleration filtering to the position change.
2011-02-09slightly change the fractional change algorithm to minimize mean errorNicolas Schodet
2011-02-09move fractional position error code in its own functionNicolas Schodet
2011-02-09factorize code used for PID regulationNicolas Schodet
2011-02-09add option to disable saturation in regulation intermediary valuesNicolas Schodet
When computing PID, the output code limit the value of P and I participation. This is a problem as this introduces non-linearities and limits the efficiency of P and I terms.
2011-01-29add fractional speed support for faster regulationsNicolas Schodet
Original speed ranges from 0 to 100 per 100 ms. To keep the same range while lowering the regulation delay, a scaling must be done. This change scales the speed value and add support for fractional speed in order to keep the same granularity.
2011-01-29replace unused PwnFreq IOMap with RegulationTimeNicolas Schodet
2011-01-29add absolute position controlNicolas Schodet
2011-01-29Merge branch 'jch'Nicolas Schodet
2011-01-29use SLONG instead of SWORD in output codeNicolas Schodet
The ARM is working in 32 bit; there is no gain in working with 16 bit integers which are actually half words on 32 bit systems.
2011-01-27add output optionsJohn Hansen
Imported from NXT Enhanced Firmware.
2011-01-27use a function for bounds checking in output codeNicolas Schodet
2011-01-24replace RCX temperature conversion table with a polynomialNicolas Schodet
2011-01-21Merge branch 'jch'Nicolas Schodet
2011-01-21remove unused values in temperature conversion tableJohn Hansen
Imported from NXT Enhanced Firmware.
2011-01-21replace many array indexes with pointer access, remove duplicated codeJohn Hansen
Imported from NXT Enhanced Firmware.
2011-01-21remove duplicated code in lowspeed moduleJohn Hansen
Imported from NXT Enhanced Firmware.
2011-01-21factorize code in input moduleJohn Hansen
Imported from NXT Enhanced Firmware.
2011-01-21replace many array indexes with pointer accessJohn Hansen
Imported from NXT Enhanced Firmware.
2011-01-21use float instead of double when possibleJohn Hansen
Useless use of double precision math will include large functions and eat CPU time. Imported from NXT Enhanced Firmware.
2011-01-21add support for native executableJohn Hansen
Enable the use of native compiled program from standard firmware interface. See http://www.tau.ac.il/~stoledo/lego/nxt-native/ for more details. Imported from NXT Enhanced Firmware.
2010-11-01add git ignoresNicolas Schodet
2010-09-08automatically include git hash in versionNicolas Schodet
2010-09-07add config to include introNicolas Schodet
This makes it possible to remove the long introduction animation. It also save some flash space.
2010-09-07gcc: garbage collect unused code and dataNicolas Schodet
2010-08-20do not compile Test bitmapsNicolas Schodet
2010-08-20fix month list in build date parsingNicolas Schodet
2010-08-20gcc: add sbrk stubNicolas Schodet
2010-08-20gcc: add sscanf stubNicolas Schodet
This is a really quick stub which only implements what is used in the NXT source code.
2010-08-20gcc: add errno stubNicolas Schodet
2010-08-20gcc: automatically compute user flash sizeNicolas Schodet
This is done at link time. As a consequence, the user flash size is not available at compile time, which is a problem for the FILEHEADER type. This is solved by using a maximum size so that the static Header variable is big enough. It would not have been a problem if this variable was put on the stack.
2010-08-20gcc: add MakefileNicolas Schodet
2010-08-20gcc: add gcc defines to ARM compilation testNicolas Schodet
2010-08-20gcc: add linker script from winarmNicolas Schodet