From d50dd5ab9567cc308e412c5e9e775dc8e15fb509 Mon Sep 17 00:00:00 2001 From: Tat-Chee Wan Date: Fri, 3 Feb 2012 23:57:04 +0100 Subject: merge armdebug rc1 This enables the use of GDB or GDB based debuggers to debug the code running on the NXT brick using the USB connection. --- .../armdebug/Debugger/debug_runlooptasks.h | 63 ++++++++++++++++++++++ 1 file changed, 63 insertions(+) create mode 100644 AT91SAM7S256/armdebug/Debugger/debug_runlooptasks.h (limited to 'AT91SAM7S256/armdebug/Debugger/debug_runlooptasks.h') diff --git a/AT91SAM7S256/armdebug/Debugger/debug_runlooptasks.h b/AT91SAM7S256/armdebug/Debugger/debug_runlooptasks.h new file mode 100644 index 0000000..f55311e --- /dev/null +++ b/AT91SAM7S256/armdebug/Debugger/debug_runlooptasks.h @@ -0,0 +1,63 @@ +/** @file debug_runlooptasks.h + * @brief Shared C/ASM header file for debugger communications + * + */ + +/* Copyright (C) 2007-2011 the NxOS developers + * + * Module Developed by: TC Wan + * + * See AUTHORS for a full list of the developers. + * + * See COPYING for redistribution license + * + */ + +#ifndef __DEBUG_RUNLOOPTASKS_H__ +#define __DEBUG_RUNLOOPTASKS_H__ + +#include "_c_arm_macros.h" + +/* This is a place holder header file to allow for interfacing with C Routines in either + * NxOS or NXT Firmware. + * + * Since the header files from the original source trees were meant for C programs, we can't + * include them directly. Here we just use .extern to reference the routines. + */ + +#ifdef __NXOS__ + .extern nx__abort_info + .extern nx_systick_wait_ms + + .extern nx_usb_is_connected + .extern nx_usb_can_write + .extern nx_usb_write + .extern nx_usb_data_written + .extern nx_usb_read + .extern nx_usb_data_read + .extern nx_core_reset + .extern nx_core_halt + +#else /* NXT Firmware */ + + .extern cCommInit + .extern cCommCtrl + .extern cCommExit + .extern dUsbWrite + .extern dUsbRead + .extern dUsbIsConfigured + .extern dBtSendMsg + .equ nxt_UBYTE_TRUE, 1 + .equ nxt_UBYTE_FALSE, 0 + .equ USB_CMD_READY, 0x01 /* From c_comm.iom */ + .equ BT_CMD_READY, 0x02 /* From c_comm.iom */ + + .extern dIOCtrlSetPower + .extern dIOCtrlSetPwm + .extern dIOCtrlTransfer + .equ BOOT, 0xA55A /* from c_ioctrl.iom */ + .equ POWERDOWN, 0x5A00 /* from c_ioctrl.iom */ + +#endif + +#endif -- cgit v1.2.3