I’ve been trying to get the wixel-sdk compiled but having a great deal of trouble.
I have the latest sdcc from SVN
% sdcc --version
SDCC : mcs51/gbz80/z80/z180/r2k/r3ka/ds390/pic16/pic14/TININative/ds400/hc08/s08 3.1.5 #7875 (Jun 8 2012) (Linux)I downloaded the wixel-sdk from git as suggested and ran make.
...
Packaging apps/example_onewire/example_onewire.wxl
(This app has no params.)
packihx: read 293 lines, wrote 536: OK.
Compiling apps/example_servo_sequence/blocking.rel
Compiling apps/example_servo_sequence/example_servo_sequence.rel
Compiling libraries/src/servo/servo.rel
libraries/src/servo/servo.c:153: error 9: FATAL Compiler Internal Error in file 'gen.c' line number '8963' : code generator internal error
Contact Author with source code
make: *** [libraries/src/servo/servo.rel] Error 1I’m not sure what to make of this error and there is nothing astonishing about line 153 in servo.c. It is the closing bracket of the case statement here:
ISR(T1, 0)
{
uint8 i;
switch(servoCounter++)
{
case 0:
PERCFG &= ~(1<<6); // PERCFG.T1CFG = 0: Move Timer 1 to Alt. 1 location (P0_2, P0_3, P0_4)
P0SEL |= servoPinsOnPort0;
T1CC0 = servoData[0].positionReg; // NOTE: T1CCx is buffered, so these commands
T1CC1 = servoData[1].positionReg; // don't take effect until the next timer period.
T1CC2 = servoData[2].positionReg;
break;
case 3:
PERCFG |= (1<<6); // PERCFG.T1CFG = 1: Move Timer 1 to Alt. 2 location (P1_2, P1_1, P1_0)
P1SEL |= servoPinsOnPort1;
T1CC0 = servoData[3].positionReg;
T1CC1 = servoData[4].positionReg;
T1CC2 = servoData[5].positionReg;
break;
case 1:
case 4:
// We are producing pulses during THIS period, so disable the pulses for the next timer period.
T1CC0 = T1CC1 = T1CC2 = 0xFFFF;
break;
case 2:
// The pulses on port 0 just finished, so assign the pins to be GPIO (driving low) again.
P0SEL &= ~servoPinsOnPort0;
break;
case 5:
// The pulses on port 1 just finished, so assign the pins to be GPIO (driving low) again.
P1SEL &= ~servoPinsOnPort1;
break;
case 6:
// Set the counter back to zero so that next time we will start over at the beginning.
servoCounter = 0;
// Update the positions of all the servos according to their speed limits,
// and update servosMovingFlag.
// David measured how long these updates take, and it is only about 70us even if there is
// a speed limit enabled for all channels.
// WARNING: The SDCC manual warns that 16-bit division, multiplication, and modulus are implemented
// using external support routines that are not reentrant, so we can't do any of those operations here!
// The assembly generated by this ISR in servo.lst should be checked whenever making changes to the ISR.
servosMovingFlag = 0;
for(i = 0; i < MAX_SERVOS; i++)
{
volatile struct SERVO_DATA XDATA * d = servoData + i;
uint16 pos = d->position;
if (d->speed && pos)
{
if (d->target > pos)
{
if (d->target - pos < d->speed)
{
pos = d->target;
}
else
{
pos += d->speed;
servosMovingFlag = 1;
}
}
else
{
if (pos - d->target < d->speed)
{
pos = d->target;
}
else
{
pos -= d->speed;
servosMovingFlag = 1;
}
}
}
else
{
pos = d->target;
}
d->position = pos;
d->positionReg = ~pos + 1;
}
break;
} // this is line 153
}