Parametrized Wrist decoupler and aea3 support in AMC board (#424)

Co-authored-by: Alessandro Scalzo <alessandro.scalzo@iit.it>

emBODY/eBcode/arch-arm/board/amc/application/v1/bin/.placeholder.txt

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+.placeholder

emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/amc-template-appl.sct

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+; *************************************************************
+; *** Scatter-Loading Description File generated by uVision ***
+; *************************************************************
+
+LR_IROM1 0x08060000 0x00080000  {    ; load region size_region
+  ER_IROM1 0x08060000 0x00080000  {  ; load address = execution address
+   *.o (RESET, +First)
+   *(InRoot$$Sections)
+   .ANY (+RO)
+   .ANY (+XO)
+  }
+  RX_DESCR	0x30040000 0x00000060 {
+  	eth_4.o(.RxDecripSection)
+  }
+  TX_DESCR	0x30040060 0x000001A0 {
+  	eth_4.o(.TxDecripSection)
+  }
+  RX_ARRAY 	0x30040200 0x00001800 {
+  	eth_4.o(.RxArraySection)
+  }
+  RW_IRAM1 0x38000000 0x00010000  {  ; RW data
+   .ANY (+RW +ZI)
+  }
+  RW_IRAM2 0x24000000 0x0007FFC0  {
+   .ANY (+RW +ZI)
+  }
+}
+

emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/ipal_cfg2.cpp

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+
+/*
+ * Copyright (C) 2021 iCub Tech - Istituto Italiano di Tecnologia
+ * Author:  Marco Accame
+ * email:   marco.accame@iit.it
+*/
+
+
+#include "ipal_cfg2.h"
+
+// external dependencies
+#include "embot_hw_eth.h"
+
+#include "embot_core.h"
+
+
+static void ipal_app_on_fatal_error(ipal_fatalerror_t errorcode, const char * errormsg)
+{
+	/* Avoid compiler warnings*/ 
+	errorcode = errorcode;
+	errormsg = errormsg;
+	volatile uint32_t n = 0;
+    volatile const char * m = errormsg;
+    m = errormsg;
+
+//    itm_puts(errormsg);
+
+	for(;;)
+    {
+       n = errorcode; 
+       m = errormsg;
+    }
+}
+
+/* ===============================================================================================
+ * IPAL CONFIGURATION
+ * =============================================================================================== */
+
+
+constexpr ipal_cfg2_support_t suppcfg2 = 
+{
+    .arch_ipstack = ipal_ipstack_iitmod_lwip,
+    .memorymodel = ipal_memmodel_static,
+    .supportedmodules = ipal_cfg2_supportedflag_eth | ipal_cfg2_supportedflag_arp | 
+                        ipal_cfg2_supportedflag_udp | ipal_cfg2_supportedflag_igmp |
+                        ipal_cfg2_supportedflag_extfn2,
+    .filler = {0, 0, 0, 0}           
+};
+
+constexpr ipal_cfg2_system_t syscfg2 = 
+{
+    .sys_timetick = 10*embot::core::time1millisec,
+    .sys_mempoolsize = 0,
+    .filler = {0, 0}        
+};
+
+constexpr ipal_cfg2_eth_t ethcfg2 =
+{
+    .eth_mac = IPAL_mac48addr(0x1E,0x30,0x6C,0xA2,0x45,0x5E),
+    .eth_ip = IPAL_ipv4addr(10, 0, 1, 99),
+    .eth_mask = IPAL_ipv4addr(255, 255, 255, 0),
+    .eth_isrpriority = 0,
+    .filler = {0, 0, 0, 0, 0, 0, 0},
+    .hal_eth_init = embot::hw::eth::init,
+    .hal_eth_enable = embot::hw::eth::enable,
+    .hal_eth_disable = embot::hw::eth::disable,
+    .hal_eth_sendframe = embot::hw::eth::sendframe,
+    .get_frame_size = embot::hw::eth::get_frame_size,
+    .get_frame = embot::hw::eth::get_frame       
+};
+
+constexpr ipal_cfg2_arp_t arpcfg2 =
+{
+    .arp_cachetimeout = 255*embot::core::time1second,
+    .arp_retrytimeout = 0,
+    .arp_cachesize = 32,
+    .arp_retrymaxnum = 5,
+    .arp_autonotify = 0,
+    .filler = {0, 0, 0, 0, 0}
+};
+
+constexpr ipal_cfg2_udp_t udpcfg2 = 
+{
+    .udp_socketnum = 5,
+    .filler = {0, 0, 0, 0}   
+};
+
+constexpr ipal_cfg2_igmp_t igmpcfg2 = 
+{
+    .igmp_groupsnum = 1,
+    .filler = {0, 0, 0, 0, 0, 0, 0}    
+};
+
+void ipal_app_usr_on_rx_frame(void)
+{
+    static volatile uint32_t rxnum = 0;
+    rxnum++;   
+    embot::core::print("received an ETH frame");    
+}
+
+void ipal_app_usr_on_tx_frame(void)
+{
+    static volatile uint32_t txnum = 0;
+    txnum++;    
+}
+
+
+// osal_* can also be nullptr
+void * osal_mutex_new(void)
+{
+    static uint32_t value = 0;
+    return &value;    
+}
+
+ipal_result_t osal_mutex_take(void *mutex, ipal_reltime_t tout)
+{
+    return ipal_res_OK;
+}
+
+ipal_result_t osal_mutex_release(void *mutex)
+{
+    return ipal_res_OK;
+}
+
+constexpr uint32_t tout = 10;
+
+constexpr ipal_cfg2_extfn_t extfncfg2 = 
+{
+    .usr_on_fatal_error = ipal_app_on_fatal_error,
+    .signal_rx_frame = ipal_app_usr_on_rx_frame,
+    .signal_tx_frame = ipal_app_usr_on_tx_frame,
+    .osal_mutex_new = osal_mutex_new,
+    .osal_mutex_take = osal_mutex_take,
+    .osal_mutex_release = osal_mutex_release,
+    .osal_param_tout_forever = 10,
+    .dummy = 0 
+};
+
+ipal_cfg2_t ipal_cfg2 = 
+{
+    .support = (ipal_cfg2_support_t*) &suppcfg2,
+    .system = (ipal_cfg2_system_t*) &syscfg2,
+    .eth = (ipal_cfg2_eth_t*) &ethcfg2,
+    .arp = (ipal_cfg2_arp_t*) &arpcfg2,
+    .udp = (ipal_cfg2_udp_t*) &udpcfg2,
+    .igmp = (ipal_cfg2_igmp_t*) &igmpcfg2,
+    .dhcp = NULL,
+    .extfn2 = (ipal_cfg2_extfn_t*) &extfncfg2    
+};
+
+
+// eof - keep a line after that
+
+

emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/ipal_cfg2.h

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+
+#ifndef __IPAL_CFG2_H_
+#define __IPAL_CFG2_H_
+
+#include "ipal.h"
+
+
+extern ipal_cfg2_t ipal_cfg2;
+
+#endif