Ported IMU drivers, MQTT client, TCP, UDP support in firmware.

Much-needed condensation of constants and debug methods pertaining to bus transactions. I am due to write up a new blog post. But until then, here is my informal log of compile sizes over the course of last night. GCC was given -O2 for each build.

  text    data     bss     dec     hex
372372    2796    9392  384560   5de30   Starting point.
371700    2796    9392  383888   5db90   After splitting uint16_t _class_state into two 8-bit fields.
371700    2796    9392  383888   5db90   After condensing 4 bools (RNBase) into the above-mentioned field.
371708    2796    9392  383896   5db98   After condensing 5 bools (CPLDDriver).
371572    2796    9392  383760   5db10   After striking old interrupt logic. New baseline.
370132    2796    9392  382320   5d570   After condensing 1 bool (ADP8866).
367472    2796    9392  379660   5cb0c   After condensing 4 bools (i2c-device).
277096    2776    9216  289088   46940   More miscellaneous bool condensation...
277184    2776    9232  289192   469a8   After enum conversion and BusOp state abstraction.
277144    2776    9216  289136   46970   Condensed BTQueueOp into BusOpcode enum.
277140    2776    9216  289132   4696c   Condensed SPIQueueOp into BusOpcode enum.
276608    2776    9216  288600   46758   CPLD audit results in cuts. New baseline.
276508    2776    9256  288540   4671c   Condensed SPIBus op state defs into BusOp enum.
276476    2776    9260  288512   46700   Condensed I2C opcode into BusOp enum.
276712    2776    9260  288748   467ec   STM32F7 I2CAdapter compiles again following condensation.
276640    2776    9300  288716   467cc   Further condensation of SPIBusOp into BusOp.
276624    2776    9300  288700   467bc   More inline migrations into BusOp. About to extend another op class.
276608    2776    9300  288684   467ac   Preparing to move I2CBusOp into conformance with new base class.
276336    2776    9300  288412   4669c   I2CBusOp now extends BusOp.
276536    2776    9380  288692   467b4   CPLD no longer extends SPIDeviceWithRegisters.
276832    2776    9380  288988   468dc   Added some CPLD tests.
277836    2776    9380  289992   46cc8   Widespread preprocessor work. Repaired console parser.
263676    2776    9380  275832   43578   Same code base. Built without console support.

9380  289992    // With console support flag....
9380  275832    // Without console support.

That's resting stack load, and total firmware size, respectively.
~14KB of ballast that isn't needed in anything but a debug build.

[4:19 AM] jspark311 Ok... much cruftiness was lost. r1 simplified the firmware *dramatically*.

Now that the bus-ops are contained for the moment, I can turn my attention to the the god-awful SPIDeviceWithRegisters class (which I am about to rip out and shit-can for good).

Too much complexity.

No longer required to deal with the heterogeneous bus topology of r0.

PR'ing... Not a bad 24 hours....

ManuvrOS: +1,763 −1,062 (lines in commit)

Digitabulum: +459 −346 (lines in commit)

And the firmware running on the new r1 board....

==< Kernel >===================================
-- bootstrap_completed          yes
-- Digitabulum v0.0.1    Build date: May 26 2016 15:43:57
--
-- Current datetime          
-- millis()                  0x00000001
-- micros()                  0x00000000
-- _ms_elapsed               0
-- getStackPointer()         0x200484f4
-- stack grows down
--
-- Queue depth:              0
-- Preallocation depth:      6
-- Prealloc starves:         0
-- events_destroyed:         0
-- burden_of_being_specific  0
-- idempotent_blocks         0
-- Lagged schedules 0
-- Total schedules:  1
-- Active schedules: 0

-- Subscribers: (10 total):
         0: Kernel
         1: CPLDDriver
         2: LegendManager
         3: I2CAdapter
         4: ADP8866
         5: RN4677
         6: SDCard
         7: IREmitter
         8: HapticStrap
         9: PMU

That's all of the drivers. The first 6 are nearly complete, and the PMU (power-management unit) can do some basic clock-scaling. The largest remaining task is direct hardware support.

jspark311: I can potentially make you an emulator in firmware now. lol

drquinn: woah, woudn't a firmware emulator be the actual glove?

jspark311: lol yeah. That's how close I'm getting.

drquinn: nice! can't wait to see where its at

jspark311: I have TCP, UDP, MQTT support in ManuvrOS now, so you could just connect with the browser.

drquinn: so you'd just have to snap on some TCP connector to the glove?

jspark311: No hardware involved... the firmware experiences a TCP socket in the same way as it does a bluetooth connection. So when the time comes, we just drop one transport class in for the other.