Merge pull request #1 from antoinealb/hardware_abstraction

Started working on a HAL.

include/aversive.h

@@ -9,25 +9,6 @@
 
 #include <inttypes.h>
 
-#ifdef COMPILE_ON_ROBOT
-
-#include "os_cpu.h"
-#include "os_cfg.h"
-#include "ucos_ii.h"
-#include <system.h>
-#include <io.h>
-#include <sys/alt_irq.h>
-#include <aversive/error.h>
-
-#else /* Workaround to compile on X86. */
-
-/** Reimplementation de IORD du NIOS2 pour compiler sur le PC */
-#define IORD(adress, offset) (*((int32_t *)adress+offset))
-/** Reimplementation de IOWR du NIOS2 pour compiler sur le PC */
-#define IOWR(adress, offset, data) (*((int32_t *)adress+offset) = data)
-#endif
-
-
  /** @brief Computes the absolute value of a number 
  *
  *  While the abs() function in the libc works only with int type

modules/platform/platform.h

@@ -0,0 +1,17 @@
+#ifndef _PLATFORM_H_
+#define _PLATFORM_H_
+
+#ifdef COMPILE_ON_ROBOT
+#include <platform/platform_nios2.h>
+#else
+#include <platform/platform_host.h>
+#endif
+
+/** @brief Resets the boards. */
+void reset(void);
+
+/** @brief Called after a non recoverable error. */
+void panic(void);
+
+
+#endif

modules/platform/platform_host.h

@@ -0,0 +1,10 @@
+#ifndef _PLATFORM_HOST_H
+#define _PLATFORM_HOST_H
+
+/** Reimplementation de IORD du NIOS2 pour compiler sur le PC */
+#define IORD(adress, offset) (*((int32_t *)adress+offset))
+
+/** Reimplementation de IOWR du NIOS2 pour compiler sur le PC */
+#define IOWR(adress, offset, data) (*((int32_t *)adress+offset) = data)
+
+#endif

modules/platform/platform_nios2.h

@@ -0,0 +1,12 @@
+#ifndef _PLATFORM_NIOS2_H_
+#define _PLATFORM_NIOS2_H_
+
+#include "os_cpu.h"
+#include "os_cfg.h"
+#include "ucos_ii.h"
+#include <system.h>
+#include <io.h>
+#include <sys/alt_irq.h>
+#include <aversive/error.h>
+
+#endif