bricks/nxt: Simplify debug build.

This makes it possible to flash, run, and erase the firmware using:

make nxt -j36 && fwflash bricks/nxt/build/firmware.bin

This way you don't have to constantly press and hold the reset button to try again. Just run and repeat.

Also copy the hardware init sequence so we don't have to modify the submodule during this initial debug session.

Author: laurensvalk

bricks/nxt/Makefile

@@ -55,6 +55,7 @@ INC += -I../../lib/contiki-core
 INC += -I../../lib/lego
 INC += -I../../lib/libfixmath/libfixmath
 INC += -Inxt-firmware-drivers
+INC += -Inxt-firmware-drivers/nxt
 INC += -I../../lib/pbio/include
 INC += -I../../lib/pbio/platform/$(PBIO_PLATFORM)
 INC += -I../../lib/pbio
@@ -113,7 +114,6 @@ SRC_C_NXT := $(addprefix nxt-firmware-drivers/nxt/,\
 	flashwrite.c \
 	hs.c \
 	i2c.c \
-	maininit.c \
 	nxt_avr.c \
 	nxt_lcd.c \
 	nxt_motors.c \

bricks/nxt/main.c

@@ -26,7 +26,81 @@
 #include "py/mphal.h"
 
 #include <nxt/display.h>
-#include <nxt/maininit.h>
+
+#define _INIT_H_
+#include "interrupts.h"
+#include "aic.h"
+#include "at91sam7.h"
+#include "uart.h"
+#include "systick.h"
+#include "stdio.h"
+#include "flashprog.h"
+#include "nxt_avr.h"
+#include "twi.h"
+#include "sensors.h"
+
+#include "nxt_avr.h"
+#include "nxt_lcd.h"
+#include "i2c.h"
+#include "nxt_motors.h"
+
+#include "lejos_nxt.h"
+
+#include "display.h"
+#include "sound.h"
+#include "bt.h"
+#include "udp.h"
+#include "flashprog.h"
+#include "hs.h"
+
+#include <string.h>
+
+void shutdown(int update_mode) {
+    nxt_lcd_enable(0);
+    for (;;) {
+        if (update_mode) {
+            nxt_avr_firmware_update_mode();
+        } else {
+            nxt_avr_power_down();
+        }
+    }
+}
+
+void nxt_init() {
+    aic_initialise();
+    sp_init();
+    interrupts_enable();
+    systick_init();
+    sound_init();
+    nxt_avr_init();
+    nxt_motor_init();
+    i2c_init();
+    bt_init();
+    hs_init();
+    udp_init();
+    systick_wait_ms(100);
+    sound_freq(500, 100, 30);
+    systick_wait_ms(1000);
+    display_init();
+    sp_init();
+    display_set_auto_update_period(DEFAULT_UPDATE_PERIOD);
+}
+
+void nxt_deinit() {
+
+    sound_freq(1000, 100, 30);
+    display_reset();
+    nxt_motor_reset_all();
+    udp_reset();
+    bt_reset();
+    bt_disable();
+    hs_disable();
+    i2c_disable_all();
+    sound_reset();
+
+    // Erase firmware on shutdown, for easy development
+    shutdown(1);
+}
 
 static char *stack_top;
 #if MICROPY_ENABLE_GC