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#!/bin/bash
clear
if [ "$#" -ne 2 ]; then
echo "Usage: $0 port baudrate" >&2
exit 1
fi
re='^[0-9]+$'
if ! [[ $1 =~ $re ]] ; then
echo "error: $1 -> Not a number" >&2; exit 1
fi
if ! [[ $2 =~ $re ]] ; then
echo "error: $2-> Not a number" >&2; exit 1
fi
b_rate=$2
present=`pwd`
unamestr=`uname`
if [[ "$unamestr" == 'Linux' ]]; then
mdd_path=($(locate Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include))
om_path=($(locate /usr/include/omc/c))
port="/dev/ttyACM$1"
omc --simCodeTarget=ExperimentalEmbeddedC runMDD_servo_init.mos
if [ $? -ne 0 ]; then
exit 1
fi
else
cd c:
om_path=($(dir -d OpenModelica*/include/omc/c/))
path_to_om="C:$om_path"
cd f:
mdd_path=($(dir -d */Modelica_DeviceDrivers/Modelica_DeviceDrivers/Resources/Include/))
if [ $? -eq 0 ]; then
path_to_mdd="F:/$mdd_path"
else
exit 1
fi
port="COM$1"
cd $present
omc --simCodeTarget=ExperimentalEmbeddedC run_servo_init.mos
if [ $? -ne 0 ]; then
exit 1
fi
fi
avr-gcc -Os -std=c11 -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000UL -Wl,--gc-sections servo_init_main.c -o servo_init -I${mdd_path[0]} -I${path_to_om} -I${path_to_mdd} -I${om_path[0]}
if [ $? -ne 0 ]; then
exit 1
fi
avr-objcopy -O ihex -R .eeprom servo_init servo_init.hex
if [ $? -ne 0 ]; then
exit 1
fi
avrdude -F -V -c arduino -p ATMEGA328P -P $port -b $b_rate -U flash:w:servo_init.hex
if [ $? -ne 0 ]; then
exit 1
fi
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