/* flood.c */ /* {{{ * * Copyright (C) 2008 NĂ©lio Laranjeiro * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "common.h" #include "io.h" #include "modules/flash/flash.h" #include "modules/trace/trace.h" #include "modules/proto/proto.h" #include "modules/utils/utils.h" #include "modules/utils/byte.h" #include "modules/uart/uart.h" #include "events.h" void flood (void) { uint32_t addr; uint32_t count; uint32_t speed; uint32_t position; uint16_t acc; uint16_t arg1; uint16_t arg2; uint32_t arg3; /* Initialise the trace module. */ trace_init (); /* Get the start page address of the trace module. */ addr = trace_addr_current (); proto_send3b ('a', addr >> 16, addr >> 8, addr); /* Flood the flash memory with traces. */ /* A little more than 3 memory sectors, a sector is 4 kbytes. */ for (count = 0; count < 2000; count ++) { /* Right motor. */ speed = count; position = count + 1; acc = count + 2; arg1 = count; arg2 = count + 1; arg3 = count + 3; TRACE (TRACE_ASSERV__RIGHT_MOTOR, speed, position, acc); TRACE (TRACE_ASSERV__LEFT_MOTOR, speed, position, acc); TRACE (TRACE_IA__IA_CMD, arg1, arg2, arg3); } /* Print the end of the address. */ addr = trace_addr_current (); proto_send3b ('a', addr >> 16, addr >> 8, addr); } void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { /* May be unused. */ uint32_t addr = v8_to_v32 (0, args[0], args[1], args[2]); uint8_t buf[16]; #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { case c ('z', 0): /* Reset */ utils_reset (); break; case c ('e', 0): /* Erase full */ flash_erase (FLASH_ERASE_FULL, 0); break; case c ('e', 3): /* Erase 4k: * - 3b: address. */ flash_erase (FLASH_ERASE_4K, addr); break; case c ('r', 3): /* Read one byte: * - 3b: address. */ proto_send1b ('r', flash_read (addr)); break; case c ('r', 4): /* Read several bytes: * - 3b: address. * - 1b: number of bytes. */ if (args[3] > sizeof (buf)) { proto_send0 ('?'); return; } else { flash_read_array (addr, buf, args[3]); proto_send ('r', args[3], buf); } break; case c ('f', 0): /* Flood the memory with 3 sectors. */ flood (); break; default: /* Error */ proto_send0 ('?'); return; } /* Acknowledge what has been done */ proto_send (cmd, size, args); } int main (void) { uart0_init (); proto_send0 ('z'); while (1) proto_accept (uart0_getc ()); }