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-rw-r--r--AT91SAM7S256/Source/BtTest.inc85
-rw-r--r--AT91SAM7S256/Source/Functions.inl1219
-rw-r--r--AT91SAM7S256/Source/Icons.txt40
-rw-r--r--AT91SAM7S256/Source/Mainmenu.rms21
-rw-r--r--AT91SAM7S256/Source/Submenu03.rms207
-rw-r--r--AT91SAM7S256/Source/Submenu04.rms77
-rw-r--r--AT91SAM7S256/Source/Ui.txt14
-rw-r--r--AT91SAM7S256/Source/c_button.c6
-rw-r--r--AT91SAM7S256/Source/c_button.h6
-rw-r--r--AT91SAM7S256/Source/c_button.iom6
-rw-r--r--AT91SAM7S256/Source/c_cmd.c3046
-rw-r--r--AT91SAM7S256/Source/c_cmd.h168
-rw-r--r--AT91SAM7S256/Source/c_cmd.iom40
-rw-r--r--AT91SAM7S256/Source/c_cmd_alternate.c163
-rw-r--r--AT91SAM7S256/Source/c_cmd_bytecodes.h132
-rw-r--r--AT91SAM7S256/Source/c_comm.c76
-rw-r--r--AT91SAM7S256/Source/c_comm.h6
-rw-r--r--AT91SAM7S256/Source/c_comm.iom13
-rw-r--r--AT91SAM7S256/Source/c_display.c22
-rw-r--r--AT91SAM7S256/Source/c_display.h8
-rw-r--r--AT91SAM7S256/Source/c_display.iom8
-rw-r--r--AT91SAM7S256/Source/c_input.c1326
-rw-r--r--AT91SAM7S256/Source/c_input.h32
-rw-r--r--AT91SAM7S256/Source/c_input.iom104
-rw-r--r--AT91SAM7S256/Source/c_ioctrl.c6
-rw-r--r--AT91SAM7S256/Source/c_ioctrl.h6
-rw-r--r--AT91SAM7S256/Source/c_ioctrl.iom6
-rw-r--r--AT91SAM7S256/Source/c_loader.c14
-rw-r--r--AT91SAM7S256/Source/c_loader.h6
-rw-r--r--AT91SAM7S256/Source/c_loader.iom9
-rw-r--r--AT91SAM7S256/Source/c_lowspeed.c6
-rw-r--r--AT91SAM7S256/Source/c_lowspeed.h6
-rw-r--r--AT91SAM7S256/Source/c_lowspeed.iom6
-rw-r--r--AT91SAM7S256/Source/c_output.c6
-rw-r--r--AT91SAM7S256/Source/c_output.h6
-rw-r--r--AT91SAM7S256/Source/c_output.iom6
-rw-r--r--AT91SAM7S256/Source/c_sound.c8
-rw-r--r--AT91SAM7S256/Source/c_sound.h8
-rw-r--r--AT91SAM7S256/Source/c_sound.iom8
-rw-r--r--AT91SAM7S256/Source/c_ui.c174
-rw-r--r--AT91SAM7S256/Source/c_ui.h71
-rw-r--r--AT91SAM7S256/Source/c_ui.iom21
-rw-r--r--AT91SAM7S256/Source/d_bt.c7
-rw-r--r--AT91SAM7S256/Source/d_bt.h6
-rw-r--r--AT91SAM7S256/Source/d_bt.r19
-rw-r--r--AT91SAM7S256/Source/d_button.c6
-rw-r--r--AT91SAM7S256/Source/d_button.h6
-rw-r--r--AT91SAM7S256/Source/d_button.r6
-rw-r--r--AT91SAM7S256/Source/d_display.c8
-rw-r--r--AT91SAM7S256/Source/d_display.h8
-rw-r--r--AT91SAM7S256/Source/d_display.r8
-rw-r--r--AT91SAM7S256/Source/d_hispeed.c6
-rw-r--r--AT91SAM7S256/Source/d_hispeed.h6
-rw-r--r--AT91SAM7S256/Source/d_hispeed.r6
-rw-r--r--AT91SAM7S256/Source/d_input.c56
-rw-r--r--AT91SAM7S256/Source/d_input.h17
-rw-r--r--AT91SAM7S256/Source/d_input.r307
-rw-r--r--AT91SAM7S256/Source/d_ioctrl.c63
-rw-r--r--AT91SAM7S256/Source/d_ioctrl.h6
-rw-r--r--AT91SAM7S256/Source/d_ioctrl.r315
-rw-r--r--AT91SAM7S256/Source/d_loader.c197
-rw-r--r--AT91SAM7S256/Source/d_loader.h17
-rw-r--r--AT91SAM7S256/Source/d_loader.r6
-rw-r--r--AT91SAM7S256/Source/d_lowspeed.c6
-rw-r--r--AT91SAM7S256/Source/d_lowspeed.h6
-rw-r--r--AT91SAM7S256/Source/d_lowspeed.r102
-rw-r--r--AT91SAM7S256/Source/d_output.c17
-rw-r--r--AT91SAM7S256/Source/d_output.h6
-rw-r--r--AT91SAM7S256/Source/d_output.r6
-rw-r--r--AT91SAM7S256/Source/d_sound.c8
-rw-r--r--AT91SAM7S256/Source/d_sound.h8
-rw-r--r--AT91SAM7S256/Source/d_sound.r8
-rw-r--r--AT91SAM7S256/Source/d_sound_adpcm.r6
-rw-r--r--AT91SAM7S256/Source/d_timer.c32
-rw-r--r--AT91SAM7S256/Source/d_timer.h12
-rw-r--r--AT91SAM7S256/Source/d_timer.r26
-rw-r--r--AT91SAM7S256/Source/d_usb.c8
-rw-r--r--AT91SAM7S256/Source/d_usb.h8
-rw-r--r--AT91SAM7S256/Source/d_usb.r8
-rw-r--r--AT91SAM7S256/Source/m_sched.c6
-rw-r--r--AT91SAM7S256/Source/m_sched.h6
-rw-r--r--AT91SAM7S256/Source/modules.h15
-rw-r--r--AT91SAM7S256/Source/stdconst.h8
83 files changed, 5932 insertions, 2644 deletions
diff --git a/AT91SAM7S256/Source/BtTest.inc b/AT91SAM7S256/Source/BtTest.inc
index b4626ab..31d9373 100644
--- a/AT91SAM7S256/Source/BtTest.inc
+++ b/AT91SAM7S256/Source/BtTest.inc
@@ -2,7 +2,7 @@
#include "Test1.txt"
#include "Test2.txt"
-
+//#define TESTPRG // If defined the test program will be included
extern void BtIo(void);
@@ -13,7 +13,18 @@ const char MONTH[] = "JanFebMarAprMajJunJulAugSepOktNovDec";
void GetProtocolVersion(UBYTE *String)
{
- sprintf((char*)String,"FW %2X.%02X",(FIRMWAREVERSION >> 8),FIRMWAREVERSION & 0x00FF);
+ UWORD Tmp;
+
+ Tmp = FIRMWAREVERSION & 0x00FF;
+
+ if (Tmp < 100)
+ {
+ sprintf((char*)String,"FW %3u.%02u",(FIRMWAREVERSION >> 8) & 0x00FF,Tmp & 0x00FF);
+ }
+ else
+ {
+ sprintf((char*)String,"FW Hex %2X.%02X",(FIRMWAREVERSION >> 8) & 0x00FF,Tmp & 0x00FF);
+ }
}
@@ -23,22 +34,22 @@ void GetARMBuild(UBYTE *String)
UWORD Lng;
char String1[4];
char String2[4];
-
+
String1[0] = BUILD_DATE[4];
String1[1] = BUILD_DATE[5];
String1[2] = 0;
-
+
Tmp = (UWORD)atoi(String1);
Lng = 0;
Lng += sprintf((char*)&String[Lng],"BUILD ");
Lng += sprintf((char*)&String[Lng],"%02u",Tmp);
-
+
String1[0] = BUILD_DATE[0];
String1[1] = BUILD_DATE[1];
String1[2] = BUILD_DATE[2];
String1[3] = 0;
String2[3] = 0;
-
+
Tmp = 0;
do
{
@@ -67,12 +78,12 @@ void GetAVRBuild(UBYTE *String)
sprintf((char*)String,"AVR %1u.%02u",((IoFromAvr.Battery >> 13) & 3),((IoFromAvr.Battery >> 10) & 7));
}
-
+
void GetBC4Address(UBYTE *String)
{
UWORD Count;
UBYTE Tmp;
-
+
Count = (UWORD)sprintf((char*)String,"ID ");
for (Tmp = 0;(Tmp < (SIZE_OF_BDADDR - 1)) && (Count <= (DISPLAYLINE_LENGTH - 2));Tmp++)
{
@@ -145,15 +156,15 @@ const UBYTE TXT_LINE[] = "----------------";
const UBYTE TXT_TEST[] = "Timer Test Bt ";
const UBYTE TXT_TIMER[] = "Reset Hold ";
-const UBYTE TXT_TIMER_HOLD[] = " Continue ";
+const UBYTE TXT_TIMER_HOLD[] = " Continue ";
const UBYTE TXT_LAST[] = "Last UI->BT Cmd.";
-const UBYTE TXT_BT_PAGE[] = "Reset List BtIo";
+const UBYTE TXT_BT_PAGE[] = "Reset List BtIo";
const UBYTE TXT_RESETTING[] = " Resetting! ";
-const UBYTE TXT_BT_LIST[] = "Down ConTab Up ";
-const UBYTE TXT_BT_CONN[] = "Down Update Up ";
+const UBYTE TXT_BT_LIST[] = "Down ConTab Up ";
+const UBYTE TXT_BT_CONN[] = "Down Update Up ";
const UBYTE TXT_BTUPDATE[] = "BT update mode !";
const UBYTE TXT_DONE[] = " When done ";
@@ -226,7 +237,7 @@ UBYTE TestPrg(UBYTE Dummy)
static UWORD Count;
static UBYTE TxtBuffer[TEXTLINES][DISPLAYLINE_LENGTH + 1];
static UBYTE State = SYSTEM_INIT;
-#ifdef TESTPRG
+#ifdef TESTPRG
static UWORD Pointer;
static UWORD InputValues[NO_OF_INPUTS];
static SWORD OutputValues[NO_OF_OUTPUTS];
@@ -246,7 +257,7 @@ UBYTE TestPrg(UBYTE Dummy)
GetBC4Build(TxtBuffer[2]);
GetARMBuild(TxtBuffer[3]);
GetBC4Address(TxtBuffer[4]);
-
+
pMapDisplay->pTextLines[TEXTLINE_3] = (UBYTE*)TxtBuffer[0];
pMapDisplay->pTextLines[TEXTLINE_4] = (UBYTE*)TxtBuffer[1];
pMapDisplay->pTextLines[TEXTLINE_5] = (UBYTE*)TxtBuffer[2];
@@ -257,7 +268,7 @@ UBYTE TestPrg(UBYTE Dummy)
#ifdef TESTPRG
SubState = 0;
-#endif
+#endif
State = SYSTEM_UNLOCK_INIT;
}
break;
@@ -291,19 +302,19 @@ UBYTE TestPrg(UBYTE Dummy)
Count = 0;
}
break;
-
+
case 3 :
{
State = SYSTEM_UNLOCK;
}
break;
-
+
default :
{
Tmp = BUTTON_EXIT;
}
break;
-
+
}
}
break;
@@ -322,7 +333,7 @@ UBYTE TestPrg(UBYTE Dummy)
Tmp = BUTTON_EXIT;
}
break;
-
+
case 1 :
{
if (Tmp == BUTTON_LEFT)
@@ -340,7 +351,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case 2 :
{
if (Tmp == BUTTON_RIGHT)
@@ -357,11 +368,11 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
}
}
break;
-
+
}
Pointer++;
if (((SubState) && (Pointer > 500)) || (Tmp == BUTTON_EXIT))
@@ -370,7 +381,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case SYSTEM_UNLOCK :
{
pMapDisplay->pTextLines[TEXTLINE_8] = (UBYTE*)TXT_TEST;
@@ -378,7 +389,7 @@ UBYTE TestPrg(UBYTE Dummy)
State = SYSTEM_PAGE;
}
break;
-
+
case SYSTEM_PAGE :
{
switch (cUiReadButtons())
@@ -450,19 +461,19 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case TIMER_INIT :
{
State = TIMER_SHOW;
}
break;
-
+
case TIMER_SHOW :
{
sprintf((char*)TxtBuffer[2]," %10lu mS ",VarsUi.CRPasskey);
pMapDisplay->pTextLines[TEXTLINE_3] = TxtBuffer[2];
pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_3);
-
+
switch (cUiReadButtons())
{
case BUTTON_ENTER :
@@ -472,7 +483,7 @@ UBYTE TestPrg(UBYTE Dummy)
State = TIMER_HOLD;
}
break;
-
+
case BUTTON_LEFT :
{
pMapDisplay->EraseMask |= TEXTLINE_BIT(TEXTLINE_3);
@@ -489,7 +500,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case TIMER_HOLD :
{
switch (cUiReadButtons())
@@ -565,7 +576,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case BT_RESET :
{
VarsUi.BTCommand = (UBYTE)FACTORYRESET;
@@ -591,7 +602,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case BT_RESETTING :
{
if (VarsUi.BTResult != INPROGRESS)
@@ -600,7 +611,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case BT_UPDATE_FW :
{
if (++Timer >= 100)
@@ -609,7 +620,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case BT_LIST_INIT :
{
sprintf((char*)TxtBuffer[0],"DeviceTable No%2u",Pointer);
@@ -630,7 +641,7 @@ UBYTE TestPrg(UBYTE Dummy)
State = BT_LIST;
}
break;
-
+
case BT_LIST :
{
switch (cUiReadButtons())
@@ -688,7 +699,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case BT_CONN_INIT :
{
sprintf((char*)TxtBuffer[0],"Conn. Table No%2u",Pointer);
@@ -713,7 +724,7 @@ UBYTE TestPrg(UBYTE Dummy)
State = BT_CONN;
}
break;
-
+
case BT_CONN :
{
switch (cUiReadButtons())
@@ -761,7 +772,7 @@ UBYTE TestPrg(UBYTE Dummy)
}
}
break;
-
+
case TSTPRG_INIT :
{
IOMapUi.Flags &= ~UI_ENABLE_STATUS_UPDATE;
diff --git a/AT91SAM7S256/Source/Functions.inl b/AT91SAM7S256/Source/Functions.inl
index e641409..4211137 100644
--- a/AT91SAM7S256/Source/Functions.inl
+++ b/AT91SAM7S256/Source/Functions.inl
@@ -20,8 +20,10 @@
const UBYTE NONVOLATILE_NAME[] = UI_NONVOLATILE; // Non volatile filename without extention
const UBYTE DEFAULT_PROGRAM_NAME[] = UI_PROGRAM_DEFAULT; // On brick programming filename without extention
-const UBYTE TEMP_PROGRAM_FILENAME[] = UI_PROGRAM_TEMP; // On brick programming tmp filename
+const UBYTE TEMP_PROGRAM_FILENAME[] = UI_PROGRAM_TEMP; // On brick programming tmp filename without extention
const UBYTE VM_PROGRAM_READER[] = UI_PROGRAM_READER; // On brick programming script reader filename without extention
+const UBYTE TEMP_DATALOG_FILENAME[] = UI_DATALOG_TEMP; // On brick datalog tmp filename without extention
+const UBYTE DEFAULT_DATALOG_NAME[] = UI_DATALOG_DEFAULT; // On brick datalog filename without extention
const UBYTE DEFAULT_PIN_CODE[] = UI_PINCODE_DEFAULT; // Default blue tooth pin code
const UBYTE TXT_INVALID_SENSOR[] = "??????????????"; // Display invalid sensor data
@@ -30,317 +32,372 @@ const UBYTE TXT_INVALID_SENSOR[] = "??????????????"; // Display invalid
const UBYTE SENSORTYPE[SENSORS] = // for view and datalog
{
- 0, // MENU_SENSOR_EMPTY
- SOUND_DB, // MENU_SENSOR_SOUND_DB
- SOUND_DBA, // MENU_SENSOR_SOUND_DBA
- LIGHT_ACTIVE, // MENU_SENSOR_LIGHT
- LIGHT_INACTIVE, // MENU_SENSOR_LIGHT_AMB
- REFLECTION, // MENU_SENSOR_LIGHT_OLD
- SWITCH, // MENU_SENSOR_TOUCH
- 0, // MENU_SENSOR_MOTOR_DEG
- 0, // MENU_SENSOR_MOTOR_ROT
- ANGLE, // MENU_SENSOR_ROTATION
- LOWSPEED_9V, // MENU_SENSOR_ULTRASONIC_IN
- LOWSPEED_9V, // MENU_SENSOR_ULTRASONIC_CM
- TEMPERATURE, // MENU_SENSOR_TEMP_C
- TEMPERATURE // MENU_SENSOR_TEMP_F
+ 0, // MENU_SENSOR_EMPTY
+ SOUND_DB, // MENU_SENSOR_SOUND_DB
+ SOUND_DBA, // MENU_SENSOR_SOUND_DBA
+ LIGHT_ACTIVE, // MENU_SENSOR_LIGHT
+ LIGHT_INACTIVE, // MENU_SENSOR_LIGHT_AMB
+ SWITCH, // MENU_SENSOR_TOUCH
+ 0, // MENU_SENSOR_MOTOR_DEG
+ 0, // MENU_SENSOR_MOTOR_ROT
+ LOWSPEED_9V, // MENU_SENSOR_ULTRASONIC_IN
+ LOWSPEED_9V, // MENU_SENSOR_ULTRASONIC_CM
+ LOWSPEED_9V, // MENU_SENSOR_IIC_TEMP_C
+ LOWSPEED_9V, // MENU_SENSOR_IIC_TEMP_F
+ COLORFULL // MENU_SENSOR_COLOR
};
const UBYTE SENSORMODE[SENSORS] = // for view and datalog
{
- 0, // MENU_SENSOR_EMPTY
- PCTFULLSCALEMODE, // MENU_SENSOR_SOUND_DB
- PCTFULLSCALEMODE, // MENU_SENSOR_SOUND_DBA
- PCTFULLSCALEMODE, // MENU_SENSOR_LIGHT
- PCTFULLSCALEMODE, // MENU_SENSOR_LIGHT_AMB
- PCTFULLSCALEMODE, // MENU_SENSOR_LIGHT_OLD
- BOOLEANMODE, // MENU_SENSOR_TOUCH
- 0, // MENU_SENSOR_MOTOR_DEG
- 0, // MENU_SENSOR_MOTOR_ROT
- ANGLESTEPSMODE, // MENU_SENSOR_ROTATION
- 0, // MENU_SENSOR_ULTRASONIC_IN
- 0, // MENU_SENSOR_ULTRASONIC_CM
- CELSIUSMODE, // MENU_SENSOR_TEMP_C
- FAHRENHEITMODE // MENU_SENSOR_TEMP_F
+ 0, // MENU_SENSOR_EMPTY
+ PCTFULLSCALEMODE, // MENU_SENSOR_SOUND_DB
+ PCTFULLSCALEMODE, // MENU_SENSOR_SOUND_DBA
+ PCTFULLSCALEMODE, // MENU_SENSOR_LIGHT
+ PCTFULLSCALEMODE, // MENU_SENSOR_LIGHT_AMB
+ BOOLEANMODE, // MENU_SENSOR_TOUCH
+ 0, // MENU_SENSOR_MOTOR_DEG
+ 0, // MENU_SENSOR_MOTOR_ROT
+ 0, // MENU_SENSOR_ULTRASONIC_IN
+ 0, // MENU_SENSOR_ULTRASONIC_CM
+ 0, // MENU_SENSOR_IIC_TEMP_C
+ 0, // MENU_SENSOR_IIC_TEMP_F
+ 0 // MENU_SENSOR_COLOR
};
-const UBYTE SENSORFORMAT[SENSORS][10] =
+const UBYTE SENSORFORMAT[SENSORS][9] =
{
- "", // MENU_SENSOR_EMPTY
- "%3.0f %%", // MENU_SENSOR_SOUND_DB
- "%3.0f %%", // MENU_SENSOR_SOUND_DBA
- "%3.0f %%", // MENU_SENSOR_LIGHT
- "%3.0f %%", // MENU_SENSOR_LIGHT_AMB
- "%3.0f %%", // MENU_SENSOR_LIGHT_OLD
- "%1.0f", // MENU_SENSOR_TOUCH
- "%8.0f `", // MENU_SENSOR_MOTOR_DEG
- "%8.0f R", // MENU_SENSOR_MOTOR_ROT
- "%6.0f T", // MENU_SENSOR_ROTATION
- "%3.0f In", // MENU_SENSOR_ULTRASONIC_IN
- "%3.0f cm", // MENU_SENSOR_ULTRASONIC_CM
- "%5.1f `C", // MENU_SENSOR_TEMP_C
- "%5.1f `F" // MENU_SENSOR_TEMP_F
+ "", // MENU_SENSOR_EMPTY
+ "%3.0f %%", // MENU_SENSOR_SOUND_DB
+ "%3.0f %%", // MENU_SENSOR_SOUND_DBA
+ "%3.0f %%", // MENU_SENSOR_LIGHT
+ "%3.0f %%", // MENU_SENSOR_LIGHT_AMB
+ "%1.0f", // MENU_SENSOR_TOUCH
+ "%8.0f `", // MENU_SENSOR_MOTOR_DEG
+ "%8.0f R", // MENU_SENSOR_MOTOR_ROT
+ "%3.0f In", // MENU_SENSOR_ULTRASONIC_IN
+ "%3.0f cm", // MENU_SENSOR_ULTRASONIC_CM
+ "%5.1f `C", // MENU_SENSOR_IIC_TEMP_C
+ "%5.1f `F", // MENU_SENSOR_IIC_TEMP_F
+ "%9.0f" // MENU_SENSOR_COLOR (no of characters)
};
const float SENSORDIVIDER[SENSORS] =
{
- 1.0, // MENU_SENSOR_EMPTY
- 1.0, // MENU_SENSOR_SOUND_DB
- 1.0, // MENU_SENSOR_SOUND_DBA
- 1.0, // MENU_SENSOR_LIGHT
- 1.0, // MENU_SENSOR_LIGHT_AMB
- 1.0, // MENU_SENSOR_LIGHT_OLD
- 1.0, // MENU_SENSOR_TOUCH
- 1.0, // MENU_SENSOR_MOTOR_DEG
- 360.0, // MENU_SENSOR_MOTOR_ROT
- 1.0, // MENU_SENSOR_ROTATION
- 2.54, // MENU_SENSOR_ULTRASONIC_IN
- 1.0, // MENU_SENSOR_ULTRASONIC_CM
- 10.0, // MENU_SENSOR_TEMP_C
- 10.0 // MENU_SENSOR_TEMP_F
+ 1.0, // MENU_SENSOR_EMPTY
+ 1.0, // MENU_SENSOR_SOUND_DB
+ 1.0, // MENU_SENSOR_SOUND_DBA
+ 1.0, // MENU_SENSOR_LIGHT
+ 1.0, // MENU_SENSOR_LIGHT_AMB
+ 1.0, // MENU_SENSOR_TOUCH
+ 1.0, // MENU_SENSOR_MOTOR_DEG
+ 360.0, // MENU_SENSOR_MOTOR_ROT
+ 2.54, // MENU_SENSOR_ULTRASONIC_IN
+ 1.0, // MENU_SENSOR_ULTRASONIC_CM
+ 10.0, // MENU_SENSOR_IIC_TEMP_C
+ 10.0, // MENU_SENSOR_IIC_TEMP_F
+ 1.0 // MENU_SENSOR_COLOR
};
-//******* cUiSetupUltrasonic *************************************************
+#define SENSORSYNCDATA "Sync data"
+#define SENSORSDATA "Sdata"
+#define SENSORTIME "Time"
-void cUiSetupUltrasonic(UBYTE Port)
-{
- Port -= MENU_PORT_1;
- pMapLowSpeed->OutBuf[Port].InPtr = 0;
- pMapLowSpeed->OutBuf[Port].OutPtr = 0;
- pMapLowSpeed->OutBuf[Port].Buf[pMapLowSpeed->OutBuf[Port].InPtr] = ULTRA_SONIC; // Device Adress
- pMapLowSpeed->OutBuf[Port].InPtr++;
- pMapLowSpeed->OutBuf[Port].Buf[pMapLowSpeed->OutBuf[Port].InPtr] = 0x41; // Function => Set command
- pMapLowSpeed->OutBuf[Port].InPtr++;
- pMapLowSpeed->OutBuf[Port].Buf[pMapLowSpeed->OutBuf[Port].InPtr] = 0x02; // Function => Set to continiues measurement
- pMapLowSpeed->OutBuf[Port].InPtr++;
+const UBYTE SENSORDIRNAME[SENSORS - 1][19] =
+{
+ "Sound Sensor", // MENU_SENSOR_SOUND_DB
+ "Sound Sensor", // MENU_SENSOR_SOUND_DBA
+ "Light Sensor", // MENU_SENSOR_LIGHT
+ "Light Sensor", // MENU_SENSOR_LIGHT_AMB
+ "Bumper", // MENU_SENSOR_TOUCH
+ "FP Rotation Sensor", // MENU_SENSOR_MOTOR_DEG
+ "FP Rotation Sensor", // MENU_SENSOR_MOTOR_ROT
+ "Distance Sensor", // MENU_SENSOR_ULTRASONIC_IN
+ "Distance Sensor", // MENU_SENSOR_ULTRASONIC_CM
+ "NXT Temp Sensor", // MENU_SENSOR_IIC_TEMP_C
+ "NXT Temp Sensor", // MENU_SENSOR_IIC_TEMP_F
+ "Color Detector" // MENU_SENSOR_COLOR
+};
- pMapLowSpeed->InBuf[Port].BytesToRx = 0;
- pMapLowSpeed->ChannelState[Port] = LOWSPEED_INIT;
- pMapLowSpeed->State |= (COM_CHANNEL_ONE_ACTIVE << Port);
-}
+const UBYTE SENSORUNITNAME[SENSORS - 1][5] =
+{
+ "_dB", // MENU_SENSOR_SOUND_DB
+ "_dBa", // MENU_SENSOR_SOUND_DBA
+ "_on", // MENU_SENSOR_LIGHT
+ "_off", // MENU_SENSOR_LIGHT_AMB
+ "", // MENU_SENSOR_TOUCH
+ "_deg", // MENU_SENSOR_MOTOR_DEG
+ "_rot", // MENU_SENSOR_MOTOR_ROT
+ "_in", // MENU_SENSOR_ULTRASONIC_IN
+ "_cm", // MENU_SENSOR_ULTRASONIC_CM
+ "_C", // MENU_SENSOR_IIC_TEMP_C
+ "_F", // MENU_SENSOR_IIC_TEMP_F
+ "_0", // MENU_SENSOR_COLOR
+};
+const UBYTE SENSORFORMAT2[SENSORS - 1][6] =
+{
+ "\t%.0f", // MENU_SENSOR_SOUND_DB
+ "\t%.0f", // MENU_SENSOR_SOUND_DBA
+ "\t%.0f", // MENU_SENSOR_LIGHT
+ "\t%.0f", // MENU_SENSOR_LIGHT_AMB
+ "\t%.0f", // MENU_SENSOR_TOUCH
+ "\t%.0f", // MENU_SENSOR_MOTOR_DEG
+ "\t%.0f", // MENU_SENSOR_MOTOR_ROT
+ "\t%.0f", // MENU_SENSOR_ULTRASONIC_IN
+ "\t%.0f", // MENU_SENSOR_ULTRASONIC_CM
+ "\t%.1f", // MENU_SENSOR_IIC_TEMP_C
+ "\t%.1f", // MENU_SENSOR_IIC_TEMP_F
+ "\t%.0f" // MENU_SENSOR_COLOR
+};
-//******* cUiAskUltrasonic ***************************************************
+//******* cUiWriteLowspeed ***************************************************
-void cUiAskUltrasonic(UBYTE Port)
+void cUiWriteLowspeed(UBYTE Port,UBYTE TxBytes,UBYTE *TxBuf,UBYTE RxBytes)
{
Port -= MENU_PORT_1;
pMapLowSpeed->OutBuf[Port].InPtr = 0;
pMapLowSpeed->OutBuf[Port].OutPtr = 0;
- pMapLowSpeed->OutBuf[Port].Buf[pMapLowSpeed->OutBuf[Port].InPtr] = ULTRA_SONIC; // Device Adress
- pMapLowSpeed->OutBuf[Port].InPtr++;
- pMapLowSpeed->OutBuf[Port].Buf[pMapLowSpeed->OutBuf[Port].InPtr] = 0x42; // Function => Read result 1
- pMapLowSpeed->OutBuf[Port].InPtr++;
-
- pMapLowSpeed->InBuf[Port].BytesToRx = 1;
+ while (TxBytes)
+ {
+ pMapLowSpeed->OutBuf[Port].Buf[pMapLowSpeed->OutBuf[Port].InPtr] = *TxBuf;
+ pMapLowSpeed->OutBuf[Port].InPtr++;
+ TxBuf++;
+ TxBytes--;
+ }
+ pMapLowSpeed->InBuf[Port].BytesToRx = RxBytes;
pMapLowSpeed->ChannelState[Port] = LOWSPEED_INIT;
pMapLowSpeed->State |= (COM_CHANNEL_ONE_ACTIVE << Port);
}
+//******* cUiReadLowspeed ****************************************************
-//******* cUiReadUltrasonic **************************************************
+#define IIC_READY 0
+#define IIC_BUSY 1
+#define IIC_ERROR 2
-UBYTE cUiReadUltrasonic(UBYTE Port)
+UBYTE cUiReadLowspeed(UBYTE Port,UBYTE RxBytes,UWORD *Value)
{
UBYTE Result;
+ *Value = 0;
Port -= MENU_PORT_1;
if ((pMapLowSpeed->ChannelState[Port] == LOWSPEED_IDLE) || (pMapLowSpeed->ChannelState[Port] == LOWSPEED_DONE))
{
- Result = (UBYTE)pMapLowSpeed->InBuf[Port].Buf[pMapLowSpeed->InBuf[Port].OutPtr];
- pMapLowSpeed->InBuf[Port].OutPtr++;
- if (pMapLowSpeed->InBuf[Port].OutPtr >= SIZE_OF_LSBUF)
+ while (RxBytes)
{
- pMapLowSpeed->InBuf[Port].OutPtr = 0;
- }
- if (Result == 0)
- {
- Result = 0xFF;
+ (*Value) <<= 8;
+ (*Value) |= (UWORD)(pMapLowSpeed->InBuf[Port].Buf[pMapLowSpeed->InBuf[Port].OutPtr]);
+ pMapLowSpeed->InBuf[Port].OutPtr++;
+ if (pMapLowSpeed->InBuf[Port].OutPtr >= SIZE_OF_LSBUF)
+ {
+ pMapLowSpeed->InBuf[Port].OutPtr = 0;
+ }
+ RxBytes--;
}
+ Result = IIC_READY;
}
else
{
- Result = 0xFF;
- }
-
- return (Result);
-}
-
-
-
-//******* cUiResetSensor *****************************************************
-
-void cUiResetSensor(UBYTE Port,UBYTE Sensor) // Set sensor parameters
-{
- switch (Sensor)
- {
- case MENU_SENSOR_MOTOR_DEG :
+ if (pMapLowSpeed->ErrorType[Port] == LOWSPEED_CH_NOT_READY)
{
- pMapOutPut->Outputs[Port - MENU_PORT_A].Flags |= UPDATE_RESET_COUNT;
+ Result = IIC_ERROR;
}
- break;
-
- case MENU_SENSOR_MOTOR_ROT :
- {
- pMapOutPut->Outputs[Port - MENU_PORT_A].Flags |= UPDATE_RESET_COUNT;
- }
- break;
-
- case MENU_SENSOR_ROTATION :
+ else
{
- pMapInput->Inputs[Port - MENU_PORT_1].SensorValue = 0;
+ Result = IIC_BUSY;
}
- break;
-
}
+
+ return (Result);
}
+//******* cUiUpdateSensor ****************************************************
-//******* cUiSetupSensor *****************************************************
+#define SENSOR_SETUP 0
+#define SENSOR_ACQUIRE 3
+#define SENSOR_READ 8
+#define SENSOR_STATES 10
-void cUiSetupSensor(UBYTE Port,UBYTE Sensor) // Set sensor parameters
+void cUiUpdateSensor(SWORD Time)
{
- switch (Sensor)
+ UBYTE Port;
+ UBYTE Sensor;
+ UBYTE Result;
+ SWORD Tmp;
+
+ if (VarsUi.SensorReset == TRUE)
{
- case MENU_SENSOR_MOTOR_DEG :
+ for (Port = MENU_PORT_1;Port < MENU_PORT_INVALID;Port++)
{
- pMapOutPut->Outputs[Port - MENU_PORT_A].Mode &= ~(BRAKE | MOTORON);
- pMapOutPut->Outputs[Port - MENU_PORT_A].Flags |= UPDATE_MODE | UPDATE_SPEED;
- pMapOutPut->Outputs[Port - MENU_PORT_A].TachoCnt = 0;
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = FALSE;
}
- break;
+ VarsUi.SensorTimer = (MIN_SENSOR_READ_TIME / SENSOR_STATES);
+ VarsUi.SensorState = SENSOR_SETUP;
+ }
- case MENU_SENSOR_MOTOR_ROT :
- {
- pMapOutPut->Outputs[Port - MENU_PORT_A].Mode &= ~(BRAKE | MOTORON);
- pMapOutPut->Outputs[Port - MENU_PORT_A].Flags |= UPDATE_MODE | UPDATE_SPEED;
- pMapOutPut->Outputs[Port - MENU_PORT_A].TachoCnt = 0;
- }
- break;
+ VarsUi.SensorTimer += Time;
+ if (VarsUi.SensorTimer >= (MIN_SENSOR_READ_TIME / SENSOR_STATES))
+ {
+ VarsUi.SensorTimer -= (MIN_SENSOR_READ_TIME / SENSOR_STATES);
- case MENU_SENSOR_ULTRASONIC_IN :
+ for (Port = MENU_PORT_1;Port < MENU_PORT_INVALID;Port++)
{
- pMapInput->Inputs[Port - MENU_PORT_1].SensorType = SENSORTYPE[Sensor - MENU_SENSOR_EMPTY];
- cUiSetupUltrasonic(Port);
- }
- break;
+ Sensor = VarsUi.DatalogPort[Port - MENU_PORT_1];
- case MENU_SENSOR_ULTRASONIC_CM :
- {
- pMapInput->Inputs[Port - MENU_PORT_1].SensorType = SENSORTYPE[Sensor - MENU_SENSOR_EMPTY];
- cUiSetupUltrasonic(Port);
+ if (Sensor != MENU_SENSOR_EMPTY)
+ {
+ if ((Sensor == MENU_SENSOR_MOTOR_DEG) || (Sensor == MENU_SENSOR_MOTOR_ROT))
+ {
+ if (VarsUi.SensorReset == TRUE)
+ {
+ pMapOutPut->Outputs[Port - MENU_PORT_A].Mode &= ~(BRAKE | MOTORON);
+ pMapOutPut->Outputs[Port - MENU_PORT_A].Flags |= UPDATE_MODE | UPDATE_SPEED | UPDATE_RESET_COUNT;
+ pMapOutPut->Outputs[Port - MENU_PORT_A].TachoCnt = 0;
+ }
+ if (VarsUi.SensorState == SENSOR_READ)
+ {
+ VarsUi.DatalogSampleValue[Port - MENU_PORT_1] = pMapOutPut->Outputs[Port - MENU_PORT_A].TachoCnt;
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = TRUE;
+ }
+ }
+ else
+ {
+ pMapInput->Inputs[Port - MENU_PORT_1].SensorType = SENSORTYPE[Sensor - MENU_SENSOR_EMPTY];
+ pMapInput->Inputs[Port - MENU_PORT_1].SensorMode = SENSORMODE[Sensor - MENU_SENSOR_EMPTY];
+ if ((Sensor == MENU_SENSOR_ULTRASONIC_IN) || (Sensor == MENU_SENSOR_ULTRASONIC_CM))
+ {
+ if (VarsUi.SensorReset == TRUE)
+ {
+ cUiWriteLowspeed(Port,3,"\x02\x41\x02",0);
+ }
+ if (VarsUi.SensorState == SENSOR_ACQUIRE)
+ {
+ cUiWriteLowspeed(Port,2,"\x02\x42",1);
+ }
+ if (VarsUi.SensorState == SENSOR_READ)
+ {
+ Result = cUiReadLowspeed(Port,1,(UWORD*)&Tmp);
+ if (Result == IIC_READY)
+ {
+ if ((UBYTE)Tmp != 0xFF)
+ {
+ VarsUi.DatalogSampleValue[Port - MENU_PORT_1] = (SLONG)Tmp;
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = TRUE;
+ }
+ else
+ {
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = FALSE;
+ }
+ }
+ else
+ {
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = FALSE;
+ }
+ }
+ }
+ else
+ {
+ if ((Sensor == MENU_SENSOR_IIC_TEMP_C) || (Sensor == MENU_SENSOR_IIC_TEMP_F))
+ {
+ if (VarsUi.SensorState == SENSOR_SETUP)
+ {
+ cUiWriteLowspeed(Port,3,"\x98\x01\x60",0);
+ }
+ if (VarsUi.SensorState == SENSOR_ACQUIRE)
+ {
+ cUiWriteLowspeed(Port,2,"\x98\x00",2);
+ }
+ if (VarsUi.SensorState == SENSOR_READ)
+ {
+ Result = cUiReadLowspeed(Port,2,(UWORD*)&Tmp);
+ if (Result == IIC_READY)
+ {
+// if (Tmp >= -14080)
+ {
+ if (Sensor == MENU_SENSOR_IIC_TEMP_F)
+ {
+ VarsUi.DatalogSampleValue[Port - MENU_PORT_1] = (SLONG)((float)(Tmp + 4544) / 14.2);
+ }
+ else
+ {
+ VarsUi.DatalogSampleValue[Port - MENU_PORT_1] = (SLONG)((float)Tmp / 25.6);
+ }
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = TRUE;
+ }
+ }
+ else
+ {
+ if (Result == IIC_ERROR)
+ {
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = FALSE;
+ }
+ }
+ }
+ }
+ else
+ {
+ if (VarsUi.SensorState == SENSOR_READ)
+ {
+ if (pMapInput->Inputs[Port - MENU_PORT_1].InvalidData != INVALID_DATA)
+ {
+ VarsUi.DatalogSampleValue[Port - MENU_PORT_1] = pMapInput->Inputs[Port - MENU_PORT_1].SensorValue;
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = TRUE;
+ }
+ else
+ {
+ VarsUi.DatalogSampleValid[Port - MENU_PORT_1] = FALSE;
+ }
+ }
+ }
+ }
+ }
+ }
}
- break;
- default :
+ VarsUi.SensorState++;
+ if (VarsUi.SensorState >= SENSOR_STATES)
{
- pMapInput->Inputs[Port - MENU_PORT_1].SensorType = SENSORTYPE[Sensor - MENU_SENSOR_EMPTY];
- pMapInput->Inputs[Port - MENU_PORT_1].SensorMode = SENSORMODE[Sensor - MENU_SENSOR_EMPTY];
+ VarsUi.SensorState = SENSOR_SETUP;
}
- break;
+ VarsUi.SensorReset = FALSE;
}
}
+//******* cUiGetCustomPctFullScale *******************************************
-//******* cUiAskSensor *******************************************************
-void cUiAskSensor(UBYTE Port,UBYTE Sensor) // Ask for sensor data
+UBYTE cUiGetCustomPctFullScale(UBYTE Port,UBYTE Sensor)
{
- switch (Sensor)
- {
- case MENU_SENSOR_ULTRASONIC_IN :
- {
- cUiAskUltrasonic(Port);
- }
- break;
-
- case MENU_SENSOR_ULTRASONIC_CM :
- {
- cUiAskUltrasonic(Port);
- }
- break;
-
- default :
- {
- }
- break;
+ UBYTE Result = 0;
+ if ((Sensor != MENU_SENSOR_MOTOR_DEG) && (Sensor != MENU_SENSOR_MOTOR_ROT))
+ {
+ Result = (UBYTE)pMapInput->Inputs[Port - MENU_PORT_1].CustomPctFullScale;
}
+
+ return (Result);
}
-//******* cUiGetSensorValue **************************************************
+//******* cUiGetCustomActiveStatus *******************************************
+
-UBYTE cUiGetSensorValue(UBYTE Port,UBYTE Sensor,SLONG *Value)
+UBYTE cUiGetCustomActiveStatus(UBYTE Port,UBYTE Sensor)
{
- UBYTE Result = FALSE;
+ UBYTE Result = 0;
- *Value = 0L;
- switch (Sensor)
+ if ((Sensor != MENU_SENSOR_MOTOR_DEG) && (Sensor != MENU_SENSOR_MOTOR_ROT))
{
- case MENU_SENSOR_MOTOR_DEG :
- {
- *Value = pMapOutPut->Outputs[Port - MENU_PORT_A].TachoCnt;
- Result = TRUE;
- }
- break;
-
- case MENU_SENSOR_MOTOR_ROT :
- {
- *Value = pMapOutPut->Outputs[Port - MENU_PORT_A].TachoCnt;
- Result = TRUE;
- }
- break;
-
- case MENU_SENSOR_ULTRASONIC_IN :
- {
- Result = cUiReadUltrasonic(Port);
- if (Result != 0xFF)
- {
- *Value = Result;
- Result = TRUE;
- }
- else
- {
- Result = FALSE;
- }
- }
- break;
-
- case MENU_SENSOR_ULTRASONIC_CM :
- {
- Result = cUiReadUltrasonic(Port);
- if (Result != 0xFF)
- {
- *Value = Result;
- Result = TRUE;
- }
- else
- {
- Result = FALSE;
- }
- }
- break;
-
- default :
- {
- if (pMapInput->Inputs[Port - MENU_PORT_1].InvalidData != INVALID_DATA)
- {
- *Value = pMapInput->Inputs[Port - MENU_PORT_1].SensorValue;
- Result = TRUE;
- }
- }
- break;
-
+ Result = (UBYTE)pMapInput->Inputs[Port - MENU_PORT_1].CustomActiveStatus;
}
return (Result);
@@ -350,26 +407,53 @@ UBYTE cUiGetSensorValue(UBYTE Port,UBYTE Sensor,SLONG *Value)
//******* cUiPrintSensorInDisplayBuffer **************************************
-void cUiPrintSensorInDisplayBuffer(UBYTE Port,UBYTE Sensor,UBYTE Valid,SLONG Value)
+#define COLORNAMES 6
+
+const UBYTE COLORNAME[COLORNAMES][10] =
{
- SWORD Tmp;
+ "1. Black ",
+ "2. Blue ",
+ "3. Green ",
+ "4. Yellow",
+ "5. Red ",
+ "6. White "
+};
+
- Tmp = sprintf((char*)VarsUi.DisplayBuffer,(char*)SENSORFORMAT[Sensor - MENU_SENSOR_EMPTY],(float)0);
- if (Valid == TRUE)
+void cUiPrintSensorInDisplayBuffer(UBYTE Port)
+{
+ UBYTE Sensor;
+ float Value;
+ SWORD Size;
+ SWORD Index;
+
+ Port -= MENU_PORT_1;
+ Sensor = VarsUi.DatalogPort[Port] - MENU_SENSOR_EMPTY;
+ Value = (float)VarsUi.DatalogSampleValue[Port] / (float)SENSORDIVIDER[Sensor];
+ Size = sprintf((char*)VarsUi.DisplayBuffer,(char*)SENSORFORMAT[Sensor],(float)0);
+ sprintf((char*)VarsUi.DisplayBuffer,"%*.*s",Size,Size,(char*)TXT_INVALID_SENSOR);
+
+ if (VarsUi.DatalogSampleValid[Port] == TRUE)
{
- if (Tmp < sprintf((char*)VarsUi.DisplayBuffer,(char*)SENSORFORMAT[Sensor - MENU_SENSOR_EMPTY],(float)Value / SENSORDIVIDER[Sensor - MENU_SENSOR_EMPTY]))
+ if (Sensor == (MENU_SENSOR_COLOR - MENU_SENSOR_EMPTY))
{
- sprintf((char*)VarsUi.DisplayBuffer,"%*.*s",Tmp,Tmp,(char*)TXT_INVALID_SENSOR);
+ Index = (SWORD)Value - 1;
+ if ((Index >= 0) && (Index < COLORNAMES))
+ {
+ sprintf((char*)VarsUi.DisplayBuffer,(char*)COLORNAME[Index]);
+ }
+ }
+ else
+ {
+ if (Size < sprintf((char*)VarsUi.DisplayBuffer,(char*)SENSORFORMAT[Sensor],Value))
+ {
+ sprintf((char*)VarsUi.DisplayBuffer,"%*.*s",Size,Size,(char*)TXT_INVALID_SENSOR);
+ }
}
- }
- else
- {
- sprintf((char*)VarsUi.DisplayBuffer,"%*.*s",Tmp,Tmp,(char*)TXT_INVALID_SENSOR);
}
}
-
//******* cUiReleaseSensors **************************************************
void cUiReleaseSensors(void)
@@ -586,7 +670,7 @@ UWORD cUiBTCommand(UBYTE Cmd,UBYTE Flag,UBYTE *pParam1,UBYTE *pParam2)
//******* cUiNVxxxxx *********************************************************
-void cUiNVWriteByte(void)
+void cUiNVWrite(void)
{
sprintf((char*)VarsUi.NVFilename,"%s.%s",(char*)NONVOLATILE_NAME,(char*)TXT_SYS_EXT);
VarsUi.NVTmpHandle = pMapLoader->pFunc(FINDFIRST,VarsUi.NVFilename,VarsUi.SearchFilenameBuffer,&VarsUi.NVTmpLength);
@@ -595,58 +679,36 @@ void cUiNVWriteByte(void)
pMapLoader->pFunc(CLOSE,(UBYTE*)&VarsUi.NVTmpHandle,NULL,NULL);
pMapLoader->pFunc(DELETE,VarsUi.NVFilename,NULL,NULL);
}
- VarsUi.NVTmpLength = 1;
+ VarsUi.NVTmpLength = sizeof(NVDATA);
VarsUi.NVTmpHandle = pMapLoader->pFunc(OPENWRITE,VarsUi.NVFilename,NULL,&VarsUi.NVTmpLength);
pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.NVTmpHandle,(UBYTE*)&VarsUi.NVData,&VarsUi.NVTmpLength);
pMapLoader->pFunc(CLOSE,(UBYTE*)&VarsUi.NVTmpHandle,NULL,NULL);
}
-void cUiNVWritePowerOnTimeCount(UBYTE Count)
-{
- VarsUi.NVData &= ~0x07;
- VarsUi.NVData |= (Count & 0x07);
- cUiNVWriteByte();
-}
-
-UBYTE cUiNVReadPowerOnTimeCount(void)
-{
- return (VarsUi.NVData & 0x07);
-}
-void cUiNVWriteVolumeCount(UBYTE Count)
+void cUiNVRead(void)
{
- VarsUi.NVData &= ~0x70;
- VarsUi.NVData |= ((Count << 4) & 0x70);
- cUiNVWriteByte();
-}
-
-UBYTE cUiNVReadVolumeCount(void)
-{
- return ((VarsUi.NVData >> 4) & 0x07);
-}
-
-void cUiNVReadByte(void)
-{
- VarsUi.NVData = 0xFF;
+ VarsUi.NVData.CheckByte = 0;
sprintf((char*)VarsUi.NVFilename,"%s.%s",(char*)NONVOLATILE_NAME,(char*)TXT_SYS_EXT);
VarsUi.NVTmpHandle = pMapLoader->pFunc(OPENREAD,VarsUi.NVFilename,NULL,&VarsUi.NVTmpLength);
if (!(VarsUi.NVTmpHandle & 0x8000))
{
- VarsUi.NVTmpLength = 1;
- pMapLoader->pFunc(READ,(UBYTE*)&VarsUi.NVTmpHandle,&VarsUi.NVData,&VarsUi.NVTmpLength);
+ VarsUi.NVTmpLength = sizeof(NVDATA);
+ pMapLoader->pFunc(READ,(UBYTE*)&VarsUi.NVTmpHandle,(UBYTE*)&VarsUi.NVData,&VarsUi.NVTmpLength);
pMapLoader->pFunc(CLOSE,(UBYTE*)&VarsUi.NVTmpHandle,NULL,NULL);
}
-
- if ((cUiNVReadPowerOnTimeCount() > (POWER_OFF_TIME_STEPS - 1)) || (cUiNVReadVolumeCount() > MAX_VOLUME))
+ if (VarsUi.NVData.CheckByte != CHECKBYTE)
{
- VarsUi.NVData = 0xFF;
- cUiNVWritePowerOnTimeCount(POWER_OFF_TIME_DEFAULT);
- cUiNVWriteVolumeCount(MAX_VOLUME);
+ VarsUi.NVData.DatalogEnabled = DATALOGENABLED;
+ VarsUi.NVData.VolumeStep = MAX_VOLUME;
+ VarsUi.NVData.PowerdownCode = POWER_OFF_TIME_DEFAULT;
+ VarsUi.NVData.DatalogNumber = 0;
+ VarsUi.NVData.CheckByte = CHECKBYTE;
+ cUiNVWrite();
}
}
-
//******* cUiFeedback ********************************************************
UBYTE cUiFeedback(BMPMAP *Bitmap,UBYTE TextNo1,UBYTE TextNo2,UWORD Time) // Show bimap and text
@@ -728,7 +790,14 @@ UBYTE cUiFeedback(BMPMAP *Bitmap,UBYTE TextNo1,UBYTE TextNo2,UWORD Time) //
}
else
{
- VarsUi.FBText = cUiGetString(TextNo2);
+ if (TextNo2 == 0xFF)
+ {
+ VarsUi.FBText = VarsUi.SelectedFilename;
+ }
+ else
+ {
+ VarsUi.FBText = cUiGetString(TextNo2);
+ }
VarsUi.FBPointer = 0;
VarsUi.FBState++;
}
@@ -1056,7 +1125,7 @@ UBYTE cUiVolume(UBYTE Action) // MENU_INIT,MENU_LEFT,MENU_RIGHT,MENU_EXIT
{
case MENU_INIT : // Init time counter and cursor bitmap
{
- VarsUi.Counter = cUiNVReadVolumeCount() + 1;
+ VarsUi.Counter = VarsUi.NVData.VolumeStep + 1;
VarsUi.pTmp = (UBYTE*)Cursor;
for (VarsUi.Tmp = 0;(VarsUi.Tmp < SIZE_OF_CURSOR) && (VarsUi.Tmp < (UBYTE)sizeof(Cursor));VarsUi.Tmp++)
@@ -1086,8 +1155,9 @@ UBYTE cUiVolume(UBYTE Action) // MENU_INIT,MENU_LEFT,MENU_RIGHT,MENU_EXIT
case MENU_ENTER : // Enter
{
- cUiNVWriteVolumeCount(VarsUi.Counter - 1);
- IOMapUi.Volume = cUiNVReadVolumeCount();
+ VarsUi.NVData.VolumeStep = VarsUi.Counter - 1;
+ cUiNVWrite();
+ IOMapUi.Volume = VarsUi.NVData.VolumeStep;
pMapSound->Volume = IOMapUi.Volume;
Action = MENU_EXIT;
}
@@ -1095,7 +1165,7 @@ UBYTE cUiVolume(UBYTE Action) // MENU_INIT,MENU_LEFT,MENU_RIGHT,MENU_EXIT
case MENU_EXIT : // Leave
{
- IOMapUi.Volume = cUiNVReadVolumeCount();
+ IOMapUi.Volume = VarsUi.NVData.VolumeStep;
}
break;
@@ -1140,13 +1210,12 @@ typedef struct
}
STRSETS;
-const UBYTE PincodeFigures[] = { "0987654321" "\x7F" "abcdefghijklmnopqrstuvwxyz " };
-const UBYTE FilenameFigures[] = { "0987654321" "\x7F" "abcdefghijklmnopqrstuvwxyz " };
+const UBYTE Figures[] = { "0987654321" "\x7F" "abcdefghijklmnopqrstuvwxyz " };
const STRSETS StrSets[STRINGTYPES] =
{
- { TXT_GETUSERSTRING_PIN, PincodeFigures, 37, SIZE_OF_BT_PINCODE - 1, 15, 10 },
- { TXT_GETUSERSTRING_FILENAME, FilenameFigures, 37, FILENAME_LENGTH - 4 , 15, 10 }
+ { TXT_GETUSERSTRING_PIN, Figures, 37, SIZE_OF_BT_PINCODE - 1, 15, 10 },
+ { TXT_GETUSERSTRING_FILENAME, Figures, 37, FILENAME_LENGTH - 4 , 15, 10 }
};
@@ -1404,6 +1473,544 @@ void cUiDrawPortNo(UBYTE *Bitmap,UBYTE MenuIconNo,UBYTE PortNo)
}
+UBYTE cUiDataLogging(UBYTE Action)
+{
+ SBYTE TmpBuffer[DATALOGBUFFERSIZE + 1];
+
+ switch (Action)
+ {
+ case MENU_INIT : // Initialize all ports to empty
+ {
+// Show select
+ pMapDisplay->pTextLines[TEXTLINE_3] = cUiGetString(TXT_VIEW_SELECT);
+ pMapDisplay->TextLinesCenterFlags |= TEXTLINE_BIT(TEXTLINE_3);
+ pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_3);
+ pMapDisplay->EraseMask |= SCREEN_BIT(SCREEN_SMALL);
+
+// Init ports
+ for (VarsUi.Tmp = 0;VarsUi.Tmp < DATALOGPORTS;VarsUi.Tmp++)
+ {
+ VarsUi.DatalogPort[VarsUi.Tmp] = MENU_SENSOR_EMPTY;
+ }
+ }
+ break;
+
+ case MENU_EXIT : // Initialize all ports to empty
+ {
+// Show select
+ pMapDisplay->pTextLines[TEXTLINE_3] = cUiGetString(TXT_VIEW_SELECT);
+ pMapDisplay->TextLinesCenterFlags |= TEXTLINE_BIT(TEXTLINE_3);
+ pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_3);
+ pMapDisplay->EraseMask |= SCREEN_BIT(SCREEN_SMALL);
+ }
+ break;
+
+ case MENU_TEXT : // Write text
+ {
+// Init selected sensor and port to none
+ VarsUi.SelectedSensor = MENU_SENSOR_EMPTY;
+ VarsUi.SelectedPort = MENU_PORT_EMPTY;
+// Count ports
+ VarsUi.Counter = 0;
+ for (VarsUi.Tmp = 0;VarsUi.Tmp < DATALOGPORTS;VarsUi.Tmp++)
+ {
+ if (MENU_SENSOR_EMPTY != VarsUi.DatalogPort[VarsUi.Tmp])
+ {
+// Find default port to view
+ if (VarsUi.SelectedPort == MENU_PORT_EMPTY)
+ {
+ VarsUi.SelectedPort = VarsUi.Tmp + MENU_PORT_1;
+ }
+ VarsUi.Counter++;
+ }
+ }
+ if (VarsUi.Counter)
+ {
+// Display text
+ pMapDisplay->pTextLines[TEXTLINE_3] = cUiGetString(TXT_DATALOGGING_PRESS_EXIT_TO);
+ pMapDisplay->pTextLines[TEXTLINE_4] = cUiGetString(TXT_DATALOGGING_STOP_DATALOGGING);
+
+ pMapDisplay->TextLinesCenterFlags |= (TEXTLINE_BIT(TEXTLINE_3) | TEXTLINE_BIT(TEXTLINE_4));
+ pMapDisplay->UpdateMask |= (TEXTLINE_BIT(TEXTLINE_3) | TEXTLINE_BIT(TEXTLINE_4));
+ }
+ else
+ {
+ cUiMenuPrevFile();
+ IOMapUi.State = NEXT_MENU;
+ VarsUi.State = 0;
+ }
+ }
+ break;
+
+ case MENU_RUN : // Run data logging
+ {
+ switch (VarsUi.State)
+ {
+ case 0 : // Init log
+ {
+// Save menu text
+ VarsUi.MenuIconTextSave = pMapDisplay->pMenuText;
+
+// Delete file if exist
+ sprintf((char*)VarsUi.FilenameBuffer,"%s.%s",(char*)TEMP_DATALOG_FILENAME,(char*)TXT_FILE_EXT[FILETYPE_DATALOG]);
+ VarsUi.TmpHandle = pMapLoader->pFunc(FINDFIRST,VarsUi.FilenameBuffer,VarsUi.SearchFilenameBuffer,&VarsUi.TmpLength);
+ if (!(VarsUi.TmpHandle & 0x8000))
+ {
+ pMapLoader->pFunc(CLOSE,(UBYTE*)&VarsUi.TmpHandle,NULL,NULL);
+ pMapLoader->pFunc(DELETE,VarsUi.FilenameBuffer,NULL,NULL);
+ }
+
+// Open file
+ VarsUi.TmpLength = pMapLoader->FreeUserFlash;
+ sprintf((char*)VarsUi.FilenameBuffer,"%s.%s",(char*)TEMP_DATALOG_FILENAME,(char*)TXT_FILE_EXT[FILETYPE_DATALOG]);
+ VarsUi.TmpHandle = pMapLoader->pFunc(OPENWRITEDATA,VarsUi.FilenameBuffer,NULL,&VarsUi.TmpLength);
+ VarsUi.DatalogError = VarsUi.TmpHandle;
+ if (!(VarsUi.DatalogError & 0x8000))
+ {
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"%s\t%lu",SENSORSYNCDATA,pMapCmd->SyncTime);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\t%lu",pMapCmd->SyncTick);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\t%lu",pMapCmd->Tick);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\t%lu\t-1\r\n",DATALOG_DEFAULT_SAMPLE_TIME);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"%s",SENSORSDATA);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ for (VarsUi.Tmp = 0;(VarsUi.Tmp < DATALOGPORTS) && (!(VarsUi.DatalogError & 0x8000));VarsUi.Tmp++)
+ {
+ if (MENU_SENSOR_EMPTY != VarsUi.DatalogPort[VarsUi.Tmp])
+ {
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\t%u_%s%s",(UWORD)(VarsUi.Tmp + 1),(char*)SENSORDIRNAME[(VarsUi.DatalogPort[VarsUi.Tmp] - MENU_SENSOR_EMPTY) - 1],(char*)SENSORUNITNAME[(VarsUi.DatalogPort[VarsUi.Tmp] - MENU_SENSOR_EMPTY) - 1]);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ }
+ }
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\r\n");
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"%s",SENSORTIME);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ for (VarsUi.Tmp = 0;(VarsUi.Tmp < DATALOGPORTS) && (!(VarsUi.DatalogError & 0x8000));VarsUi.Tmp++)
+ {
+ if (MENU_SENSOR_EMPTY != VarsUi.DatalogPort[VarsUi.Tmp])
+ {
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\t%s",(char*)SENSORDIRNAME[(VarsUi.DatalogPort[VarsUi.Tmp] - MENU_SENSOR_EMPTY) - 1]);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ }
+ }
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\r\n");
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ if (!(VarsUi.DatalogError & 0x8000))
+ {
+ VarsUi.DatalogTimer = 0;
+ VarsUi.DatalogSampleTime = DATALOG_DEFAULT_SAMPLE_TIME;
+ VarsUi.DatalogSampleTimer = 0;
+ VarsUi.Timer = 0;
+ VarsUi.Update = TRUE;
+ IOMapUi.Flags |= UI_BUSY;
+ VarsUi.DatalogOldTick = pMapCmd->Tick;
+ VarsUi.SensorReset = TRUE;
+ VarsUi.State++;
+ }
+ else
+ {
+ pMapDisplay->EraseMask |= SCREEN_BIT(SCREEN_SMALL);
+ pMapDisplay->pBitmaps[BITMAP_1] = NULL;
+ VarsUi.State = 4;
+ }
+ }
+ else
+ {
+// File error
+ pMapDisplay->EraseMask |= SCREEN_BIT(SCREEN_SMALL);
+ pMapDisplay->pBitmaps[BITMAP_1] = NULL;
+ VarsUi.State = 3;
+ }
+ }
+ break;
+
+ case 1 :
+ {
+// Get real time since last
+ VarsUi.DatalogRTC = (pMapCmd->Tick - VarsUi.DatalogOldTick);
+ VarsUi.DatalogOldTick = pMapCmd->Tick;
+// Update all timers
+ VarsUi.DatalogTimer += VarsUi.DatalogRTC;
+ VarsUi.DatalogSampleTimer += VarsUi.DatalogRTC;
+ VarsUi.ReadoutTimer += VarsUi.DatalogRTC;
+// Update sensor values
+ cUiUpdateSensor((SWORD)VarsUi.DatalogRTC);
+// Check for select change
+ if (VarsUi.Update == TRUE)
+ {
+ VarsUi.Update = FALSE;
+ VarsUi.SelectedSensor = VarsUi.DatalogPort[VarsUi.SelectedPort - MENU_PORT_1];
+ pMapDisplay->pMenuIcons[MENUICON_CENTER] = cUiMenuGetIconImage(cUiMenuSearchSensorIcon(VarsUi.SelectedSensor));
+ pMapDisplay->pMenuIcons[MENUICON_LEFT] = NULL;
+ pMapDisplay->pMenuIcons[MENUICON_RIGHT] = NULL;
+
+ pMapDisplay->EraseMask = SCREEN_BIT(SCREEN_LARGE);
+ pMapDisplay->pBitmaps[BITMAP_1] = (BMPMAP*)Display;
+ pMapDisplay->UpdateMask = (BITMAP_BIT(BITMAP_1) | MENUICON_BITS | SPECIAL_BIT(TOPLINE) | SPECIAL_BIT(FRAME_SELECT));
+
+ pMapDisplay->pBitmaps[BITMAP_2] = (BMPMAP*)VarsUi.PortBitmapLeft;
+ pMapDisplay->pBitmaps[BITMAP_3] = (BMPMAP*)VarsUi.PortBitmapCenter;
+ pMapDisplay->pBitmaps[BITMAP_4] = (BMPMAP*)VarsUi.PortBitmapRight;
+
+ cUiDrawPortNo(VarsUi.PortBitmapCenter,MENUICON_CENTER,VarsUi.SelectedPort - MENU_PORT_EMPTY);
+ pMapDisplay->UpdateMask |= BITMAP_BIT(BITMAP_3);
+
+
+
+ if (VarsUi.Counter == 2)
+ {
+ VarsUi.Tmp = VarsUi.SelectedPort;
+ do
+ {
+ VarsUi.Tmp++;
+ if (VarsUi.Tmp >= MENU_PORT_INVALID)
+ {
+ VarsUi.Tmp = MENU_PORT_1;
+ }
+ }
+ while (VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1] == MENU_SENSOR_EMPTY);
+ if (VarsUi.Tmp > VarsUi.SelectedPort)
+ {
+ pMapDisplay->pMenuIcons[MENUICON_RIGHT] = cUiMenuGetIconImage(cUiMenuSearchSensorIcon(VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1]));
+ cUiDrawPortNo(VarsUi.PortBitmapRight,MENUICON_RIGHT,VarsUi.Tmp - MENU_PORT_EMPTY);
+ pMapDisplay->UpdateMask |= BITMAP_BIT(BITMAP_4);
+ }
+ else
+ {
+ pMapDisplay->pMenuIcons[MENUICON_LEFT] = cUiMenuGetIconImage(cUiMenuSearchSensorIcon(VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1]));
+ cUiDrawPortNo(VarsUi.PortBitmapLeft,MENUICON_LEFT,VarsUi.Tmp - MENU_PORT_EMPTY);
+ pMapDisplay->UpdateMask |= BITMAP_BIT(BITMAP_2);
+ }
+ }
+ if (VarsUi.Counter > 2)
+ {
+ VarsUi.Tmp = VarsUi.SelectedPort;
+ do
+ {
+ VarsUi.Tmp++;
+ if (VarsUi.Tmp >= MENU_PORT_INVALID)
+ {
+ VarsUi.Tmp = MENU_PORT_1;
+ }
+ }
+ while (VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1] == MENU_SENSOR_EMPTY);
+ pMapDisplay->pMenuIcons[MENUICON_RIGHT] = cUiMenuGetIconImage(cUiMenuSearchSensorIcon(VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1]));
+ cUiDrawPortNo(VarsUi.PortBitmapRight,MENUICON_RIGHT,VarsUi.Tmp - MENU_PORT_EMPTY);
+ pMapDisplay->UpdateMask |= BITMAP_BIT(BITMAP_4);
+
+ VarsUi.Tmp = VarsUi.SelectedPort;
+ do
+ {
+ VarsUi.Tmp--;
+ if (VarsUi.Tmp <= MENU_PORT_EMPTY)
+ {
+ VarsUi.Tmp = MENU_PORT_INVALID - 1;
+ }
+ }
+ while (VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1] == MENU_SENSOR_EMPTY);
+ pMapDisplay->pMenuIcons[MENUICON_LEFT] = cUiMenuGetIconImage(cUiMenuSearchSensorIcon(VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1]));
+ cUiDrawPortNo(VarsUi.PortBitmapLeft,MENUICON_LEFT,VarsUi.Tmp - MENU_PORT_EMPTY);
+ pMapDisplay->UpdateMask |= BITMAP_BIT(BITMAP_2);
+
+
+ }
+ VarsUi.ReadoutTimer = DISPLAY_VIEW_UPDATE;
+ }
+// Write sample if timeout
+ if (VarsUi.DatalogSampleTimer >= VarsUi.DatalogSampleTime)
+ {
+ VarsUi.DatalogSampleTimer -= VarsUi.DatalogSampleTime;
+
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"%lu",VarsUi.DatalogTimer - VarsUi.DatalogSampleTime);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ for (VarsUi.Tmp = 0;(VarsUi.Tmp < DATALOGPORTS) && (!(VarsUi.DatalogError & 0x8000));VarsUi.Tmp++)
+ {
+ if (MENU_SENSOR_EMPTY != VarsUi.DatalogPort[VarsUi.Tmp])
+ {
+ if (VarsUi.DatalogSampleValid[VarsUi.Tmp] == TRUE)
+ {
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,(char*)SENSORFORMAT2[(VarsUi.DatalogPort[VarsUi.Tmp] - MENU_SENSOR_EMPTY) - 1],(float)VarsUi.DatalogSampleValue[VarsUi.Tmp] / SENSORDIVIDER[VarsUi.DatalogPort[VarsUi.Tmp] - MENU_SENSOR_EMPTY]);
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ }
+ else
+ {
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\t-");
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ }
+ }
+ }
+ VarsUi.TmpLength = (ULONG)sprintf((char*)TmpBuffer,"\r\n");
+ VarsUi.DatalogError |= pMapLoader->pFunc(WRITE,(UBYTE*)&VarsUi.TmpHandle,(UBYTE*)TmpBuffer,&VarsUi.TmpLength);
+ }
+// Refresh display
+ if (++VarsUi.ReadoutTimer >= DISPLAY_VIEW_UPDATE)
+ {
+ VarsUi.ReadoutTimer = 0;
+
+// Display sensor value
+ cUiPrintSensorInDisplayBuffer(VarsUi.SelectedPort);
+ pMapDisplay->pTextLines[TEXTLINE_4] = VarsUi.DisplayBuffer;
+ pMapDisplay->TextLinesCenterFlags |= TEXTLINE_BIT(TEXTLINE_4);
+ pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_4);
+ }
+
+// Test for file error
+ if ((VarsUi.DatalogError & 0x8000))
+ {
+ pMapDisplay->EraseMask |= SCREEN_BIT(SCREEN_SMALL);
+ pMapDisplay->pBitmaps[BITMAP_1] = NULL;
+ VarsUi.State = 4;
+ }
+
+// Test for break;
+ switch (cUiReadButtons())
+ {
+ case BUTTON_EXIT :
+ {
+ VarsUi.State++;
+ }
+ break;
+
+ case BUTTON_LEFT :
+ {
+ VarsUi.Tmp = VarsUi.SelectedPort;
+ do
+ {
+ VarsUi.Tmp--;
+ if (VarsUi.Tmp <= MENU_PORT_EMPTY)
+ {
+ VarsUi.Tmp = MENU_PORT_INVALID - 1;
+ }
+ }
+ while (VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1] == MENU_SENSOR_EMPTY);
+ if ((VarsUi.Counter > 2) || (VarsUi.Tmp < VarsUi.SelectedPort))
+ {
+ VarsUi.SelectedPort = VarsUi.Tmp;
+ }
+ VarsUi.Update = TRUE;
+ }
+ break;
+
+ case BUTTON_RIGHT :
+ {
+ VarsUi.Tmp = VarsUi.SelectedPort;
+ do
+ {
+ VarsUi.Tmp++;
+ if (VarsUi.Tmp >= MENU_PORT_INVALID)
+ {
+ VarsUi.Tmp = MENU_PORT_1;
+ }
+ }
+ while (VarsUi.DatalogPort[VarsUi.Tmp - MENU_PORT_1] == MENU_SENSOR_EMPTY);
+ if ((VarsUi.Counter > 2) || (VarsUi.Tmp > VarsUi.SelectedPort))
+ {
+ VarsUi.SelectedPort = VarsUi.Tmp;
+ }
+ VarsUi.Update = TRUE;
+ }
+ break;
+
+ }
+ IOMapUi.Flags |= UI_RESET_SLEEP_TIMER;
+ }
+ break;
+
+ case 2 :
+ {
+// Close file
+ pMapLoader->pFunc(CROPDATAFILE,(UBYTE*)&VarsUi.TmpHandle,NULL,NULL);
+
+// Clean up
+ pMapDisplay->pMenuText = VarsUi.MenuIconTextSave;
+ cUiReleaseSensors();
+
+ IOMapUi.Flags &= ~UI_BUSY;
+ IOMapUi.State = RIGHT_PRESSED;
+ VarsUi.State = 0;
+ }
+ break;
+
+ case 3 : // Display memory full text
+ {
+ if (!cUiFeedback((BMPMAP*)Fail,TXT_FB_DL_ERROR_MEMORY_FULL_1,TXT_FB_DL_ERROR_MEMORY_FULL_2,DISPLAY_SHOW_ERROR_TIME))
+ {
+ cUiMenuPrevFile();
+ IOMapUi.State = NEXT_MENU;
+ VarsUi.State = 0;
+ }
+ }
+ break;
+
+ case 4 : // Display memory full text
+ {
+ if (!cUiFeedback((BMPMAP*)Fail,TXT_FB_DL_ERROR_MEMORY_FULL_1,TXT_FB_DL_ERROR_MEMORY_FULL_2,DISPLAY_SHOW_ERROR_TIME))
+ {
+ VarsUi.State = 2;
+ }
+ }
+ break;
+
+ }
+ }
+ break;
+
+ case MENU_SAVE : // Save datalog file
+ {
+ switch (VarsUi.State)
+ {
+ case 0 :
+ {
+ VarsUi.NVData.DatalogNumber++;
+ if (VarsUi.NVData.DatalogNumber > MAX_DATALOGS)
+ {
+ VarsUi.NVData.DatalogNumber = 1;
+ }
+ cUiNVWrite();
+ sprintf((char*)VarsUi.SelectedFilename,"%s%u.%s",(char*)UI_DATALOG_FILENAME,VarsUi.NVData.DatalogNumber,TXT_FILE_EXT[FILETYPE_DATALOG]);
+ VarsUi.State++;
+ }
+ break;
+
+ case 1 :
+ {
+// Rename TEMP_DATALOG_FILENAME to VarsUi.SelectedFilename(user filename)
+ sprintf((char*)VarsUi.FilenameBuffer,"%s.%s",(char*)TEMP_DATALOG_FILENAME,(char*)TXT_FILE_EXT[FILETYPE_DATALOG]);
+ VarsUi.TmpHandle = pMapLoader->pFunc(RENAMEFILE,VarsUi.FilenameBuffer,VarsUi.SelectedFilename,&VarsUi.TmpLength);
+ VarsUi.State++;
+ }
+ break;
+
+ case 2 : // Display saved text
+ {
+ if (!cUiFeedback((BMPMAP*)Info,TXT_FB_DL_FILE_SAVED_INFO,0xFF,DISPLAY_SHOW_FILENAME_TIME))
+ {
+ VarsUi.State++;
+ }
+ }
+ break;
+
+ default :
+ {
+ cUiMenuPrevFile();
+ IOMapUi.State = NEXT_MENU;
+ VarsUi.State = 0;
+ }
+ break;
+
+ }
+ }
+ break;
+
+ case MENU_DELETE : // Delete datalog file
+ {
+ switch (VarsUi.State)
+ {
+ case 0 :
+ {
+// Delete file if exist
+ sprintf((char*)VarsUi.FilenameBuffer,"%s.%s",(char*)TEMP_DATALOG_FILENAME,(char*)TXT_FILE_EXT[FILETYPE_DATALOG]);
+ pMapLoader->pFunc(DELETE,VarsUi.FilenameBuffer,NULL,NULL);
+ VarsUi.State++;
+ }
+ break;
+
+ case 1 :
+ {
+ pMapDisplay->EraseMask |= (TEXTLINE_BIT(TEXTLINE_3) | TEXTLINE_BIT(TEXTLINE_4) | TEXTLINE_BIT(TEXTLINE_5) | MENUICON_BITS | SPECIAL_BIT(MENUTEXT));
+ VarsUi.Timer = DISPLAY_SHOW_TIME;
+ VarsUi.State++;
+ }
+ break;
+
+ case 2 :
+ {
+ if (++VarsUi.Timer >= DISPLAY_SHOW_TIME)
+ {
+ pMapDisplay->EraseMask |= TEXTLINE_BIT(TEXTLINE_3);
+ VarsUi.State++;
+ }
+ }
+ break;
+
+ default :
+ {
+ VarsUi.State = 0;
+ }
+ break;
+
+ }
+ }
+ break;
+
+ case MENU_SELECT : // Save sensor
+ {
+ pMapDisplay->pTextLines[TEXTLINE_3] = cUiGetString(TXT_VIEW_SELECT);
+ pMapDisplay->TextLinesCenterFlags |= TEXTLINE_BIT(TEXTLINE_3);
+ pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_3);
+
+ VarsUi.DatalogPort[VarsUi.SelectedPort - MENU_PORT_1] = VarsUi.SelectedSensor;
+ IOMapUi.State = EXIT_PRESSED;
+ }
+ break;
+
+ default :
+ {
+ switch (VarsUi.State)
+ {
+ case 0 :
+ {
+ if ((Action > MENU_SENSOR_EMPTY) && (Action < MENU_SENSOR_INVALID))
+ {
+ VarsUi.SelectedSensor = Action;
+ }
+ if ((Action > MENU_PORT_EMPTY) && (Action < MENU_PORT_INVALID))
+ {
+ VarsUi.SelectedPort = Action;
+ if (VarsUi.DatalogPort[VarsUi.SelectedPort - MENU_PORT_1] != MENU_SENSOR_EMPTY)
+ {
+
+ // Port occupied
+ pMapDisplay->pTextLines[TEXTLINE_4] = cUiGetString(TXT_DATALOGGING_PORT_OCCUPIED);
+ pMapDisplay->TextLinesCenterFlags |= TEXTLINE_BIT(TEXTLINE_4);
+ pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_4);
+ VarsUi.Timer = 0;
+ VarsUi.State++;
+ }
+ }
+ }
+ break;
+
+ default :
+ {
+ if ((++VarsUi.Timer >= DISPLAY_SHOW_TIME) || (BUTTON_NONE != cUiReadButtons()))
+ {
+ pMapDisplay->EraseMask |= TEXTLINE_BIT(TEXTLINE_4);
+ cUiMenuPrev();
+ IOMapUi.State = NEXT_MENU;
+ VarsUi.State = 0;
+ }
+ }
+ break;
+
+ }
+ }
+ break;
+
+ }
+
+ return (VarsUi.State);
+}
+
+
//******* cUiRunning **********************************************************
void cUiRunning(UBYTE Action)
@@ -2221,7 +2828,6 @@ UBYTE cUiFileDelete(UBYTE Action)
}
-
//******* cUiView ************************************************************
UBYTE cUiView(UBYTE Action) // MENU_INIT
@@ -2238,6 +2844,11 @@ UBYTE cUiView(UBYTE Action) // MENU_INIT
pMapDisplay->TextLinesCenterFlags |= TEXTLINE_BIT(TEXTLINE_3);
pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_3);
pMapDisplay->EraseMask |= SCREEN_BIT(SCREEN_SMALL);
+// Init ports
+ for (VarsUi.Tmp = 0;VarsUi.Tmp < DATALOGPORTS;VarsUi.Tmp++)
+ {
+ VarsUi.DatalogPort[VarsUi.Tmp] = MENU_SENSOR_EMPTY;
+ }
}
break;
@@ -2250,17 +2861,18 @@ UBYTE cUiView(UBYTE Action) // MENU_INIT
if ((Action >= MENU_PORT_1) && (Action <= MENU_PORT_C))
{
VarsUi.SelectedPort = Action;
- IOMapUi.Flags |= UI_BUSY;
+
+ VarsUi.DatalogPort[VarsUi.SelectedPort - MENU_PORT_1] = VarsUi.SelectedSensor;
- cUiSetupSensor(VarsUi.SelectedPort,VarsUi.SelectedSensor);
- cUiResetSensor(VarsUi.SelectedPort,VarsUi.SelectedSensor);
+ IOMapUi.Flags |= UI_BUSY;
pMapDisplay->EraseMask |= SCREEN_BIT(SCREEN_LARGE);
pMapDisplay->pBitmaps[BITMAP_1] = (BMPMAP*)Display;
pMapDisplay->UpdateMask = BITMAP_BIT(BITMAP_1);
IOMapUi.Flags |= UI_REDRAW_STATUS;
VarsUi.ReadoutTimer = 0;;
- VarsUi.Timer = 0;
VarsUi.State++;
+
+ VarsUi.SensorReset = TRUE;
}
}
break;
@@ -2272,23 +2884,11 @@ UBYTE cUiView(UBYTE Action) // MENU_INIT
case 1 :
{
VarsUi.ReadoutTimer++;
- VarsUi.Timer++;
- if (VarsUi.Timer == MIN_SENSOR_READ_TIME)
- {
- // Ask sensors for data
- cUiAskSensor(VarsUi.SelectedPort,VarsUi.SelectedSensor);
- }
- if (VarsUi.Timer >= (MIN_SENSOR_READ_TIME * 2))
- {
- // Read sensor data
- VarsUi.ViewSampleValid = cUiGetSensorValue(VarsUi.SelectedPort,VarsUi.SelectedSensor,&VarsUi.ViewSampleValue);
- VarsUi.Timer = 0;
- }
-
+ cUiUpdateSensor(1);
if (VarsUi.ReadoutTimer >= DISPLAY_VIEW_UPDATE)
{
VarsUi.ReadoutTimer = 0;
- cUiPrintSensorInDisplayBuffer(VarsUi.SelectedPort,VarsUi.SelectedSensor,VarsUi.ViewSampleValid,VarsUi.ViewSampleValue);
+ cUiPrintSensorInDisplayBuffer(VarsUi.SelectedPort);
pMapDisplay->pTextLines[TEXTLINE_4] = VarsUi.DisplayBuffer;
pMapDisplay->TextLinesCenterFlags |= TEXTLINE_BIT(TEXTLINE_4);
pMapDisplay->UpdateMask |= TEXTLINE_BIT(TEXTLINE_4);
@@ -2306,7 +2906,7 @@ UBYTE cUiView(UBYTE Action) // MENU_INIT
}
if (VarsUi.Tmp == BUTTON_ENTER)
{
- cUiResetSensor(VarsUi.SelectedPort,VarsUi.SelectedSensor);
+ VarsUi.SensorReset = TRUE;
}
}
break;
@@ -3123,7 +3723,7 @@ UBYTE cUiBtConnect(UBYTE Action) // Select connection no and insert device
{
if (VarsUi.BTResult == REQPIN)
{
- sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_ATTENTION_SOUND,(char*)TXT_SOUND_EXT);
+ sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_ATTENTION_SOUND,(char*)TXT_FILE_EXT[FILETYPE_SOUND]);
pMapSound->Volume = IOMapUi.Volume;
pMapSound->Mode = SOUND_ONCE;
pMapSound->Flags |= SOUND_UPDATE;
@@ -3363,7 +3963,7 @@ UBYTE cUiPowerOffTime(UBYTE Action) // MENU_INIT,MENU_LEFT,MENU_RIGHT,MENU_E
{
case MENU_INIT : // Init time counter and cursor bitmap
{
- VarsUi.Counter = cUiNVReadPowerOnTimeCount() + 1;
+ VarsUi.Counter = VarsUi.NVData.PowerdownCode + 1;
VarsUi.pTmp = (UBYTE*)Cursor;
for (VarsUi.Tmp = 0;(VarsUi.Tmp < SIZE_OF_CURSOR) && (VarsUi.Tmp < (UBYTE)sizeof(Cursor));VarsUi.Tmp++)
@@ -3391,8 +3991,9 @@ UBYTE cUiPowerOffTime(UBYTE Action) // MENU_INIT,MENU_LEFT,MENU_RIGHT,MENU_E
case MENU_ENTER : // Enter
{
- cUiNVWritePowerOnTimeCount(VarsUi.Counter - 1);
- IOMapUi.SleepTimeout = PowerOffTimeSteps[cUiNVReadPowerOnTimeCount()];
+ VarsUi.NVData.PowerdownCode = VarsUi.Counter - 1;
+ cUiNVWrite();
+ IOMapUi.SleepTimeout = PowerOffTimeSteps[VarsUi.NVData.PowerdownCode];
Action = MENU_EXIT;
}
break;
@@ -3440,7 +4041,7 @@ UBYTE cUiBTConnectRequest(UBYTE Action)
{
case 0 :
{
- sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_ATTENTION_SOUND,(char*)TXT_SOUND_EXT);
+ sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_ATTENTION_SOUND,(char*)TXT_FILE_EXT[FILETYPE_SOUND]);
pMapSound->Volume = IOMapUi.Volume;
pMapSound->Mode = SOUND_ONCE;
pMapSound->Flags |= SOUND_UPDATE;
@@ -3714,7 +4315,7 @@ FUNCTION Functions[] = // Use same index as FUNC_NO
cUiVolume,
cUiFileRun,
cUiFileDelete,
- 0,
+ cUiDataLogging,
cUiOnBrickProgramming,
0,
cUiBTConnectRequest,
diff --git a/AT91SAM7S256/Source/Icons.txt b/AT91SAM7S256/Source/Icons.txt
index 34218e2..0d58409 100644
--- a/AT91SAM7S256/Source/Icons.txt
+++ b/AT91SAM7S256/Source/Icons.txt
@@ -1,9 +1,9 @@
const ICON Icons[] =
{
0x04,0x00, // Graphics Format
- 0x1B,0x00, // Graphics DataSize
+ 0x1A,0x70, // Graphics DataSize
0x01, // Graphics Count X
- 0x60, // Graphics Count Y
+ 0x5E, // Graphics Count Y
0x18, // Graphics Width
0x18, // Graphics Height
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
@@ -45,21 +45,21 @@ const ICON Icons[] =
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x40,0x20,0xE0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0xE0,0x3C,0xC3,0x00,0x00,0x00,0xFF,0x10,0x10,0x82,0x6C,0x10,0x01,0xC6,0x38,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x01,0x02,0x04,0x07,0x00,0x1C,0x14,0x00,0x1C,0x05,0x08,0x04,0x1C,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x30,0x48,0x48,0x30,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ 0x00,0x00,0xC0,0x40,0x40,0x40,0x4F,0xD0,0x50,0x50,0x49,0x40,0xFC,0x04,0x07,0x05,0x05,0x05,0x07,0x04,0x04,0x07,0x00,0x00,
+ 0x00,0x00,0x07,0x06,0x06,0x06,0x06,0x07,0x04,0x04,0x04,0x04,0x1F,0x18,0x18,0x18,0x18,0x18,0x18,0x18,0x18,0x18,0x00,0x00,
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x30,0x48,0x48,0x30,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ 0x00,0x00,0xC0,0x40,0x40,0x40,0x5F,0xC4,0x44,0x40,0x40,0x40,0xFC,0x04,0x07,0x05,0x05,0x05,0x07,0x04,0x04,0x07,0x00,0x00,
+ 0x00,0x00,0x07,0x06,0x06,0x06,0x06,0x07,0x04,0x04,0x04,0x04,0x1F,0x18,0x18,0x18,0x18,0x18,0x18,0x18,0x18,0x18,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF0,0x08,0xF0,0x00,0x00,0x00,0x00,0x60,0x90,0x90,0x60,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x7F,0x04,0x7F,0x80,0x00,0x00,0x00,0xC0,0x20,0x20,0x40,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x07,0x08,0x10,0x10,0x10,0x08,0x07,0x00,0x00,0x03,0x04,0x04,0x02,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF0,0x08,0xF0,0x00,0x00,0x00,0x00,0x60,0x90,0x90,0x60,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x7F,0x04,0x7F,0x80,0x00,0x00,0x00,0xE0,0x20,0x20,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x07,0x08,0x10,0x10,0x10,0x08,0x07,0x00,0x00,0x07,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xC0,0x40,0xA0,0x60,0xA0,0x40,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0x00,0xC0,0x30,0x18,0x0F,0x0A,0x0D,0x1A,0x35,0xEA,0xF5,0xFA,0xFF,0xF8,0xF8,0xF0,0xE0,0x00,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0x00,0x01,0x06,0x04,0x08,0x08,0x08,0x04,0x06,0x01,0x03,0x07,0x07,0x07,0x07,0x03,0x01,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0xF8,0x48,0x48,0x78,0x48,0x48,0x78,0x48,0x48,0x78,0x48,0x48,0xF8,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x9E,0x91,0x51,0x51,0x51,0x91,0x9E,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x3F,0x3C,0x3C,0x3C,0x24,0x25,0x3D,0x25,0x24,0x3C,0x24,0x24,0x3F,0x00,0x00,0x00,0x00,0x00,
@@ -99,8 +99,8 @@ const ICON Icons[] =
0x00,0x00,0x00,0xF0,0x10,0xF0,0x10,0x10,0x10,0x90,0x50,0x70,0x50,0x70,0x50,0x90,0x10,0x10,0xF0,0x10,0xF0,0x00,0x00,0x00,
0x00,0x00,0x00,0xFF,0x00,0x1F,0x20,0x20,0x20,0x2F,0x30,0x25,0x28,0x25,0x30,0x2F,0x20,0x20,0x1F,0x00,0xFF,0x00,0x00,0x00,
0x00,0x00,0x00,0x07,0x08,0x10,0x10,0x10,0x10,0x1F,0x11,0x1D,0x1D,0x11,0x11,0x11,0x1F,0x10,0x10,0x10,0x0F,0x00,0x00,0x00,
- 0x00,0x00,0x00,0xF0,0x10,0xF0,0x10,0xD0,0x10,0x90,0x10,0xD0,0x10,0x10,0x10,0x10,0x10,0x10,0xF0,0x10,0xF0,0x00,0x00,0x00,
- 0x00,0x00,0x00,0xFF,0x00,0x3F,0x40,0x5F,0x50,0x5F,0x50,0x5F,0x50,0x5C,0x50,0x5F,0x50,0x40,0x3F,0x00,0xFF,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0xF0,0x10,0xF0,0x90,0xD0,0x90,0x10,0x10,0x10,0x10,0x10,0x50,0x10,0x10,0x10,0xF0,0x10,0xF0,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0xFF,0x00,0x3F,0x40,0x5F,0x50,0x54,0x50,0x52,0x50,0x51,0x50,0x78,0x50,0x40,0x3F,0x00,0xFF,0x00,0x00,0x00,
0x00,0x00,0x00,0x07,0x08,0x10,0x10,0x10,0x10,0x1F,0x11,0x1D,0x1D,0x11,0x11,0x11,0x1F,0x10,0x10,0x10,0x0F,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
@@ -189,9 +189,9 @@ const ICON Icons[] =
0x00,0x00,0x00,0xE0,0x20,0x20,0x20,0xE0,0x80,0x80,0xE0,0x20,0x20,0x20,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x03,0x02,0x02,0x02,0x03,0x00,0x00,0x03,0x02,0x82,0xCA,0xFB,0x78,0x78,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x7C,0x44,0x44,0x44,0x7C,0x00,0x03,0x03,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0xC0,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0xC0,0x80,0x00,0x00,0x00,
- 0x00,0x00,0x00,0xFF,0x00,0x92,0x00,0xFF,0x80,0xFE,0x80,0x80,0xFC,0x80,0xF0,0x80,0xFF,0x80,0x00,0xFF,0xFF,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x0F,0x18,0x18,0x18,0x1A,0x18,0x18,0x1A,0x18,0x18,0x1A,0x18,0x18,0x1A,0x18,0x18,0x1F,0x1F,0x00,0x00,0x00,
+ 0x00,0x00,0x08,0xFC,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x60,0x60,0x00,0x00,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x60,0x60,0x00,0x00,0x06,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ 0x00,0x00,0x00,0x1F,0x10,0x10,0x13,0x13,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x38,0x10,0x00,0x00,
0x00,0x00,0x00,0xE0,0x30,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x30,0xE0,0x00,0x00,0x00,
0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x80,0xC0,0xA0,0x90,0x08,0x08,0x90,0xA0,0xC0,0x80,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,
0x00,0x00,0x00,0x01,0x03,0x02,0x02,0x02,0x02,0x02,0x1F,0x10,0x10,0x1F,0x02,0x02,0x02,0x02,0x02,0x03,0x01,0x00,0x00,0x00,
@@ -287,11 +287,5 @@ const ICON Icons[] =
0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x02,0x04,0x04,0x08,0x09,0x08,0x08,0x04,0x04,0x02,0x01,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x80,0x40,0x20,0x10,0x20,0x40,0x80,0xE0,0xE0,0x00,0x80,0x40,0x20,0x10,0x20,0x40,0x80,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x79,0x86,0x44,0x28,0x10,0x00,0x01,0x83,0x01,0x00,0x10,0x28,0x44,0xFA,0x01,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x02,0x05,0x08,0x10,0x08,0x04,0x0A,0x09,0x08,0x09,0x06,0x04,0x08,0x10,0x08,0x05,0x02,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00
+ 0x00,0x00,0x00,0x00,0x02,0x05,0x08,0x10,0x08,0x04,0x0A,0x09,0x08,0x09,0x06,0x04,0x08,0x10,0x08,0x05,0x02,0x00,0x00,0x00
};
diff --git a/AT91SAM7S256/Source/Mainmenu.rms b/AT91SAM7S256/Source/Mainmenu.rms
index f26e744..2e014fb 100644
--- a/AT91SAM7S256/Source/Mainmenu.rms
+++ b/AT91SAM7S256/Source/Mainmenu.rms
@@ -1,9 +1,9 @@
const UBYTE MAINMENU[] =
{
0x07,0x00, // Menu Format
- 0x00,0xE8, // Menu DataSize
+ 0x01,0x05, // Menu DataSize
0x1D, // Menu item size
- 0x08, // Menu items
+ 0x09, // Menu items
0x18, // Menu icon Width
0x18, // Menu icon Height
@@ -35,29 +35,36 @@ const UBYTE MAINMENU[] =
0x4E,0x58,0x54,0x20,0x50,0x72,0x6F,0x67,0x72,0x61,0x6D,0x00,0x00,0x00,0x00,0x00,
0x3C, // 3C
- // View
+ // NXT_Datalog
0x00,0x00,0x00,0x31, // 0x00000031
+ 0x01,0x84,0x00,0x00, // 0x01840000
+ 0x0A,0x00,0x03,0x01, // 10 ,0 ,3 ,1
+ 0x4E,0x58,0x54,0x20,0x44,0x61,0x74,0x61,0x6C,0x6F,0x67,0x00,0x00,0x00,0x00,0x00,
+ 0x3D, // 3D
+
+ // View
+ 0x00,0x00,0x00,0x41, // 0x00000041
0x01,0x04,0x00,0x00, // 0x01040000
- 0x00,0x00,0x04,0x01, // 0 ,0 ,4 ,1
+ 0x0E,0x00,0x04,0x01, // 14 ,0 ,4 ,1
0x56,0x69,0x65,0x77,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x3E, // 3E
// Bluetooth
- 0x00,0x00,0x00,0x41, // 0x00000041
+ 0x00,0x00,0x00,0x51, // 0x00000051
0x01,0x04,0x00,0x00, // 0x01040000
0x00,0x00,0x07,0x02, // 0 ,0 ,7 ,2
0x42,0x6C,0x75,0x65,0x74,0x6F,0x6F,0x74,0x68,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x51, // 51
// Settings
- 0x00,0x00,0x00,0x51, // 0x00000051
+ 0x00,0x00,0x00,0x61, // 0x00000061
0x01,0x04,0x00,0x00, // 0x01040000
0x00,0x00,0x05,0x01, // 0 ,0 ,5 ,1
0x53,0x65,0x74,0x74,0x69,0x6E,0x67,0x73,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x3F, // 3F
// Try_Me
- 0x00,0x00,0x00,0x61, // 0x00000061
+ 0x00,0x00,0x00,0x71, // 0x00000071
0x01,0x04,0x00,0x00, // 0x01040000
0x00,0x00,0x06,0x01, // 0 ,0 ,6 ,1
0x54,0x72,0x79,0x20,0x4D,0x65,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
diff --git a/AT91SAM7S256/Source/Submenu03.rms b/AT91SAM7S256/Source/Submenu03.rms
index 0dd4b6c..cb7830b 100644
--- a/AT91SAM7S256/Source/Submenu03.rms
+++ b/AT91SAM7S256/Source/Submenu03.rms
@@ -1,105 +1,98 @@
const UBYTE SUBMENU03[] =
{
0x07,0x00, // Menu Format
- 0x05,0x19, // Menu DataSize
+ 0x03,0xA0, // Menu DataSize
0x1D, // Menu item size
- 0x2D, // Menu items
+ 0x20, // Menu items
0x18, // Menu icon Width
0x18, // Menu icon Height
- // Sound_dB
+ // Temperature_`C
0x00,0x00,0x00,0x01, // 0x00000001
0x10,0x00,0x00,0x21, // 0x10000021
+ 0x0A,0x0B,0x00,0x01, // 10 ,11 ,0 ,1
+ 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x43,0x00,0x00,
+ 0x0F, // 0F
+
+ // Temperature_`F
+ 0x00,0x00,0x00,0x02, // 0x00000002
+ 0x10,0x00,0x00,0x21, // 0x10000021
+ 0x0A,0x0C,0x00,0x01, // 10 ,12 ,0 ,1
+ 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x46,0x00,0x00,
+ 0x10, // 10
+
+ // Sound_dB
+ 0x00,0x00,0x00,0x03, // 0x00000003
+ 0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x02,0x00,0x01, // 10 ,2 ,0 ,1
0x53,0x6F,0x75,0x6E,0x64,0x20,0x64,0x42,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x02, // 02
// Sound_dBA
- 0x00,0x00,0x00,0x02, // 0x00000002
+ 0x00,0x00,0x00,0x04, // 0x00000004
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x03,0x00,0x01, // 10 ,3 ,0 ,1
0x53,0x6F,0x75,0x6E,0x64,0x20,0x64,0x42,0x41,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x03, // 03
// Reflected_light
- 0x00,0x00,0x00,0x03, // 0x00000003
+ 0x00,0x00,0x00,0x05, // 0x00000005
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x04,0x00,0x01, // 10 ,4 ,0 ,1
0x52,0x65,0x66,0x6C,0x65,0x63,0x74,0x65,0x64,0x20,0x6C,0x69,0x67,0x68,0x74,0x00,
0x04, // 04
// Ambient_light
- 0x00,0x00,0x00,0x04, // 0x00000004
+ 0x00,0x00,0x00,0x06, // 0x00000006
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x05,0x00,0x01, // 10 ,5 ,0 ,1
0x41,0x6D,0x62,0x69,0x65,0x6E,0x74,0x20,0x6C,0x69,0x67,0x68,0x74,0x00,0x00,0x00,
0x05, // 05
- // Light_sensor*
- 0x00,0x00,0x00,0x05, // 0x00000005
- 0x10,0x00,0x00,0x21, // 0x10000021
- 0x0A,0x06,0x00,0x01, // 10 ,6 ,0 ,1
- 0x4C,0x69,0x67,0x68,0x74,0x20,0x73,0x65,0x6E,0x73,0x6F,0x72,0x2A,0x00,0x00,0x00,
- 0x06, // 06
-
- // Temperature_`C*
- 0x00,0x00,0x00,0x06, // 0x00000006
- 0x10,0x00,0x00,0x21, // 0x10000021
- 0x0A,0x0D,0x00,0x01, // 10 ,13 ,0 ,1
- 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x43,0x2A,0x00,
- 0x0D, // 0D
-
- // Temperature_`F*
- 0x00,0x00,0x00,0x07, // 0x00000007
- 0x10,0x00,0x00,0x21, // 0x10000021
- 0x0A,0x0E,0x00,0x01, // 10 ,14 ,0 ,1
- 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x46,0x2A,0x00,
- 0x0E, // 0E
-
- // Rotation*
- 0x00,0x00,0x00,0x08, // 0x00000008
- 0x10,0x00,0x00,0x21, // 0x10000021
- 0x0A,0x0A,0x00,0x01, // 10 ,10 ,0 ,1
- 0x52,0x6F,0x74,0x61,0x74,0x69,0x6F,0x6E,0x2A,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x0A, // 0A
-
// Motor_Rotations
- 0x00,0x00,0x00,0x09, // 0x00000009
+ 0x00,0x00,0x00,0x07, // 0x00000007
0x00,0x00,0x00,0x20, // 0x00000020
- 0x0A,0x09,0x00,0x01, // 10 ,9 ,0 ,1
+ 0x0A,0x08,0x00,0x01, // 10 ,8 ,0 ,1
0x4D,0x6F,0x74,0x6F,0x72,0x20,0x52,0x6F,0x74,0x61,0x74,0x69,0x6F,0x6E,0x73,0x00,
0x09, // 09
// Motor_Degrees
- 0x00,0x00,0x00,0x0A, // 0x0000000A
+ 0x00,0x00,0x00,0x08, // 0x00000008
0x00,0x00,0x00,0x20, // 0x00000020
- 0x0A,0x08,0x00,0x01, // 10 ,8 ,0 ,1
+ 0x0A,0x07,0x00,0x01, // 10 ,7 ,0 ,1
0x4D,0x6F,0x74,0x6F,0x72,0x20,0x44,0x65,0x67,0x72,0x65,0x65,0x73,0x00,0x00,0x00,
0x08, // 08
// Touch
- 0x00,0x00,0x00,0x0B, // 0x0000000B
+ 0x00,0x00,0x00,0x09, // 0x00000009
0x10,0x00,0x00,0x21, // 0x10000021
- 0x0A,0x07,0x00,0x01, // 10 ,7 ,0 ,1
+ 0x0A,0x06,0x00,0x01, // 10 ,6 ,0 ,1
0x54,0x6F,0x75,0x63,0x68,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x07, // 07
// UltraSonic_inch
- 0x00,0x00,0x00,0x0C, // 0x0000000C
+ 0x00,0x00,0x00,0x0A, // 0x0000000A
0x10,0x00,0x00,0x21, // 0x10000021
- 0x0A,0x0B,0x00,0x01, // 10 ,11 ,0 ,1
+ 0x0A,0x09,0x00,0x01, // 10 ,9 ,0 ,1
0x55,0x6C,0x74,0x72,0x61,0x53,0x6F,0x6E,0x69,0x63,0x20,0x69,0x6E,0x63,0x68,0x00,
0x0B, // 0B
// UltraSonic_cm
- 0x00,0x00,0x00,0x0D, // 0x0000000D
+ 0x00,0x00,0x00,0x0B, // 0x0000000B
0x10,0x00,0x00,0x21, // 0x10000021
- 0x0A,0x0C,0x00,0x01, // 10 ,12 ,0 ,1
+ 0x0A,0x0A,0x00,0x01, // 10 ,10 ,0 ,1
0x55,0x6C,0x74,0x72,0x61,0x53,0x6F,0x6E,0x69,0x63,0x20,0x63,0x6D,0x00,0x00,0x00,
0x0C, // 0C
+ // Color
+ 0x00,0x00,0x00,0x0C, // 0x0000000C
+ 0x10,0x00,0x00,0x21, // 0x10000021
+ 0x0A,0x0D,0x00,0x01, // 10 ,13 ,0 ,1
+ 0x43,0x6F,0x6C,0x6F,0x72,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ 0x11, // 11
+
// Done
- 0x00,0x00,0x00,0x0E, // 0x0000000E
+ 0x00,0x00,0x00,0x0D, // 0x0000000D
0x00,0x00,0x00,0x20, // 0x00000020
0x0A,0xEE,0x00,0x01, // 10 ,238,0 ,1
0x44,0x6F,0x6E,0x65,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
@@ -134,189 +127,105 @@ const UBYTE SUBMENU03[] =
0x15, // 15
// Port_A
- 0x00,0x00,0x00,0x19, // 0x00000019
+ 0x00,0x00,0x00,0x17, // 0x00000017
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x16,0x00,0x01, // 10 ,22 ,0 ,1
0x50,0x6F,0x72,0x74,0x20,0x41,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x16, // 16
// Port_B
- 0x00,0x00,0x00,0x29, // 0x00000029
+ 0x00,0x00,0x00,0x27, // 0x00000027
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x17,0x00,0x01, // 10 ,23 ,0 ,1
0x50,0x6F,0x72,0x74,0x20,0x42,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x17, // 17
// Port_C
- 0x00,0x00,0x00,0x39, // 0x00000039
+ 0x00,0x00,0x00,0x37, // 0x00000037
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x18,0x00,0x01, // 10 ,24 ,0 ,1
0x50,0x6F,0x72,0x74,0x20,0x43,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x18, // 18
// Port_A
- 0x00,0x00,0x00,0x1A, // 0x0000001A
+ 0x00,0x00,0x00,0x18, // 0x00000018
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x16,0x00,0x01, // 10 ,22 ,0 ,1
0x50,0x6F,0x72,0x74,0x20,0x41,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x16, // 16
// Port_B
- 0x00,0x00,0x00,0x2A, // 0x0000002A
+ 0x00,0x00,0x00,0x28, // 0x00000028
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x17,0x00,0x01, // 10 ,23 ,0 ,1
0x50,0x6F,0x72,0x74,0x20,0x42,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x17, // 17
// Port_C
- 0x00,0x00,0x00,0x3A, // 0x0000003A
+ 0x00,0x00,0x00,0x38, // 0x00000038
0x10,0x00,0x00,0x21, // 0x10000021
0x0A,0x18,0x00,0x01, // 10 ,24 ,0 ,1
0x50,0x6F,0x72,0x74,0x20,0x43,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x17, // 17
- // Logging_time
- 0x00,0x00,0x00,0x1E, // 0x0000001E
- 0x00,0x00,0x03,0xE0, // 0x000003E0
- 0x0C,0xEF,0x00,0x01, // 12 ,239,0 ,1
- 0x4C,0x6F,0x67,0x67,0x69,0x6E,0x67,0x20,0x74,0x69,0x6D,0x65,0x00,0x00,0x00,0x00,
- 0x38, // 38
-
- // _
- 0x00,0x00,0x00,0x2E, // 0x0000002E
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x35, // 35
-
- // _
- 0x00,0x00,0x00,0x3E, // 0x0000003E
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x36, // 36
-
- // Logging_Rate
- 0x00,0x00,0x01,0x11, // 0x00000111
- 0x00,0x00,0x03,0x68, // 0x00000368
- 0x0C,0xEF,0x00,0x01, // 12 ,239,0 ,1
- 0x4C,0x6F,0x67,0x67,0x69,0x6E,0x67,0x20,0x52,0x61,0x74,0x65,0x00,0x00,0x00,0x00,
- 0x38, // 38
-
- // _
- 0x00,0x00,0x02,0x11, // 0x00000211
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x35, // 35
-
// _
- 0x00,0x00,0x03,0x11, // 0x00000311
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x36, // 36
-
- // Logging_Rate
- 0x00,0x00,0x01,0x19, // 0x00000119
- 0x00,0x00,0x03,0x68, // 0x00000368
- 0x0C,0xEF,0x00,0x01, // 12 ,239,0 ,1
- 0x4C,0x6F,0x67,0x67,0x69,0x6E,0x67,0x20,0x52,0x61,0x74,0x65,0x00,0x00,0x00,0x00,
- 0x38, // 38
-
- // _
- 0x00,0x00,0x02,0x19, // 0x00000219
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x35, // 35
-
- // _
- 0x00,0x00,0x03,0x19, // 0x00000319
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x36, // 36
-
- // Logging_Rate
- 0x00,0x00,0x01,0x1A, // 0x0000011A
- 0x00,0x00,0x03,0x68, // 0x00000368
- 0x0C,0xEF,0x00,0x01, // 12 ,239,0 ,1
- 0x4C,0x6F,0x67,0x67,0x69,0x6E,0x67,0x20,0x52,0x61,0x74,0x65,0x00,0x00,0x00,0x00,
- 0x38, // 38
-
- // _
- 0x00,0x00,0x02,0x1A, // 0x0000021A
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x35, // 35
-
- // _
- 0x00,0x00,0x03,0x1A, // 0x0000031A
- 0x00,0x00,0x00,0x00, // 0x00000000
- 0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
- 0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x36, // 36
-
- // _
- 0x00,0x00,0x01,0x1E, // 0x0000011E
+ 0x00,0x00,0x00,0x1D, // 0x0000001D
0x00,0x00,0x10,0x00, // 0x00001000
0x0A,0xF7,0x00,0x01, // 10 ,247,0 ,1
0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00, // 00
// _
- 0x00,0x00,0x11,0x11, // 0x00001111
- 0x0E,0x05,0x10,0x00, // 0x0E051000
+ 0x00,0x00,0x01,0x11, // 0x00000111
+ 0x0D,0x05,0x10,0x00, // 0x0D051000
0x0A,0xF2,0x00,0x00, // 10 ,242,0 ,0
0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00, // 00
// _
- 0x00,0x00,0x11,0x19, // 0x00001119
- 0x0E,0x05,0x10,0x00, // 0x0E051000
+ 0x00,0x00,0x01,0x17, // 0x00000117
+ 0x0D,0x05,0x10,0x00, // 0x0D051000
0x0A,0xF2,0x00,0x00, // 10 ,242,0 ,0
0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00, // 00
// _
- 0x00,0x00,0x11,0x1A, // 0x0000111A
- 0x0E,0x05,0x10,0x00, // 0x0E051000
+ 0x00,0x00,0x01,0x18, // 0x00000118
+ 0x0D,0x05,0x10,0x00, // 0x0D051000
0x0A,0xF2,0x00,0x00, // 10 ,242,0 ,0
0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00, // 00
// Run
- 0x00,0x00,0x11,0x1E, // 0x0000111E
- 0x00,0x00,0x00,0x20, // 0x00000020
+ 0x00,0x00,0x01,0x1D, // 0x0000011D
+ 0x00,0x00,0x00,0x68, // 0x00000068
0x0A,0xF8,0x00,0x02, // 10 ,248,0 ,2
0x52,0x75,0x6E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x32, // 32
// Main_menu
- 0x00,0x01,0x11,0x1E, // 0x0001111E
+ 0x00,0x00,0x11,0x1D, // 0x0000111D
0x00,0x02,0x20,0x00, // 0x00022000
0x0A,0xF1,0x00,0x00, // 10 ,241,0 ,0
0x4D,0x61,0x69,0x6E,0x20,0x6D,0x65,0x6E,0x75,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x37, // 37
// Save
- 0x00,0x02,0x11,0x1E, // 0x0002111E
+ 0x00,0x00,0x21,0x1D, // 0x0000211D
0x00,0x02,0x00,0x00, // 0x00020000
0x0A,0xFA,0x00,0x02, // 10 ,250,0 ,2
0x53,0x61,0x76,0x65,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x1E, // 1E
+ 0x1F, // 1F
// Yes
- 0x00,0x12,0x11,0x1E, // 0x0012111E
+ 0x00,0x01,0x21,0x1D, // 0x0001211D
0x00,0x00,0x20,0x20, // 0x00002020
0x0A,0xED,0x00,0x00, // 10 ,237,0 ,0
0x59,0x65,0x73,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x31, // 31
// No
- 0x00,0x22,0x11,0x1E, // 0x0022111E
+ 0x00,0x02,0x21,0x1D, // 0x0002211D
0x00,0x08,0x00,0x24, // 0x00080024
0x00,0x00,0x00,0x00, // 0 ,0 ,0 ,0
0x4E,0x6F,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
diff --git a/AT91SAM7S256/Source/Submenu04.rms b/AT91SAM7S256/Source/Submenu04.rms
index 0bfec3e..273e456 100644
--- a/AT91SAM7S256/Source/Submenu04.rms
+++ b/AT91SAM7S256/Source/Submenu04.rms
@@ -1,15 +1,15 @@
const UBYTE SUBMENU04[] =
{
0x07,0x00, // Menu Format
- 0x02,0x9B, // Menu DataSize
+ 0x02,0x7E, // Menu DataSize
0x1D, // Menu item size
- 0x17, // Menu items
+ 0x16, // Menu items
0x18, // Menu icon Width
0x18, // Menu icon Height
// Sound_dB
0x00,0x00,0x00,0x01, // 0x00000001
- 0x10,0x00,0x01,0x21, // 0x10000121
+ 0x10,0x00,0x00,0x21, // 0x10000021
0x0E,0x02,0x00,0x01, // 14 ,2 ,0 ,1
0x53,0x6F,0x75,0x6E,0x64,0x20,0x64,0x42,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x02, // 02
@@ -35,69 +35,62 @@ const UBYTE SUBMENU04[] =
0x41,0x6D,0x62,0x69,0x65,0x6E,0x74,0x20,0x6C,0x69,0x67,0x68,0x74,0x00,0x00,0x00,
0x05, // 05
- // Light_Sensor*
+ // Temperature_`C
0x00,0x00,0x00,0x05, // 0x00000005
- 0x10,0x00,0x00,0x21, // 0x10000021
- 0x0E,0x06,0x00,0x01, // 14 ,6 ,0 ,1
- 0x4C,0x69,0x67,0x68,0x74,0x20,0x53,0x65,0x6E,0x73,0x6F,0x72,0x2A,0x00,0x00,0x00,
- 0x06, // 06
+ 0x10,0x00,0x01,0x21, // 0x10000121
+ 0x0E,0x0B,0x00,0x01, // 14 ,11 ,0 ,1
+ 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x43,0x00,0x00,
+ 0x0F, // 0F
- // Temperature_`C*
+ // Temperature_`F
0x00,0x00,0x00,0x06, // 0x00000006
0x10,0x00,0x00,0x21, // 0x10000021
- 0x0E,0x0D,0x00,0x01, // 14 ,13 ,0 ,1
- 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x43,0x2A,0x00,
- 0x0D, // 0D
-
- // Temperature_`F*
- 0x00,0x00,0x00,0x07, // 0x00000007
- 0x10,0x00,0x00,0x21, // 0x10000021
- 0x0E,0x0E,0x00,0x01, // 14 ,14 ,0 ,1
- 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x46,0x2A,0x00,
- 0x0E, // 0E
-
- // Rotation*
- 0x00,0x00,0x00,0x08, // 0x00000008
- 0x10,0x00,0x00,0x21, // 0x10000021
- 0x0E,0x0A,0x00,0x01, // 14 ,10 ,0 ,1
- 0x52,0x6F,0x74,0x61,0x74,0x69,0x6F,0x6E,0x2A,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
- 0x0A, // 0A
+ 0x0E,0x0C,0x00,0x01, // 14 ,12 ,0 ,1
+ 0x54,0x65,0x6D,0x70,0x65,0x72,0x61,0x74,0x75,0x72,0x65,0x20,0x60,0x46,0x00,0x00,
+ 0x10, // 10
// Motor_rotations
- 0x00,0x00,0x00,0x09, // 0x00000009
+ 0x00,0x00,0x00,0x07, // 0x00000007
0x00,0x00,0x00,0x20, // 0x00000020
- 0x0E,0x09,0x00,0x01, // 14 ,9 ,0 ,1
+ 0x0E,0x08,0x00,0x01, // 14 ,8 ,0 ,1
0x4D,0x6F,0x74,0x6F,0x72,0x20,0x72,0x6F,0x74,0x61,0x74,0x69,0x6F,0x6E,0x73,0x00,
0x09, // 09
// Motor_degrees
- 0x00,0x00,0x00,0x0A, // 0x0000000A
+ 0x00,0x00,0x00,0x08, // 0x00000008
0x00,0x00,0x00,0x20, // 0x00000020
- 0x0E,0x08,0x00,0x01, // 14 ,8 ,0 ,1
+ 0x0E,0x07,0x00,0x01, // 14 ,7 ,0 ,1
0x4D,0x6F,0x74,0x6F,0x72,0x20,0x64,0x65,0x67,0x72,0x65,0x65,0x73,0x00,0x00,0x00,
0x08, // 08
// Touch
- 0x00,0x00,0x00,0x0B, // 0x0000000B
+ 0x00,0x00,0x00,0x09, // 0x00000009
0x10,0x00,0x00,0x21, // 0x10000021
- 0x0E,0x07,0x00,0x01, // 14 ,7 ,0 ,1
+ 0x0E,0x06,0x00,0x01, // 14 ,6 ,0 ,1
0x54,0x6F,0x75,0x63,0x68,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x07, // 07
// Ultrasonic_inch
- 0x00,0x00,0x00,0x0C, // 0x0000000C
+ 0x00,0x00,0x00,0x0A, // 0x0000000A
0x10,0x00,0x00,0x21, // 0x10000021
- 0x0E,0x0B,0x00,0x01, // 14 ,11 ,0 ,1
+ 0x0E,0x09,0x00,0x01, // 14 ,9 ,0 ,1
0x55,0x6C,0x74,0x72,0x61,0x73,0x6F,0x6E,0x69,0x63,0x20,0x69,0x6E,0x63,0x68,0x00,
0x0B, // 0B
// Ultrasonic_cm
- 0x00,0x00,0x00,0x0D, // 0x0000000D
+ 0x00,0x00,0x00,0x0B, // 0x0000000B
0x10,0x00,0x00,0x21, // 0x10000021
- 0x0E,0x0C,0x00,0x01, // 14 ,12 ,0 ,1
+ 0x0E,0x0A,0x00,0x01, // 14 ,10 ,0 ,1
0x55,0x6C,0x74,0x72,0x61,0x73,0x6F,0x6E,0x69,0x63,0x20,0x63,0x6D,0x00,0x00,0x00,
0x0C, // 0C
+ // Color
+ 0x00,0x00,0x00,0x0C, // 0x0000000C
+ 0x10,0x00,0x00,0x21, // 0x10000021
+ 0x0E,0x0D,0x00,0x01, // 14 ,13 ,0 ,1
+ 0x43,0x6F,0x6C,0x6F,0x72,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+ 0x11, // 11
+
// Port_1
0x00,0x00,0x00,0x11, // 0x00000011
0x00,0x00,0x00,0x20, // 0x00000020
@@ -127,42 +120,42 @@ const UBYTE SUBMENU04[] =
0x15, // 15
// Port_A
- 0x00,0x00,0x00,0x19, // 0x00000019
+ 0x00,0x00,0x00,0x17, // 0x00000017
0x00,0x00,0x00,0x20, // 0x00000020
0x0E,0x16,0x00,0x00, // 14 ,22 ,0 ,0
0x50,0x6F,0x72,0x74,0x20,0x41,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x16, // 16
// Port_B
- 0x00,0x00,0x00,0x29, // 0x00000029
+ 0x00,0x00,0x00,0x27, // 0x00000027
0x00,0x00,0x00,0x20, // 0x00000020
0x0E,0x17,0x00,0x00, // 14 ,23 ,0 ,0
0x50,0x6F,0x72,0x74,0x20,0x42,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x17, // 17
// Port_C
- 0x00,0x00,0x00,0x39, // 0x00000039
+ 0x00,0x00,0x00,0x37, // 0x00000037
0x00,0x00,0x00,0x20, // 0x00000020
0x0E,0x18,0x00,0x00, // 14 ,24 ,0 ,0
0x50,0x6F,0x72,0x74,0x20,0x43,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x18, // 18
// Port_A
- 0x00,0x00,0x00,0x1A, // 0x0000001A
+ 0x00,0x00,0x00,0x18, // 0x00000018
0x00,0x00,0x00,0x20, // 0x00000020
0x0E,0x16,0x00,0x00, // 14 ,22 ,0 ,0
0x50,0x6F,0x72,0x74,0x20,0x41,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x16, // 16
// Port_B
- 0x00,0x00,0x00,0x2A, // 0x0000002A
+ 0x00,0x00,0x00,0x28, // 0x00000028
0x00,0x00,0x00,0x20, // 0x00000020
0x0E,0x17,0x00,0x00, // 14 ,23 ,0 ,0
0x50,0x6F,0x72,0x74,0x20,0x42,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x17, // 17
// Port_C
- 0x00,0x00,0x00,0x3A, // 0x0000003A
+ 0x00,0x00,0x00,0x38, // 0x00000038
0x00,0x00,0x00,0x20, // 0x00000020
0x0E,0x18,0x00,0x00, // 14 ,24 ,0 ,0
0x50,0x6F,0x72,0x74,0x20,0x43,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
diff --git a/AT91SAM7S256/Source/Ui.txt b/AT91SAM7S256/Source/Ui.txt
index e3f736d..6db746e 100644
--- a/AT91SAM7S256/Source/Ui.txt
+++ b/AT91SAM7S256/Source/Ui.txt
@@ -1,9 +1,9 @@
const TXT Ui[] =
{
0x05,0x00, // Text Format
- 0x03,0x63, // Text DataSize
+ 0x04,0x0D, // Text DataSize
0x01, // ItemsX
- 0x33, // ItemsY
+ 0x3D, // ItemsY
0x11, // ItemCharsX
0x01, // ItemCharsY
'C','o','n','n','e','c','t','i','n','g', 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
@@ -25,6 +25,9 @@ const TXT Ui[] =
'F','i','l','e',' ','s','a','v','e','d', 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'F','i','l','e',' ','e','x','i','s','t','s', 0 , 0 , 0 , 0 , 0 , 0 ,
'o','v','e','r','w','r','i','t','e','!', 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
+ 'S','a','v','e','d',' ','a','s', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
+ 'F','i','l','e',' ','e','x','i','s','t', 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
+ 'o','v','e','r','w','r','i','t','e','!', 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'F','i','l','e',' ','d','e','l','e','t','e','d', 0 , 0 , 0 , 0 , 0 ,
'F','i','l','e','s', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'd','e','l','e','t','e','d', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
@@ -34,6 +37,11 @@ const TXT Ui[] =
'F','i','l','e',' ','e','r','r','o','r','!', 0 , 0 , 0 , 0 , 0 , 0 ,
'D','e','l','e','t','i','n','g',' ','a','l','l', 0 , 0 , 0 , 0 , 0 ,
'%','s',' ','f','i','l','e','s','!', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
+ 'P','r','e','s','s',' ','C','l','e','a','r',' ','t','o', 0 , 0 , 0 ,
+ 's','t','o','p',' ','D','a','t','a','L','o','g','g','i','n','g', 0 ,
+ 'P','o','r','t',' ','o','c','c','u','p','i','e','d','!', 0 , 0 , 0 ,
+ 'H',':','M','M',':','S','S',':','0','0', 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
+ 'H','H',':','M','M',':','S','S', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'S','o','u','n','d', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'S','o','f','t','w','a','r','e', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'N','X','T', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
@@ -56,5 +64,7 @@ const TXT Ui[] =
'f','u','l','l',' ','e','r','r','o','r','!', 0 , 0 , 0 , 0 , 0 , 0 ,
'B','T',' ','u','n','k','n','o','w','n', 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'a','d','d','r','.',' ','e','r','r','o','r','!', 0 , 0 , 0 , 0 , 0 ,
+ 'M','e','m','o','r','y',' ','i','s', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
+ 'f','u','l','l','!', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,
'N','e','v','e','r', 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0
};
diff --git a/AT91SAM7S256/Source/c_button.c b/AT91SAM7S256/Source/c_button.c
index d702dd1..3145d8f 100644
--- a/AT91SAM7S256/Source/c_button.c
+++ b/AT91SAM7S256/Source/c_button.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:58 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_button.c $
//
-// Version $Revision:: 16 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_button.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_butt $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_button.h b/AT91SAM7S256/Source/c_button.h
index abb1b2b..c33b24d 100644
--- a/AT91SAM7S256/Source/c_button.h
+++ b/AT91SAM7S256/Source/c_button.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:58 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_button.h $
//
-// Version $Revision:: 6 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_button.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_butt $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_button.iom b/AT91SAM7S256/Source/c_button.iom
index 24064a2..640a7cd 100644
--- a/AT91SAM7S256/Source/c_button.iom
+++ b/AT91SAM7S256/Source/c_button.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:58 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_button.iom $
//
-// Version $Revision:: 10 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_button.i $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_butt $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_cmd.c b/AT91SAM7S256/Source/c_cmd.c
index 9b83c14..4ce9829 100644
--- a/AT91SAM7S256/Source/c_cmd.c
+++ b/AT91SAM7S256/Source/c_cmd.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 28-03-07 14:53 $
+// Revision date $Date: 24-06-09 8:53 $
//
// Filename $Workfile:: c_cmd.c $
//
-// Version $Revision:: 67 $
+// Version $Revision: 14 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_cmd.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_cmd. $
//
// Platform C
//
@@ -15,7 +15,7 @@
//
// File Description:
// This file contains the virtual machine implementation to run bytecode
-// programs compatible with LEGO MINDSTORMS NXT Software 1.0.
+// programs compatible with LEGO MINDSTORMS NXT Software 2.0.
//
// This module (c_cmd) is also responsible for reading the system timer
// (d_timer) and returning on 1 ms timer boundaries.
@@ -34,6 +34,7 @@
#include "c_display.iom"
#include "c_comm.iom"
#include "c_lowspeed.iom"
+#include "m_sched.h"
#include "c_cmd.h"
#include "c_cmd_bytecodes.h"
@@ -41,11 +42,41 @@
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
+#include <math.h> // for sqrt, abs, and trig stuff
+#define VMProfilingCode 0
static IOMAPCMD IOMapCmd;
static VARSCMD VarsCmd;
static HEADER **pHeaders;
+static ULONG gInstrsToExecute;
+static SLONG gPCDelta;
+#define NUM_INTERP_FUNCS 16
+#define NUM_SHORT_INTERP_FUNCS 8
+#define VAR_INSTR_SIZE 0xE
+// important to cast since most args are assigned from signed value, and locals may be ULONG
+#define GetDataArg(arg) ((UWORD)(arg))
+#if VMProfilingCode
+static ULONG ExecutedInstrs= 0, CmdCtrlTime= 0, OverheadTime= 0, CmdCtrlCalls= 0, LeaveTime= 0, NotFirstCall= 0, LastAvgCount= 0;
+static ULONG CmdCtrlClumpTime[256];
+typedef struct {
+ ULONG Time;
+ ULONG Count;
+ ULONG Avg;
+ ULONG Max;
+} VMInstrProfileInfo;
+static VMInstrProfileInfo InstrProfile[OPCODE_COUNT];
+static VMInstrProfileInfo SysCallProfile[SYSCALL_COUNT];
+static VMInstrProfileInfo InterpFuncProfile[NUM_INTERP_FUNCS];
+static VMInstrProfileInfo ShortInstrProfile[NUM_SHORT_OPCODE_COUNT];
+#endif
+
+#define cCmdDSType(Arg) (VarsCmd.pDataspaceTOC[(Arg)].TypeCode)
+#define cCmdDSScalarPtr(DSElementID, Offset) (VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[DSElementID].DSOffset + Offset)
+#define cCmdSizeOf(TC) (TC_Size_Table[(TC)])
+
+#define scalarBinopDispatchMask 0x1
+#define scalarUnop2DispatchMask 0x2
const HEADER cCmd =
{
@@ -67,22 +98,60 @@ const HEADER cCmd =
// (the graphics implementation was split off for practical file management reasons)
#include "c_cmd_drawing.inc"
-
//
//Function pointers to sub-interpreters
-//This table is indexed by arity
+//This table is indexed by instr size
//Unary operations can have arity of 1 or 2 (some need a destination)
//All instructions taking 4 or more operands are handled as "Other"
+// Table uses NoArg for illegal instr sizes such as zero and odd sizes
//
-static pInterp InterpFuncs[INTERP_COUNT] =
+static pInterp InterpFuncs[NUM_INTERP_FUNCS] =
{
cCmdInterpNoArg,
- cCmdInterpUnop1,
- cCmdInterpUnop2,
- cCmdInterpBinop,
- cCmdInterpOther
+ cCmdInterpNoArg,
+ cCmdInterpNoArg, // size 2
+ cCmdInterpNoArg,
+ cCmdInterpUnop1, // size 4
+ cCmdInterpNoArg,
+ cCmdInterpUnop2, // size 6 general poly is cCmdInterpUnop2, scalar is cCmdInterpScalarUnop2
+ cCmdInterpNoArg,
+ cCmdInterpBinop, // size 8, general poly is cCmdInterpBinop, scalar is cCmdInterpScalarBinop
+ cCmdInterpNoArg,
+ cCmdInterpOther, // size 10
+ cCmdInterpNoArg,
+ cCmdInterpOther, // size 12
+ cCmdInterpNoArg,
+ cCmdInterpOther, // size 14
+ cCmdInterpNoArg
+};
+
+static pInterpShort ShortInterpFuncs[NUM_SHORT_INTERP_FUNCS] =
+{
+ cCmdInterpShortMove,
+ cCmdInterpShortAcquire,
+ cCmdInterpShortRelease,
+ cCmdInterpShortSubCall,
+ cCmdInterpShortError,
+ cCmdInterpShortError,
+ cCmdInterpShortError,
+ cCmdInterpShortError
};
+ULONG TC_Size_Table[]= {
+ 0, // void
+ SIZE_UBYTE,
+ SIZE_SBYTE,
+ SIZE_UWORD,
+ SIZE_SWORD,
+ SIZE_ULONG,
+ SIZE_SLONG,
+ SIZE_UWORD, // array
+ 0, // cluster
+ SIZE_MUTEX,
+ SIZE_FLOAT
+};
+
+
//
//Function pointers to SysCall implementations
//See interpreter for OP_SYSCALL
@@ -94,35 +163,51 @@ static pSysCall SysCallFuncs[SYSCALL_COUNT] =
cCmdWrapFileOpenAppend,
cCmdWrapFileRead,
cCmdWrapFileWrite,
- cCmdWrapFileClose,
+ cCmdWrapFileClose, // 5
cCmdWrapFileResolveHandle,
cCmdWrapFileRename,
cCmdWrapFileDelete,
cCmdWrapSoundPlayFile,
- cCmdWrapSoundPlayTone,
+ cCmdWrapSoundPlayTone, // 10
cCmdWrapSoundGetState,
cCmdWrapSoundSetState,
cCmdWrapDrawText,
cCmdWrapDrawPoint,
- cCmdWrapDrawLine,
+ cCmdWrapDrawLine, // 15
cCmdWrapDrawCircle,
cCmdWrapDrawRect,
cCmdWrapDrawPicture,
cCmdWrapSetScreenMode,
- cCmdWrapReadButton,
+ cCmdWrapReadButton, // 20
cCmdWrapCommLSWrite,
cCmdWrapCommLSRead,
cCmdWrapCommLSCheckStatus,
cCmdWrapRandomNumber,
- cCmdWrapGetStartTick,
+ cCmdWrapGetStartTick, // 25
cCmdWrapMessageWrite,
cCmdWrapMessageRead,
cCmdWrapCommBTCheckStatus,
cCmdWrapCommBTWrite,
- cCmdWrapCommBTRead,
+ cCmdWrapCommBTRead, // 30
cCmdWrapKeepAlive,
cCmdWrapIOMapRead,
- cCmdWrapIOMapWrite
+ cCmdWrapIOMapWrite,
+ cCmdWrapColorSensorRead,
+ cCmdWrapCommBTOnOff, // 35
+ cCmdWrapCommBTConnection,
+ cCmdWrapCommHSWrite,
+ cCmdWrapCommHSRead,
+ cCmdWrapCommHSCheckStatus,
+ cCmdWrapReadSemData, //40
+ cCmdWrapWriteSemData,
+ cCmdWrapComputeCalibValue,
+ cCmdWrapUpdateCalibCacheInfo,
+ cCmdWrapDatalogWrite,
+ cCmdWrapDatalogGetTimes, //45
+ cCmdWrapSetSleepTimeout,
+ cCmdWrapListFiles //47
+
+ // don't forget to update SYSCALL_COUNT in c_cmd.h
};
//
@@ -234,6 +319,39 @@ void ** IO_PTRS[2] =
IO_PTRS_OUT
};
+// Data used to indicate usage of motor ports, or usage requests
+UBYTE gUsageSemData, gRequestSemData;
+
+UBYTE cCmdBTGetDeviceType(UBYTE *pCOD)
+{
+ ULONG COD;
+ UBYTE Result;
+ UBYTE Tmp;
+
+ COD = 0;
+ for (Tmp = 0;Tmp < SIZE_OF_CLASS_OF_DEVICE;Tmp++)
+ {
+ COD <<= 8;
+ COD |= (ULONG)*pCOD;
+ pCOD++;
+ }
+
+ Result = DEVICETYPE_UNKNOWN;
+ if ((COD & 0x00001FFF) == 0x00000804)
+ {
+ Result = DEVICETYPE_NXT;
+ }
+ if ((COD & 0x00001F00) == 0x00000200)
+ {
+ Result = DEVICETYPE_PHONE;
+ }
+ if ((COD & 0x00001F00) == 0x00000100)
+ {
+ Result = DEVICETYPE_PC;
+ }
+
+ return (Result);
+}
//cCmdHandleRemoteCommands is the registered handler for "direct" command protocol packets
//It is only intended to be called via c_comm's main protocol handler
@@ -311,7 +429,7 @@ UWORD cCmdHandleRemoteCommands(UBYTE * pInBuf, UBYTE * pOutBuf, UBYTE * pLen)
case RC_PLAY_SOUND_FILE:
{
- if (LOADER_ERR(pMapLoader->pFunc(FINDFIRST, (&pInBuf[2]), NULL, NULL)) != SUCCESS)
+ if (LOADER_ERR(LStatus = pMapLoader->pFunc(FINDFIRST, (&pInBuf[2]), NULL, NULL)) != SUCCESS)
{
RCStatus = ERR_RC_ILLEGAL_VAL;
break;
@@ -735,6 +853,159 @@ UWORD cCmdHandleRemoteCommands(UBYTE * pInBuf, UBYTE * pOutBuf, UBYTE * pLen)
}
break;
+ // remote-only command to read from datalog buffer
+ // pInBuf[1] = Remove? (bool)
+ case RC_DATALOG_READ:
+ {
+ if (SendResponse == TRUE)
+ {
+ RCStatus = cCmdDatalogGetSize(&Count);
+ pOutBuf[ResponseLen] = Count;
+ ResponseLen++;
+
+ if (!IS_ERR(RCStatus) && Count > 0)
+ {
+ pData = &(pOutBuf[ResponseLen]);
+ RCStatus = cCmdDatalogRead(pData, Count, (pInBuf[1]));
+ //If cCmdDatalogRead encountered an error, there is no real data in the buffer, so clear it out (below)
+ if (IS_ERR(RCStatus))
+ Count = 0;
+ else
+ ResponseLen += Count;
+ }
+
+ //Pad remaining data bytes with zeroes
+ Count = MAX_DATALOG_SIZE - Count;
+ memset(&(pOutBuf[ResponseLen]), 0, Count);
+ ResponseLen += Count;
+ }
+ }
+ break;
+ case RC_DATALOG_SET_TIMES:
+ {
+ //SyncTime SLONG
+ memcpy((PSZ)&IOMapCmd.SyncTime, (PSZ)&(pInBuf[1]), 4);
+ IOMapCmd.SyncTick= dTimerReadNoPoll();
+ }
+ break;
+
+ case RC_BT_GET_CONN_COUNT:
+ if (SendResponse == TRUE) {
+ pOutBuf[ResponseLen]= SIZE_OF_BT_CONNECT_TABLE;
+ ResponseLen++;
+ }
+ break;
+ case RC_BT_GET_CONN_NAME: // param in is index, param out is name
+ if (SendResponse == TRUE) { // get index from inbuf
+ i = pInBuf[1];
+ if(i < SIZE_OF_BT_CONNECT_TABLE) { // unsigned, so guaranteed >= 0
+ pOutBuf[ResponseLen] = cCmdBTGetDeviceType(pMapComm->BtConnectTable[i].ClassOfDevice);
+ memcpy((PSZ)(&(pOutBuf[ResponseLen+1])), (PSZ)(pMapComm->BtConnectTable[i].Name), SIZE_OF_BT_NAME + 1);
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ else {
+ pOutBuf[ResponseLen] = 0;
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ }
+ break;
+ case RC_BT_GET_CONTACT_COUNT:
+ if (SendResponse == TRUE) {
+ pOutBuf[ResponseLen]= SIZE_OF_BT_DEVICE_TABLE;
+ ResponseLen++;
+ }
+ break;
+ case RC_BT_GET_CONTACT_NAME:
+ if (SendResponse == TRUE) { // get index from inbuf
+ i = pInBuf[1];
+ if(i < SIZE_OF_BT_DEVICE_TABLE && (pMapComm->BtDeviceTable[i].DeviceStatus & BT_DEVICE_KNOWN)) { // unsigned, so guaranteed >= 0
+ (pOutBuf[ResponseLen])= cCmdBTGetDeviceType(pMapComm->BtDeviceTable[i].ClassOfDevice);
+ memcpy((PSZ)(&(pOutBuf[ResponseLen+1])), (PSZ)(pMapComm->BtDeviceTable[i].Name), SIZE_OF_BT_NAME + 1);
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ else
+ {
+ pOutBuf[ResponseLen] = 0;
+ memset((PSZ)(&(pOutBuf[ResponseLen+1])), 0, SIZE_OF_BT_NAME + 1);
+ ResponseLen += SIZE_OF_BT_NAME + 2;
+ }
+ }
+ break;
+ case RC_SET_PROPERTY: // label/value pairs
+ i = pInBuf[1];
+ switch(i) {
+ case RC_PROP_BTONOFF: {
+ UWORD retVal, status;
+ if(pInBuf[2])
+ status= pMapComm->pFunc(BTON, 0, 0, 0, NULL, &retVal);
+ else
+ status= pMapComm->pFunc(BTOFF, 0, 0, 0, NULL, &retVal);
+
+ RCStatus= (status == SUCCESS) ? retVal : status;
+ }
+ break;
+ case RC_PROP_SOUND_LEVEL: {
+ UBYTE volume= pInBuf[2];
+ if(volume > 4)
+ volume= 4;
+ pMapSound->Volume= volume; // apparently stored in two places
+ pMapUi->Volume= volume;
+ }
+ break;
+ case RC_PROP_SLEEP_TIMEOUT: { // ulong millisecs to sleep
+ ULONG value;
+ memcpy((PSZ)&value, (PSZ)&(pInBuf[2]), 4);
+ pMapUi->SleepTimeout= value / 60000;
+ }
+ break;
+ default:
+ //Unknown property -- still inform client to not expect any response bytes
+ NXT_BREAK;
+ RCStatus = ERR_RC_UNKNOWN_CMD;
+ break;
+ }
+ break;
+ case RC_GET_PROPERTY: // label/value pairs
+ if (SendResponse == TRUE) { // get index from inbuf
+ i = pInBuf[1];
+ switch(i) {
+ case RC_PROP_BTONOFF:
+ pOutBuf[ResponseLen]= pMapUi->BluetoothState != BT_STATE_OFF;
+ ResponseLen++;
+ break;
+ case RC_PROP_SOUND_LEVEL: {
+ pOutBuf[ResponseLen]= pMapSound->Volume;
+ ResponseLen++;
+ }
+ break;
+ case RC_PROP_SLEEP_TIMEOUT: {
+ ULONG value= (pMapUi->SleepTimeout * 60 * 1000);
+ memcpy((PSZ)&(pOutBuf[ResponseLen]), (PSZ)&value, 4);
+ ResponseLen += 4;
+ }
+ break;
+ default:
+ //Unknown property -- still inform client to not expect any response bytes
+ NXT_BREAK;
+ RCStatus = ERR_RC_UNKNOWN_CMD;
+ break;
+ }
+ }
+ break;
+ case RC_UPDATE_RESET_COUNT:
+ {
+ i = pInBuf[1];
+
+ //Don't do anything if illegal port specification is made
+ if (i >= NO_OF_OUTPUTS)
+ {
+ RCStatus = ERR_RC_ILLEGAL_VAL;
+ break;
+ }
+
+ pMapOutPut->Outputs[i].Flags |= UPDATE_RESET_COUNT;
+ }
+ break;
default:
{
//Unknown remote command -- still inform client to not expect any response bytes
@@ -884,6 +1155,8 @@ void cCmdInit(void* pHeader)
dTimerInit();
IOMapCmd.Tick = dTimerRead();
+ IOMapCmd.SyncTime= 0;
+ IOMapCmd.SyncTick= 0;
return;
}
@@ -891,13 +1164,113 @@ void cCmdInit(void* pHeader)
void cCmdCtrl(void)
{
- UBYTE Continue = TRUE;
NXT_STATUS Status = NO_ERR;
- ULONG i;
- CLUMP_ID CurrClumpID;
switch (VarsCmd.VMState)
{
+ case VM_RUN_FREE:
+ case VM_RUN_SINGLE:
+ {
+ #if VMProfilingCode
+ ULONG EnterTime= dTimerReadHiRes(), FinishTime;
+ CmdCtrlCalls ++;
+#endif
+ ULONG Continue;
+
+#if VM_BENCHMARK
+ //IOMapCmd.Tick currently holds the tick from the end of last cCmdCtrl call.
+ //If we don't come back here before dTimerRead() increments, the m_sched loop has taken *at least* 1 ms.
+ if (IOMapCmd.Tick != dTimerRead())
+ {
+ VarsCmd.OverTimeCount++;
+ //Record maximum magnitude of schedule loop overage, in millisecs
+ if (dTimerRead() - IOMapCmd.Tick > VarsCmd.MaxOverTimeLength)
+ VarsCmd.MaxOverTimeLength = dTimerRead() - IOMapCmd.Tick;
+ }
+ VarsCmd.CmdCtrlCount++;
+#endif
+ //Abort current program if cancel button is pressed
+ if (IOMapCmd.DeactivateFlag == TRUE || pMapButton->State[BTN1] & PRESSED_EV)
+ {
+ IOMapCmd.DeactivateFlag = FALSE;
+
+ //Clear pressed event so it doesn't get double-counted by UI
+ pMapButton->State[BTN1] &= ~PRESSED_EV;
+
+ //Go to VM_RESET1 state and report abort
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_ABORT;
+ break;
+ }
+
+ //Assert that we have an active program
+ NXT_ASSERT(VarsCmd.ActiveProgHandle != NOT_A_HANDLE);
+
+ //Handle any resting clumps that are ready to awaken
+ cCmdCheckRestQ(IOMapCmd.Tick); // not using result, yet
+ //Execute from at least one clump
+ do
+ {
+ //Execute instructions from a clump up to INSTR_MAX, to end of millisec,
+ //Finishing/suspending a clump, BREAKOUT_REQ, or any errors will cause a return
+#if VMProfilingCode
+ ULONG ClumpEnterTime= dTimerReadHiRes();
+ CLUMP_ID clump= VarsCmd.RunQ.Head;
+#endif
+ Status = cCmdInterpFromClump();
+#if VMProfilingCode
+ CmdCtrlClumpTime[clump] += dTimerReadHiRes() - ClumpEnterTime;
+#endif
+
+ //If RunQ and RestQ are empty, program is done, or wacko
+ if (!cCmdIsClumpIDSane(VarsCmd.RunQ.Head)) {
+ Continue = FALSE;
+ if(!cCmdIsClumpIDSane(VarsCmd.RestQ.Head)) {
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_OK;
+ }
+ }
+ else if (Status == CLUMP_SUSPEND || Status == CLUMP_DONE)
+ Continue = TRUE; // queue isn't empty, didn't timeout
+ //Only rotate RunQ on a "normal" finish, i.e. no error, clump end, or breakout request
+ else if (Status == ROTATE_QUEUE) { // done and suspend do their own
+ cCmdRotateQ();
+ Continue= TRUE;
+ }
+ else if (Status == TIMES_UP) {
+ cCmdRotateQ();
+ Continue = FALSE;
+ }
+ else if (IS_ERR(Status)) // mem error is handled in InterpFromClump if possible
+ {
+ Continue = FALSE;
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_ERROR;
+ }
+ else if (Status == STOP_REQ)
+ {
+ Continue = FALSE;
+ VarsCmd.VMState = VM_RESET1;
+ IOMapCmd.ProgStatus = PROG_OK;
+ }
+ else if (Status == BREAKOUT_REQ)
+ {
+ Continue = FALSE;
+ }
+ } while (Continue == TRUE);
+#if VMProfilingCode
+ FinishTime= dTimerReadHiRes();
+ if(NotFirstCall)
+ OverheadTime += EnterTime - LeaveTime;
+ else
+ NotFirstCall= 1;
+ CmdCtrlTime += FinishTime - EnterTime;
+ LeaveTime= FinishTime;
+#endif
+ // May busy wait to postpone to 1ms schedule
+ while (IOMapCmd.Tick == dTimerRead());
+ }
+ break;
case VM_IDLE:
{
//If there's a new program to activate...
@@ -922,6 +1295,10 @@ void cCmdCtrl(void)
VarsCmd.VMState = VM_RUN_FREE;
IOMapCmd.ProgStatus = PROG_RUNNING;
VarsCmd.StartTick = IOMapCmd.Tick;
+ if(VarsCmd.VMState == VM_RUN_FREE)
+ gInstrsToExecute = 20;
+ else
+ gInstrsToExecute= 1;
#if VM_BENCHMARK
//Re-init benchmark
@@ -942,9 +1319,9 @@ void cCmdCtrl(void)
pMapUi->Flags |= (UI_DISABLE_LEFT_RIGHT_ENTER | UI_DISABLE_EXIT);
}
}
-
- break;
+ while (IOMapCmd.Tick == dTimerRead()); // delay until scheduled time
}
+ break;
//Initialize VM internal state data and devices which must respond immediately to program ending
case VM_RESET1:
@@ -985,6 +1362,7 @@ void cCmdCtrl(void)
VarsCmd.CommStatReset = (SWORD)BTBUSY;
VarsCmd.VMState = VM_RESET2;
+ while (IOMapCmd.Tick == dTimerRead()); // delay until scheduled time
}
break;
@@ -1012,126 +1390,13 @@ void cCmdCtrl(void)
VarsCmd.VMState = VM_IDLE;
IOMapCmd.ProgStatus = PROG_IDLE;
}
- break;
- }
-
- case VM_RUN_FREE:
- case VM_RUN_SINGLE:
- {
-
-#if VM_BENCHMARK
- //IOMapCmd.Tick currently holds the tick from the end of last cCmdCtrl call.
- //If we don't come back here before dTimerRead() increments, the m_sched loop has taken *at least* 1 ms.
- if (IOMapCmd.Tick != dTimerRead())
- {
- VarsCmd.OverTimeCount++;
- //Record maximum magnitude of schedule loop overage, in millisecs
- if (dTimerRead() - IOMapCmd.Tick > VarsCmd.MaxOverTimeLength)
- VarsCmd.MaxOverTimeLength = dTimerRead() - IOMapCmd.Tick;
- }
- VarsCmd.CmdCtrlCount++;
-#endif
- //Abort current program if cancel button is pressed
- if (IOMapCmd.DeactivateFlag == TRUE || pMapButton->State[BTN1] & PRESSED_EV)
- {
- IOMapCmd.DeactivateFlag = FALSE;
-
- //Clear pressed event so it doesn't get double-counted by UI
- pMapButton->State[BTN1] &= ~PRESSED_EV;
-
- //Go to VM_RESET1 state and report abort
- VarsCmd.VMState = VM_RESET1;
- IOMapCmd.ProgStatus = PROG_ABORT;
- break;
- }
-
- //Assert that we have an active program
- NXT_ASSERT(VarsCmd.ActiveProgHandle != NOT_A_HANDLE);
-
- //Execute from at least one clump
- do
- {
- if (cCmdIsClumpIDSane(VarsCmd.RunQ.Head))
- {
- //Stash and dequeue RunQ's head clump
- CurrClumpID = VarsCmd.RunQ.Head;
-
- //Execute at least one instruction from current clump
- //Execute up to 'Priority' instructions as long as we are in VM_FREE_RUN mode
- //Finishing/suspending a clump, BREAKOUT_REQ, or any errors will also end this loop
- i = 0;
- do
- {
- //Interpret one instruction per call, advancing PC as needed
- Status = cCmdInterpFromClump(CurrClumpID);
-
-#if VM_BENCHMARK
- VarsCmd.InstrCount++;
-#endif
-
- NXT_ASSERT(!IS_ERR(Status));
- if (IS_ERR(Status) || Status == CLUMP_DONE || Status == CLUMP_SUSPEND || Status == BREAKOUT_REQ || Status == STOP_REQ)
- {
- //We're done with this clump or breaking out prematurely,
- //so break the multi-instruction loop
- break;
- }
- else
- {
- //Count up one more instruction for this pass
- i++;
- }
- } while (VarsCmd.VMState == VM_RUN_FREE && i < VarsCmd.pAllClumps[CurrClumpID].Priority);
-
- //Only rotate RunQ on a "normal" finish, i.e. no error, clump end, or breakout request
- if (!(IS_ERR(Status) || Status == CLUMP_DONE || Status == CLUMP_SUSPEND || Status == BREAKOUT_REQ))
- cCmdRotateQ(&(VarsCmd.RunQ));
- }
-
- //Re-evaluate conditions for stopping the dataflow scheduler
- //Halt program on all errors
- if (IS_ERR(Status))
- {
- Continue = FALSE;
-
- VarsCmd.VMState = VM_RESET1;
- IOMapCmd.ProgStatus = PROG_ERROR;
- }
- else if (Status == BREAKOUT_REQ)
- {
- Continue = FALSE;
- }
- //If RunQ is empty or user requested early termination, program is done
- else if (!cCmdIsClumpIDSane(VarsCmd.RunQ.Head) || Status == STOP_REQ)
- {
- Continue = FALSE;
-
- VarsCmd.VMState = VM_RESET1;
- IOMapCmd.ProgStatus = PROG_OK;
- }
- //VM_RUN_FREE means continue executing until a new ms tick rolls over
- else if (VarsCmd.VMState == VM_RUN_FREE)
- {
- Continue = (IOMapCmd.Tick == dTimerRead());
- }
- //Otherwise execute only one pass per call
- else //VarsCmd.VMState == VM_RUN_SINGLE
- {
- VarsCmd.VMState = VM_RUN_PAUSE;
- Continue = FALSE;
- }
-
- } while (Continue == TRUE);
-
- break;
+ while (IOMapCmd.Tick == dTimerRead()); // delay until scheduled time
}
+ break;
}//END state machine switch
- //Busy wait to always maintain 1ms period
- BUSY_WAIT_NEXT_MS;
-
//Set tick to new value for next time 'round
- IOMapCmd.Tick = dTimerRead();
+ IOMapCmd.Tick = dTimerReadNoPoll();
return;
}
@@ -1280,6 +1545,8 @@ NXT_STATUS cCmdReadFileHeader(UBYTE* pData, ULONG DataSize,
VarsCmd.RunQ.Head = NOT_A_CLUMP;
VarsCmd.RunQ.Tail = NOT_A_CLUMP;
+ VarsCmd.RestQ.Head = NOT_A_CLUMP;
+ VarsCmd.RestQ.Tail = NOT_A_CLUMP;
//Reset codespace pointer
VarsCmd.pCodespace = (CODE_WORD*)(pData + pFileOffsets->Codespace);
@@ -1325,7 +1592,9 @@ NXT_STATUS cCmdInflateDSDefaults(UBYTE* pDSDefaults, UWORD *pDefaultsOffset, DS_
TypeCode = cCmdDSType(DSElementID);
- if (TypeCode == TC_CLUSTER)
+ if (TypeCode > TC_LAST_VALID)
+ return ERR_INSTR;
+ else if (TypeCode == TC_CLUSTER)
{
Count = cCmdClusterCount(DSElementID);
//Advance DSElementID to sub-type
@@ -1369,6 +1638,19 @@ NXT_STATUS cCmdInflateDSDefaults(UBYTE* pDSDefaults, UWORD *pDefaultsOffset, DS_
return Status;
}
+void cCmdRefreshActiveClump(CLUMP_ID CurrID)
+{
+ CLUMP_REC * clumpRecPtr= &(VarsCmd.pAllClumps[CurrID]);
+
+ if(clumpRecPtr->clumpScalarDispatchHints & scalarBinopDispatchMask)
+ InterpFuncs[8]= cCmdInterpScalarBinop;
+ else
+ InterpFuncs[8]= cCmdInterpBinop;
+ if(clumpRecPtr->clumpScalarDispatchHints & scalarUnop2DispatchMask)
+ InterpFuncs[6]= cCmdInterpScalarUnop2;
+ else
+ InterpFuncs[6]= cCmdInterpUnop2;
+}
NXT_STATUS cCmdActivateProgram(UBYTE * pFileName)
{
@@ -1427,18 +1709,18 @@ NXT_STATUS cCmdActivateProgram(UBYTE * pFileName)
pCursor = (pData + FileOffsets.Clumps);
for (i = 0; i < VarsCmd.AllClumpsCount; i++)
{
- VarsCmd.pAllClumps[i].InitFireCount = *(UBYTE*)(pCursor + i * VM_FILE_CLUMP_REC_SIZE);
- VarsCmd.pAllClumps[i].DependentCount = *(UBYTE*)(pCursor + (i * VM_FILE_CLUMP_REC_SIZE) + 1);
- VarsCmd.pAllClumps[i].CodeStart = *(UWORD*)(pCursor + (i * VM_FILE_CLUMP_REC_SIZE) + 2);
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[i];
+ clumpPtr->InitFireCount = *(UBYTE*)(pCursor + i * VM_FILE_CLUMP_REC_SIZE);
+ clumpPtr->DependentCount = *(UBYTE*)(pCursor + (i * VM_FILE_CLUMP_REC_SIZE) + 1);
+ clumpPtr->CodeStart = *(UWORD*)(pCursor + (i * VM_FILE_CLUMP_REC_SIZE) + 2) + VarsCmd.pCodespace;
//Initialize remaining CLUMP_REC fields
- VarsCmd.pAllClumps[i].PC = 0;
- VarsCmd.pAllClumps[i].Priority = 20;
- VarsCmd.pAllClumps[i].Link = NOT_A_CLUMP;
+ clumpPtr->PC = clumpPtr->CodeStart;
+ clumpPtr->Link = NOT_A_CLUMP;
//Activate any clumps with CurrFireCount of 0
- VarsCmd.pAllClumps[i].CurrFireCount = VarsCmd.pAllClumps[i].InitFireCount;
- if (VarsCmd.pAllClumps[i].CurrFireCount == 0)
+ clumpPtr->CurrFireCount = clumpPtr->InitFireCount;
+ if (clumpPtr->CurrFireCount == 0)
cCmdEnQClump(&(VarsCmd.RunQ), (CLUMP_ID)i);
}
@@ -1446,28 +1728,89 @@ NXT_STATUS cCmdActivateProgram(UBYTE * pFileName)
pCursor += VarsCmd.AllClumpsCount * VM_FILE_CLUMP_REC_SIZE;
for (i = 0; i < VarsCmd.AllClumpsCount; i++)
{
- if (VarsCmd.pAllClumps[i].DependentCount > 0)
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[i];
+ if (clumpPtr->DependentCount > 0)
{
- VarsCmd.pAllClumps[i].pDependents = (CLUMP_ID*)(pCursor);
+ clumpPtr->pDependents = (CLUMP_ID*)(pCursor);
- pCursor += (VarsCmd.pAllClumps[i].DependentCount * sizeof(CLUMP_ID));
+ pCursor += (clumpPtr->DependentCount * sizeof(CLUMP_ID));
}
else
- VarsCmd.pAllClumps[i].pDependents = NULL;
+ clumpPtr->pDependents = NULL;
//Patch up CodeEnd value based on CodeStart of next clump or last overall codeword
if (i < (VarsCmd.AllClumpsCount - 1))
- VarsCmd.pAllClumps[i].CodeEnd = VarsCmd.pAllClumps[i+1].CodeStart - 1;
+ clumpPtr->CodeEnd = (clumpPtr+1)->CodeStart - 1;
else
- VarsCmd.pAllClumps[i].CodeEnd = VarsCmd.CodespaceCount - 1;
+ clumpPtr->CodeEnd = VarsCmd.CodespaceCount - 1 + VarsCmd.pCodespace;
//Test for empty/insane clump code definitions
- NXT_ASSERT(VarsCmd.pAllClumps[i].CodeStart < VarsCmd.pAllClumps[i].CodeEnd);
+ NXT_ASSERT(clumpPtr->CodeStart < clumpPtr->CodeEnd);
}
+ // Check if the instructions within a clump are polymorphic and mark which table to dispatch from
+ for (i = 0; i < VarsCmd.AllClumpsCount; i++)
+ { // Check type on Boolean, math, ArrInit and ArrIndex, ingore GetSet I/O as these are always scalar
+ // do we need to check for DataArg encodings to I/O map??? GM
+ // Get Opcode and size of each instr, if ^^, check Arg types for Array or Cluster
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[i];
+ CODE_WORD *pInstr = clumpPtr->CodeStart, *lastPC = clumpPtr->CodeEnd;
+ ULONG InstrSize, opCode, shortOp, isT2Agg, isT3Agg, isScalarBinop= TRUE, isScalarUnop2= TRUE;
+ TYPE_CODE t1, t2, t3;
+ ULONG instrWord;
+ do
+ {
+ instrWord= *(UWORD*)pInstr;
+ opCode= OP_CODE(pInstr);
+ shortOp= (instrWord>>8) & 0x0F;
+ InstrSize = INSTR_SIZE(instrWord);
+ if (InstrSize == VAR_INSTR_SIZE)
+ InstrSize = ((UWORD*)pInstr)[1];
+ if(shortOp <= 7) // no shorts are binOps
+ {
+ t2= cCmdDSType(pInstr[2]);
+ isT2Agg= IS_AGGREGATE_TYPE(t2);
+ if(InstrSize == 8) {
+ t3= cCmdDSType(pInstr[3]);
+ isT3Agg= IS_AGGREGATE_TYPE(t3);
+ if(isT2Agg || isT3Agg) {
+ if(opCode == OP_CMP) {
+ UBYTE isString2, isString3;
+ isString2= (t2 == TC_ARRAY) && cCmdDSType(INC_ID(pInstr[2])) == TC_UBYTE;
+ isString3= (t3 == TC_ARRAY) && cCmdDSType(INC_ID(pInstr[3])) == TC_UBYTE;
+ t1= cCmdDSType(pInstr[1]);
+ if((!isString2 || !isString3) || t1 == TC_ARRAY) // allow strings to go scalar, don't let through element compares of bytes or Bools
+ isScalarBinop= FALSE;
+ }
+ else if(opCode == OP_BRCMP)
+ isScalarBinop= FALSE;
+ }
+ }
+ else if(InstrSize == 6 && isT2Agg && (opCode == OP_NOT || opCode == OP_BRTST))
+ isScalarUnop2= FALSE;
+ }
+ pInstr += InstrSize/2;
+ } while((isScalarBinop || isScalarUnop2) && pInstr < lastPC);
+ if(isScalarBinop)
+ clumpPtr->clumpScalarDispatchHints |= scalarBinopDispatchMask;
+ else
+ clumpPtr->clumpScalarDispatchHints &= ~scalarBinopDispatchMask;
+
+ if(isScalarUnop2)
+ clumpPtr->clumpScalarDispatchHints |= scalarUnop2DispatchMask;
+ else
+ clumpPtr->clumpScalarDispatchHints &= ~scalarUnop2DispatchMask;
+
+ }
//Programs with no active clumps constitutes an activation error
if (VarsCmd.RunQ.Head == NOT_A_CLUMP)
return (ERR_FILE);
+ else
+ {
+ // now that we know which clumps are scalar and poly, refresh dispatch table to match head
+ cCmdRefreshActiveClump(VarsCmd.RunQ.Head);
+
+ }
//Initialize dataspace with default values from file
//!!! This would be a good place to enforce check against potentially
@@ -1491,6 +1834,13 @@ NXT_STATUS cCmdActivateProgram(UBYTE * pFileName)
//Copy Dynamic defaults from file
memmove(VarsCmd.pDataspace + VarsCmd.DSStaticSize, pData + FileOffsets.DSDefaults + FileOffsets.DynamicDefaults, FileOffsets.DynamicDefaultsSize);
+ // fix memmgr links. old files contain unused backPtrs, we now use these to store backLink
+ DV_INDEX prev= NOT_A_DS_ID;
+ for (i = VarsCmd.MemMgr.Head; i != NOT_A_DS_ID; i = DV_ARRAY[i].Link) {
+ DV_ARRAY[i].BackLink= prev;
+ prev= i;
+ }
+
//Verify the MemMgr ended up where we said it would
if ((UBYTE *)VarsCmd.MemMgr.pDopeVectorArray != VarsCmd.pDataspace + DV_ARRAY[0].Offset)
{
@@ -1510,9 +1860,27 @@ NXT_STATUS cCmdActivateProgram(UBYTE * pFileName)
}
}
+ //Initialize datalog queue
+ VarsCmd.DatalogBuffer.ReadIndex = 0;
+ VarsCmd.DatalogBuffer.WriteIndex = 0;
+ for (j = 0; j < DATALOG_QUEUE_DEPTH; j++)
+ {
+ VarsCmd.DatalogBuffer.Datalogs[j] = NOT_A_DS_ID;
+ }
+
+ // now that we've loaded program, prime memmgr dopevectors based upon number of handles in ds.
+ ULONG numHandles= DV_ARRAY[0].Count/2;
+ if(numHandles > 200)
+ numHandles= 200;
+ Status = cCmdGrowDopeVectorArray(numHandles);
+
if (cCmdVerifyMemMgr() != TRUE)
return (ERR_FILE);
+ gUsageSemData= 0;
+ gRequestSemData= 0;
+ // preload all calibration coefficients into mem
+ cCmdLoadCalibrationFiles();
return (Status);
}
@@ -1541,8 +1909,6 @@ void cCmdDeactivateProgram()
VarsCmd.RunQ.Head = NOT_A_CLUMP;
VarsCmd.RunQ.Tail = NOT_A_CLUMP;
- VarsCmd.ScratchPC = 0;
- VarsCmd.CallerClump = NOT_A_CLUMP;
if (VarsCmd.ActiveProgHandle != NOT_A_HANDLE)
{
@@ -1561,7 +1927,7 @@ void cCmdDeactivateProgram()
tmp = i;
//Close file
if (*(VarsCmd.FileHandleTable[i]) != 0)
- pMapLoader->pFunc(CLOSE, &tmp, NULL, NULL);
+ pMapLoader->pFunc(CROPDATAFILE, &tmp, NULL, NULL);
}
//Clear FileHandleTable
@@ -1646,6 +2012,8 @@ void cCmdEnQClump(CLUMP_Q * Queue, CLUMP_ID NewClump)
Queue->Head = NewClump;
Queue->Tail = NewClump;
+ if(Queue == &(VarsCmd.RunQ))
+ cCmdRefreshActiveClump(NewClump);
}
//Otherwise, tack onto the end
else
@@ -1679,18 +2047,21 @@ void cCmdDeQClump(CLUMP_Q * Queue, CLUMP_ID Clump)
//If we just removed the last clump, patch up the queue's tail
if (Queue->Head == NOT_A_CLUMP)
Queue->Tail = NOT_A_CLUMP;
+ else if(Queue == &(VarsCmd.RunQ))
+ cCmdRefreshActiveClump(Queue->Head);
}
//Else, look through rest of list looking for a link to our clump
else
{
do
{
- LinkID = VarsCmd.pAllClumps[CurrID].Link;
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[CurrID];
+ LinkID = clumpPtr->Link;
//If we find a link to our clump, patch up predecessor's link
- if (VarsCmd.pAllClumps[CurrID].Link == Clump)
+ if (clumpPtr->Link == Clump)
{
- VarsCmd.pAllClumps[CurrID].Link = VarsCmd.pAllClumps[Clump].Link;
+ clumpPtr->Link = VarsCmd.pAllClumps[Clump].Link;
VarsCmd.pAllClumps[Clump].Link = NOT_A_CLUMP;
//If we just removed the tail, patch tail
@@ -1707,10 +2078,11 @@ void cCmdDeQClump(CLUMP_Q * Queue, CLUMP_ID Clump)
//Rotate head to tail and advance head for given Queue
-void cCmdRotateQ(CLUMP_Q * Queue)
+void cCmdRotateQ()
{
CLUMP_ID CurrID;
CLUMP_REC * pClumpRec;
+ CLUMP_Q * Queue = &VarsCmd.RunQ;
//Make sure Queue is sane
NXT_ASSERT(cCmdIsQSane(Queue) == TRUE);
@@ -1730,6 +2102,10 @@ void cCmdRotateQ(CLUMP_Q * Queue)
pClumpRec->Link = CurrID;
Queue->Tail = CurrID;
+ // reinit clump info
+ CurrID= Queue->Head;
+ cCmdRefreshActiveClump(Queue->Head);
+
//Make sure we didn't make any really stupid mistakes
NXT_ASSERT(cCmdIsQSane(Queue) == TRUE);
}
@@ -1798,9 +2174,10 @@ UBYTE cCmdIsQSane(CLUMP_Q * Queue)
// Mutex queuing functions
//
-NXT_STATUS cCmdAcquireMutex(MUTEX_Q * Mutex, CLUMP_ID Clump)
+NXT_STATUS cCmdAcquireMutex(MUTEX_Q * Mutex)
{
NXT_STATUS Status = NO_ERR;
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // save off before queue changes below
NXT_ASSERT(Mutex != NULL && cCmdIsClumpIDSane(Clump));
@@ -1825,8 +2202,11 @@ NXT_STATUS cCmdAcquireMutex(MUTEX_Q * Mutex, CLUMP_ID Clump)
}
-NXT_STATUS cCmdReleaseMutex(MUTEX_Q * Mutex, CLUMP_ID Clump)
+NXT_STATUS cCmdReleaseMutex(MUTEX_Q * Mutex)
{
+#if WIN_DEBUG || defined(ARM_DEBUG)
+ CLUMP_ID Clump= VarsCmd.RunQ.Head;
+#endif
NXT_ASSERT(Mutex != NULL);
//!!! don't actually need to pass in Owner clump, but provides nice error checking for now
// Might want to return an error/warning if we see a Release on an free mutex, though...
@@ -1847,6 +2227,36 @@ NXT_STATUS cCmdReleaseMutex(MUTEX_Q * Mutex, CLUMP_ID Clump)
return (NO_ERR);
}
+// No instruction to do this yet, but put current clump to sleep until awakeTime occurs
+NXT_STATUS cCmdSleepClump(ULONG time)
+{
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // save off before queue changes below
+ CLUMP_REC * pClump = &(VarsCmd.pAllClumps[Clump]);
+ cCmdDeQClump(&(VarsCmd.RunQ), Clump);
+ cCmdEnQClump(&(VarsCmd.RestQ), Clump);
+ pClump->awakenTime= time;
+ return CLUMP_SUSPEND;
+}
+
+UBYTE cCmdCheckRestQ(ULONG currTime)
+{
+ UBYTE awakened= FALSE;
+ CLUMP_ID curr, next;
+ CLUMP_REC * pClump;
+ curr= VarsCmd.RestQ.Head;
+ while(curr != NOT_A_CLUMP) {
+ pClump= &(VarsCmd.pAllClumps[curr]);
+ next= pClump->Link;
+ if(pClump->awakenTime <= currTime) {
+ pClump->awakenTime= 0; // not necessary, but for debugging identification
+ cCmdDeQClump(&(VarsCmd.RestQ), curr);
+ cCmdEnQClump(&(VarsCmd.RunQ), curr);
+ awakened= TRUE;
+ }
+ curr= next;
+ }
+ return awakened;
+}
NXT_STATUS cCmdSchedDependents(CLUMP_ID Clump, SWORD Begin, SWORD End)
{
@@ -1891,8 +2301,9 @@ NXT_STATUS cCmdSchedDependent(CLUMP_ID Clump, CLUMP_ID TargetClump)
NXT_ASSERT(cCmdIsClumpIDSane(Clump));
NXT_ASSERT(cCmdIsClumpIDSane(TargetClump));
- VarsCmd.pAllClumps[TargetClump].CurrFireCount--;
- if (VarsCmd.pAllClumps[TargetClump].CurrFireCount == 0)
+ CLUMP_REC *clumpPtr= &VarsCmd.pAllClumps[TargetClump];
+ clumpPtr->CurrFireCount--;
+ if (clumpPtr->CurrFireCount == 0)
cCmdEnQClump(&(VarsCmd.RunQ), TargetClump);
return (NO_ERR);
@@ -1914,25 +2325,31 @@ UBYTE cCmdIsClumpIDSane(CLUMP_ID Clump)
void cCmdInitPool(void)
{
ULONG i;
+ ULONG *poolPtr;
//VarsCmd.Pool is a UBYTE pointer to ULONG array
//This was done to enforce portable alignment.
VarsCmd.Pool = (UBYTE*)(IOMapCmd.MemoryPool);
- for (i = 0; i < (POOL_MAX_SIZE / 4); i++)
- ((SLONG*)(POOL_START))[i] = 0xDEADBEEF;
+ for (i = (POOL_MAX_SIZE / 4), poolPtr= (ULONG*)&(POOL_START)[0]; i>0; i--, poolPtr++)
+ *poolPtr = 0xDEADBEEF;
VarsCmd.PoolSize = 0;
}
+#if VMProfilingCode
+ULONG memMgrTime= 0;
+#endif
NXT_STATUS cCmdDSArrayAlloc(DS_ELEMENT_ID DSElementID, UWORD Offset, UWORD NewCount)
{
NXT_STATUS Status = NO_ERR;
UWORD DVIndex;
UWORD OldCount;
UWORD i;
-
+#if VMProfilingCode
+ ULONG enterTime= dTimerReadHiRes();
+#endif
NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
//Only arrays are valid here
@@ -1942,9 +2359,15 @@ NXT_STATUS cCmdDSArrayAlloc(DS_ELEMENT_ID DSElementID, UWORD Offset, UWORD NewCo
DVIndex = cCmdGetDVIndex(DSElementID, Offset);
OldCount = DV_ARRAY[DVIndex].Count;
+ if(OldCount == NewCount)
+ goto allocExit;
Status = cCmdDVArrayAlloc(DVIndex, NewCount);
+
if (Status < NO_ERR)
- return Status;
+ goto allocExit;
+
+ if(!IS_AGGREGATE_TYPE(cCmdDSType(INC_ID(DSElementID))))
+ goto allocExit;
if (OldCount > NewCount)
{
@@ -1953,22 +2376,25 @@ NXT_STATUS cCmdDSArrayAlloc(DS_ELEMENT_ID DSElementID, UWORD Offset, UWORD NewCo
{
Status = cCmdFreeSubArrayDopeVectors(INC_ID(DSElementID), ARRAY_ELEM_OFFSET(DVIndex, i));
if (IS_ERR(Status))
- return Status;
+ goto allocExit;
}
}
else if (OldCount < NewCount)
{
//Alloc dope vectors for sub-arrays. Set up DVIndexes
- for (i = OldCount; i < NewCount; i++)
+ for (i = OldCount; i < NewCount; i++)
{
Status = cCmdAllocSubArrayDopeVectors(INC_ID(DSElementID), ARRAY_ELEM_OFFSET(DVIndex, i));
if (IS_ERR(Status))
- return Status;
+ goto allocExit;
}
}
NXT_ASSERT(cCmdVerifyMemMgr());
-
+allocExit:
+#if VMProfilingCode
+ memMgrTime += dTimerReadHiRes() - enterTime;
+#endif
return Status;
}
@@ -2044,11 +2470,13 @@ NXT_STATUS cCmdDVArrayAlloc(DV_INDEX DVIndex, UWORD NewCount)
VarsCmd.PoolSize += ArraySize;
VarsCmd.DataspaceSize += ArraySize;
- //Move Array Data
- memmove(pData, VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset, (UWORD)(DV_ARRAY[DVIndex].ElemSize * DV_ARRAY[DVIndex].Count));
- //!!! Clear mem so we make sure we don't reference stale data. Not strictly needed.
- memset(VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset, 0xFF, (UWORD)(DV_ARRAY[DVIndex].ElemSize * DV_ARRAY[DVIndex].Count));
-
+ //Move old Array Data to new allocation
+ if(OldCount)
+ memmove(pData, VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset, (UWORD)(DV_ARRAY[DVIndex].ElemSize * OldCount));
+ //!!! Clear mem so old mem doesn't contain stale data. Not strictly needed.
+#if WIN_DEBUG || defined(ARM_DEBUG)
+ memset(VarsCmd.pDataspace + DV_ARRAY[DVIndex].Offset, 0xFF, (UWORD)(DV_ARRAY[DVIndex].ElemSize * OldCount));
+#endif
//Update dope vector
DV_ARRAY[DVIndex].Offset = pData - VarsCmd.pDataspace;
DV_ARRAY[DVIndex].Count = NewCount;
@@ -2094,7 +2522,7 @@ NXT_STATUS cCmdAllocSubArrayDopeVectors(DS_ELEMENT_ID DSElementID, UWORD Offset)
// It'd be nice to not have to recalculate it.
ElemSize = cCmdCalcArrayElemSize((DS_ELEMENT_ID)(DSElementID + i));
DVIndexOffset = VarsCmd.pDataspaceTOC[DSElementID + i].DSOffset + Offset;
- Status = cCmdAllocDopeVector(&DVIndex, ElemSize, DVIndexOffset);
+ Status = cCmdAllocDopeVector(&DVIndex, ElemSize);
if (IS_ERR(Status))
return Status;
@@ -2156,7 +2584,7 @@ NXT_STATUS cCmdFreeSubArrayDopeVectors(DS_ELEMENT_ID DSElementID, UWORD Offset)
}
-NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize, UWORD BackPtr)
+NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize)
{
NXT_STATUS Status = NO_ERR;
@@ -2168,11 +2596,14 @@ NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize, UWORD BackPtr)
return Status;
}
- NXT_ASSERT(VarsCmd.MemMgr.FreeHead != NOT_A_DS_ID);
+ if(VarsCmd.MemMgr.FreeHead == NOT_A_DS_ID)
+ return ERR_MEM;
//Remove DV from free list
*pIndex = VarsCmd.MemMgr.FreeHead;
- VarsCmd.MemMgr.FreeHead = DV_ARRAY[VarsCmd.MemMgr.FreeHead].Link;
+ VarsCmd.MemMgr.FreeHead = DV_ARRAY[*pIndex].Link;
+ if(VarsCmd.MemMgr.FreeHead != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.FreeHead].BackLink= NOT_A_DS_ID;
//Add DV to tail of MemMgr list
Status = cCmdMemMgrInsertAtTail(*pIndex);
@@ -2180,7 +2611,6 @@ NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize, UWORD BackPtr)
DV_ARRAY[*pIndex].Offset = NOT_AN_OFFSET;
DV_ARRAY[*pIndex].ElemSize = ElemSize;
DV_ARRAY[*pIndex].Count = 0;
- DV_ARRAY[*pIndex].BackPtr = BackPtr;
NXT_ASSERT(cCmdVerifyMemMgr());
@@ -2196,7 +2626,7 @@ NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize, UWORD BackPtr)
NXT_STATUS cCmdFreeDopeVector(DV_INDEX DVIndex)
{
NXT_STATUS Status = NO_ERR;
- DV_INDEX i;
+ DV_INDEX prev, post;
//Bounds check
NXT_ASSERT(DVIndex < DV_ARRAY[0].Count);
@@ -2205,33 +2635,33 @@ NXT_STATUS cCmdFreeDopeVector(DV_INDEX DVIndex)
DV_ARRAY[DVIndex].Count = 0;
DV_ARRAY[DVIndex].ElemSize = 0;
DV_ARRAY[DVIndex].Offset = NOT_AN_OFFSET;
- DV_ARRAY[DVIndex].BackPtr = NOT_AN_OFFSET;
//Remove from MemMgr list
if (DVIndex == VarsCmd.MemMgr.Head)
{
VarsCmd.MemMgr.Head = DV_ARRAY[DVIndex].Link;
+ if(VarsCmd.MemMgr.Head != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.Head].BackLink= NOT_A_DS_ID;
}
else
{
- //Walk MemMgr list to find previous.
- //!!! Could speed this up if MemMgr list were doubly linked
- for (i = VarsCmd.MemMgr.Head; i != NOT_A_DS_ID; i = DV_ARRAY[i].Link)
- {
- if (DV_ARRAY[i].Link == DVIndex)
- {
- DV_ARRAY[i].Link = DV_ARRAY[DVIndex].Link;
- if (DVIndex == VarsCmd.MemMgr.Tail)
- VarsCmd.MemMgr.Tail = i;
- break;
- }
- }
+ // patchup middle or end of list.
+ prev= DV_ARRAY[DVIndex].BackLink;
+ post= DV_ARRAY[DVIndex].Link;
+ NXT_ASSERT(prev != NOT_A_DS_ID);
+
+ DV_ARRAY[prev].Link = post;
+ if(post != NOT_A_DS_ID)
+ DV_ARRAY[post].BackLink= prev;
+ if (DVIndex == VarsCmd.MemMgr.Tail)
+ VarsCmd.MemMgr.Tail = prev;
//Make sure we found the previous DV, otherwise this DV was not in the the list (already freed?)
- NXT_ASSERT(i != NOT_A_DS_ID);
}
- //Push on to free list
+ //Push onto free list
DV_ARRAY[DVIndex].Link = VarsCmd.MemMgr.FreeHead;
+ DV_ARRAY[DVIndex].BackLink = NOT_A_DS_ID;
+ DV_ARRAY[VarsCmd.MemMgr.FreeHead].BackLink= DVIndex;
VarsCmd.MemMgr.FreeHead = DVIndex;
NXT_ASSERT(cCmdVerifyMemMgr());
@@ -2291,7 +2721,9 @@ NXT_STATUS cCmdGrowDopeVectorArray(UWORD NewNodesCount)
DV_ARRAY[i].Offset = 0xFFFF;
DV_ARRAY[i].ElemSize = 0;
DV_ARRAY[i].Count = 0;
- DV_ARRAY[i].BackPtr = 0xFFFF;
+ DV_ARRAY[i].BackLink = NOT_A_DS_ID;
+ if(VarsCmd.MemMgr.FreeHead != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.FreeHead].BackLink = i;
DV_ARRAY[i].Link = VarsCmd.MemMgr.FreeHead;
VarsCmd.MemMgr.FreeHead = i;
}
@@ -2304,13 +2736,6 @@ NXT_STATUS cCmdGrowDopeVectorArray(UWORD NewNodesCount)
return Status;
}
-NXT_STATUS cCmdCompactDopeVectorArray(void)
-{
- //!!! Not implemented. Needs BackPtr support.
- NXT_BREAK;
- return ERR_ARG;
-}
-
UWORD cCmdCalcArrayElemSize(DS_ELEMENT_ID DSElementID)
{
@@ -2348,7 +2773,7 @@ UWORD cCmdCalcArrayElemSize(DS_ELEMENT_ID DSElementID)
NXT_STATUS cCmdMemMgrMoveToTail(DV_INDEX DVIndex)
{
- DV_INDEX i;
+ DV_INDEX prev, post;
//Bounds check
NXT_ASSERT(DVIndex < DV_ARRAY[0].Count);
@@ -2357,26 +2782,25 @@ NXT_STATUS cCmdMemMgrMoveToTail(DV_INDEX DVIndex)
if (DVIndex == VarsCmd.MemMgr.Tail)
return NO_ERR;
- if (DVIndex == VarsCmd.MemMgr.Head)
+ if (DVIndex == VarsCmd.MemMgr.Head) {
VarsCmd.MemMgr.Head = DV_ARRAY[DVIndex].Link;
+ DV_ARRAY[VarsCmd.MemMgr.Head].BackLink= NOT_A_DS_ID;
+ }
else
{
- //Walk MemMgr list to find previous.
- //!!! Could speed this up if MemMgr list were doubly linked
- for (i = VarsCmd.MemMgr.Head; i != NOT_A_DS_ID; i = DV_ARRAY[i].Link)
- {
- if (DV_ARRAY[i].Link == DVIndex)
- {
- DV_ARRAY[i].Link = DV_ARRAY[DVIndex].Link;
- break;
- }
- }
- //Make sure we found the previous DV, otherwise this DV was not in the the list
- NXT_ASSERT(i != NOT_A_DS_ID);
+ // connect to middle or end of list.
+ prev= DV_ARRAY[DVIndex].BackLink;
+ post= DV_ARRAY[DVIndex].Link;
+ NXT_ASSERT(prev != NOT_A_DS_ID);
+ DV_ARRAY[prev].Link = post;
+ if(post != NOT_A_DS_ID)
+ DV_ARRAY[post].BackLink= prev;
}
DV_ARRAY[DVIndex].Link = NOT_A_DS_ID;
- DV_ARRAY[VarsCmd.MemMgr.Tail].Link = DVIndex;
+ DV_ARRAY[DVIndex].BackLink = VarsCmd.MemMgr.Tail;
+ if(VarsCmd.MemMgr.Tail != NOT_A_DS_ID)
+ DV_ARRAY[VarsCmd.MemMgr.Tail].Link = DVIndex;
VarsCmd.MemMgr.Tail = DVIndex;
NXT_ASSERT(cCmdVerifyMemMgr());
@@ -2391,8 +2815,9 @@ NXT_STATUS cCmdMemMgrInsertAtTail(DV_INDEX DVIndex)
NXT_ASSERT(DVIndex < DV_ARRAY[0].Count);
DV_ARRAY[VarsCmd.MemMgr.Tail].Link = DVIndex;
- VarsCmd.MemMgr.Tail = DVIndex;
+ DV_ARRAY[DVIndex].BackLink= VarsCmd.MemMgr.Tail;
DV_ARRAY[DVIndex].Link = NOT_A_DS_ID;
+ VarsCmd.MemMgr.Tail = DVIndex;
NXT_ASSERT(cCmdVerifyMemMgr());
@@ -2402,7 +2827,7 @@ NXT_STATUS cCmdMemMgrInsertAtTail(DV_INDEX DVIndex)
UBYTE cCmdVerifyMemMgr()
{
- DV_INDEX i;
+ DV_INDEX i, prev, post;
UWORD CurrOffset = 0;
UWORD PrevOffset = 0;
UWORD DVCount = 0;
@@ -2420,12 +2845,21 @@ UBYTE cCmdVerifyMemMgr()
PrevOffset = CurrOffset;
}
- if (DV_ARRAY[i].Link == NOT_A_DS_ID && i != VarsCmd.MemMgr.Tail)
+ prev= DV_ARRAY[i].BackLink;
+ post= DV_ARRAY[i].Link;
+ if (post == NOT_A_DS_ID && i != VarsCmd.MemMgr.Tail)
+ return FALSE;
+ else if(prev == NOT_A_DS_ID && i != VarsCmd.MemMgr.Head)
+ return FALSE;
+ else if(prev != NOT_A_DS_ID && DV_ARRAY[prev].Link != i)
+ return FALSE;
+ else if(post != NOT_A_DS_ID && DV_ARRAY[post].BackLink != i)
return FALSE;
DVCount++;
}
+ // could check link and backlinks too
for (i = VarsCmd.MemMgr.FreeHead; i != NOT_A_DS_ID; i = DV_ARRAY[i].Link)
{
DVCount++;
@@ -2556,7 +2990,7 @@ NXT_STATUS cCmdMessageWrite(UWORD QueueID, UBYTE * pData, UWORD Length)
else
{
//Allocate dope vector for message
- Status = cCmdAllocDopeVector(&GET_WRITE_MSG(QueueID), 1, NOT_AN_OFFSET);
+ Status = cCmdAllocDopeVector(&GET_WRITE_MSG(QueueID), 1);
if (IS_ERR(Status))
return Status;
}
@@ -2665,6 +3099,164 @@ NXT_STATUS cCmdMessageRead(UWORD QueueID, UBYTE * pBuffer, UWORD Length, UBYTE R
return Status;
}
+//
+// Datalog Queue function(s)
+//
+
+NXT_STATUS cCmdDatalogWrite(UBYTE * pData, UWORD Length)
+{
+ NXT_STATUS Status = NO_ERR;
+
+ if (pData == NULL)
+ return ERR_ARG;
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ return (ERR_NO_PROG);
+
+ //Can't accept oversize messages because we treat them as strings (truncation would remove null termination)
+ if (Length > MAX_DATALOG_SIZE)
+ return ERR_INVALID_SIZE;
+
+ if (IS_DV_INDEX_SANE(GET_WRITE_DTLG()))
+ {
+ //A message is already there, the queue is full
+ NXT_ASSERT(VarsCmd.DatalogBuffer.WriteIndex == VarsCmd.DatalogBuffer.ReadIndex);
+ Status = STAT_MSG_BUFFERWRAP;
+ //Bump read index, drop existing message to make room for our newly acquired datalog
+ VarsCmd.DatalogBuffer.ReadIndex = (VarsCmd.DatalogBuffer.ReadIndex + 1) % DATALOG_QUEUE_DEPTH;
+ }
+ else
+ {
+ //Allocate dope vector for message
+ Status = cCmdAllocDopeVector(&GET_WRITE_DTLG(), 1);
+ if (IS_ERR(Status))
+ return Status;
+ }
+
+ //Allocate storage for message
+ Status |= cCmdDVArrayAlloc(GET_WRITE_DTLG(), Length);
+ if (IS_ERR(Status))
+ {
+ //Clear the dope vector for the message, since we're unable to put a message there.
+ cCmdFreeDopeVector(GET_WRITE_DTLG());
+ SET_WRITE_DTLG(NOT_A_DS_ID);
+ return Status;
+ }
+
+ //Copy message
+ memmove(cCmdDVPtr(GET_WRITE_DTLG()), pData, Length);
+
+ //Advance write index
+ VarsCmd.DatalogBuffer.WriteIndex = (VarsCmd.DatalogBuffer.WriteIndex + 1) % DATALOG_QUEUE_DEPTH;
+
+ return Status;
+}
+
+NXT_STATUS cCmdDatalogGetSize(UWORD * Size)
+{
+ DV_INDEX ReadDVIndex;
+
+ if (Size == NULL)
+ return (ERR_ARG);
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ {
+ *Size = 0;
+ return (ERR_NO_PROG);
+ }
+
+ ReadDVIndex = GET_READ_DTLG();
+
+ if (IS_DV_INDEX_SANE(ReadDVIndex))
+ {
+ *Size = (DV_ARRAY[ReadDVIndex].Count);
+ return (NO_ERR);
+ }
+ else
+ {
+ *Size = 0;
+ return (STAT_MSG_EMPTY_MAILBOX);
+ }
+}
+
+NXT_STATUS cCmdDatalogRead(UBYTE * pBuffer, UWORD Length, UBYTE Remove)
+{
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX ReadDVIndex;
+
+ if (pBuffer == NULL)
+ return (ERR_ARG);
+
+ if (VarsCmd.ActiveProgHandle == NOT_A_HANDLE)
+ return (ERR_NO_PROG);
+
+ ReadDVIndex = GET_READ_DTLG();
+
+ if (IS_DV_INDEX_SANE(ReadDVIndex))
+ {
+ //If Buffer doesn't have room for the entire message,
+ //don't risk incomplete string floating around
+ if (Length < DV_ARRAY[ReadDVIndex].Count)
+ return (ERR_INVALID_SIZE);
+
+ //Copy message
+ memmove(pBuffer, cCmdDVPtr(ReadDVIndex), DV_ARRAY[ReadDVIndex].Count);
+
+ if (Remove)
+ {
+ //Free memory used by message
+ Status = cCmdFreeDopeVector(ReadDVIndex);
+ if (IS_ERR(Status))
+ return Status;
+
+ SET_READ_DTLG(NOT_A_DS_ID);
+
+ //Advance read index
+ VarsCmd.DatalogBuffer.ReadIndex = (VarsCmd.DatalogBuffer.ReadIndex + 1) % DATALOG_QUEUE_DEPTH;
+ }
+ }
+ else
+ {
+ //No message to read, datalog Queue is empty
+ NXT_ASSERT(VarsCmd.DatalogBuffer.ReadIndex == VarsCmd.DatalogBuffer.WriteIndex);
+
+ return (STAT_MSG_EMPTY_MAILBOX);
+ }
+
+ return Status;
+}
+
+
+//
+// Color Sensor Functions
+//
+NXT_STATUS cCmdColorSensorRead (UBYTE Port, SWORD * SensorValue, UWORD * RawArray, UWORD * NormalizedArray,
+ SWORD * ScaledArray, UBYTE * InvalidData)
+{
+ ULONG i;
+ //Make sure Port is valid for Color Sensor
+ if (!(pMapInput->Inputs[Port].SensorType == COLORFULL || pMapInput->Inputs[Port].SensorType == COLORRED
+ || pMapInput->Inputs[Port].SensorType == COLORGREEN || pMapInput->Inputs[Port].SensorType == COLORBLUE
+ || pMapInput->Inputs[Port].SensorType == COLORNONE))
+ {
+ return (ERR_COMM_CHAN_NOT_READY); //TODO - is this the right error?
+ }
+ //Copy Detected Color
+ *SensorValue = pMapInput->Inputs[Port].SensorValue;
+
+ //Copy all raw, normalized and scaled data from I/O Map
+ for (i=0; i<NO_OF_COLORS; i++){
+ RawArray[i] = pMapInput->Colors[Port].ADRaw[i];
+ NormalizedArray[i] = pMapInput->Colors[Port].SensorRaw[i];
+ ScaledArray[i] = pMapInput->Colors[Port].SensorValue[i];
+ }
+ //Copy the Invalid Data Flag
+ *InvalidData = pMapInput->Inputs[Port].InvalidData;
+
+ return NO_ERR;
+
+}
+
//
// Dataspace Support functions
@@ -2678,37 +3270,33 @@ UBYTE cCmdIsDSElementIDSane(DS_ELEMENT_ID Index)
return FALSE;
}
-TYPE_CODE cCmdDSType(DS_ELEMENT_ID DSElementID)
-{
- NXT_ASSERT(cCmdIsDSElementIDSane(DSElementID));
-
- return (VarsCmd.pDataspaceTOC[DSElementID].TypeCode);
-}
-
-
void * cCmdResolveDataArg(DATA_ARG DataArg, UWORD Offset, TYPE_CODE * TypeCode)
{
- UBYTE ModuleID;
- UWORD FieldID;
void * ret_val = NULL;
- //
//!!! DATA_ARG masking system only for internal c_cmd use!
// All normal bytecode arguments should go through top if() block.
- //
- if (DataArg <= (DATA_ARG)(DATA_ARG_ADDR_MASK) )
- {
NXT_ASSERT(cCmdIsDSElementIDSane(DataArg));
ret_val = cCmdDSPtr(DataArg, Offset);
if (TypeCode)
*TypeCode = VarsCmd.pDataspaceTOC[DataArg].TypeCode;
- }
- else if (DataArg & ~((DATA_ARG)(DATA_ARG_ADDR_MASK)))
+
+ //!!! Caller beware! If DataArg isn't sane, ret_val may be out of range or NULL!
+ return ret_val;
+}
+
+// normal Resolve handles both, but this is specific to I/O args
+void * cCmdResolveIODataArg(DATA_ARG DataArg, ULONG Offset, TYPE_CODE * TypeCode)
{
+ void * ret_val = NULL;
+
+ ULONG ModuleID;
+ ULONG FieldID;
//DataArg refers to a field in the IO map
- ModuleID = (UBYTE)((DataArg >> 9) & 0x001F);
- FieldID = (UWORD)(DataArg & 0x01FF);
+ // ModuleID = ((DataArg >> 9) & 0x1F);
+ ModuleID = ((DataArg & 0x3FFF) >> 9);
+ FieldID = (DataArg & 0x01FF);
//!!! Preliminary bounds check -- still could allow invalid combos through
if (ModuleID > MOD_OUTPUT || FieldID >= IO_OUT_FIELD_COUNT)
@@ -2720,13 +3308,10 @@ void * cCmdResolveDataArg(DATA_ARG DataArg, UWORD Offset, TYPE_CODE * TypeCode)
ret_val = IO_PTRS[ModuleID][FieldID];
if (TypeCode)
*TypeCode = IO_TYPES[ModuleID][FieldID];
- }
-
- //!!! Caller beware! If DataArg isn't sane, ret_val may be out of range or NULL!
return ret_val;
}
-void cCmdSetVal(void * pVal, TYPE_CODE TypeCode, ULONG NewVal)
+void cCmdSetValFlt(void * pVal, TYPE_CODE TypeCode, float NewVal)
{
if (pVal)
@@ -2753,16 +3338,116 @@ void cCmdSetVal(void * pVal, TYPE_CODE TypeCode, ULONG NewVal)
*(UBYTE*)pVal = (UBYTE)NewVal;
}
break;
+
+ case TC_FLOAT:
+ {
+ *(float*)pVal = (float)NewVal;
+ }
+ break;
}
}
return;
}
+ULONG cCmdGetUByte(void * pVal);
+ULONG cCmdGetSByte(void * pVal);
+ULONG cCmdGetUWord(void * pVal);
+ULONG cCmdGetSWord(void * pVal);
+ULONG cCmdGetULong(void * pVal);
+ULONG cCmdGetSLong(void * pVal);
+ULONG cCmdGetError(void * pVal);
+ULONG cCmdGetFloat(void * pVal);
+
+void cCmdSetByte(void * pVal, ULONG NewVal);
+void cCmdSetWord(void * pVal, ULONG NewVal);
+void cCmdSetLong(void * pVal, ULONG NewVal);
+void cCmdSetError(void * pVal, ULONG NewVal);
+
+
+typedef ULONG (*pGetOperand)(void *);
+static pGetOperand GetProcArray[11]= {cCmdGetUByte, cCmdGetUByte, cCmdGetSByte, cCmdGetUWord, cCmdGetSWord, cCmdGetULong, cCmdGetSLong, cCmdGetError, cCmdGetError, cCmdGetError, cCmdGetFloat}; // dup UByte to line up
+
+typedef void (*pSetOperand)(void *, ULONG);
+static pSetOperand SetProcArray[9]= {cCmdSetByte, cCmdSetByte, cCmdSetByte, cCmdSetWord, cCmdSetWord, cCmdSetLong, cCmdSetLong, cCmdSetError, cCmdSetError}; // dup UByte to line up
+
+void cCmdSetError(void * pVal, ULONG NewVal) {
+ NXT_BREAK;
+}
+
+void cCmdSetLong(void * pVal, ULONG NewVal) {
+ *(ULONG*)pVal = NewVal;
+}
+
+void cCmdSetWord(void * pVal, ULONG NewVal) {
+ *(UWORD*)pVal = (UWORD)NewVal;
+}
+
+void cCmdSetByte(void * pVal, ULONG NewVal) {
+ *(UBYTE*)pVal = (UBYTE)NewVal;
+}
+
+// only works on simple types, equivalent to resolve and get, but faster
+ULONG cCmdGetScalarValFromDataArg(DATA_ARG DataArg, UWORD Offset)
+{
+ DS_TOC_ENTRY *dsTOCPtr= &VarsCmd.pDataspaceTOC[DataArg];
+ return GetProcArray[dsTOCPtr->TypeCode](VarsCmd.pDataspace + dsTOCPtr->DSOffset + Offset);
+}
+
+
+ULONG cCmdGetError(void * pVal) {
+ NXT_BREAK;
+ return 0;
+}
+
+ULONG cCmdGetULong(void * pVal) {
+ return (ULONG)(*(ULONG*)pVal);
+}
+
+ULONG cCmdGetSLong(void * pVal) {
+ return (SLONG)(*(SLONG*)pVal);
+}
+
+ULONG cCmdGetUWord(void * pVal) {
+ return (UWORD)(*(UWORD*)pVal);
+}
+
+ULONG cCmdGetSWord(void * pVal) {
+ return (SWORD)(*(SWORD*)pVal);
+}
+
+ULONG cCmdGetUByte(void * pVal) {
+ return (UBYTE)(*(UBYTE*)pVal);
+}
+
+ULONG cCmdGetSByte(void * pVal) {
+ return (SBYTE)(*(SBYTE*)pVal);
+}
+
+ULONG cCmdGetFloat(void * pVal) {
+ float tempVal = *(float*)pVal;
+ if (tempVal >= 0) {
+ tempVal += 0.5;
+ }
+ else {
+ tempVal -= 0.5;
+ }
+ return (ULONG)tempVal;
+}
ULONG cCmdGetVal(void * pVal, TYPE_CODE TypeCode)
{
if (pVal)
+ return GetProcArray[TypeCode](pVal);
+ else
+ //!!! Default return value places responsibility on caller to use this function wisely
+ return 0;
+}
+
+
+float cCmdGetValFlt(void * pVal, TYPE_CODE TypeCode)
+{
+ if (pVal)
{
switch (TypeCode)
{
@@ -2796,6 +3481,11 @@ ULONG cCmdGetVal(void * pVal, TYPE_CODE TypeCode)
return (SBYTE)(*(SBYTE*)pVal);
}
+ case TC_FLOAT:
+ {
+ return (float)(*(float*)pVal);
+ }
+
default:
break;
}
@@ -2806,34 +3496,19 @@ ULONG cCmdGetVal(void * pVal, TYPE_CODE TypeCode)
}
-UWORD cCmdSizeOf(TYPE_CODE TypeCode)
-{
- //!!! Why not use a lookup table? No particular reason...
- switch(TypeCode)
- {
- case TC_ULONG:
- return SIZE_ULONG;
- case TC_SLONG:
- return SIZE_SLONG;
- case TC_UWORD:
- return SIZE_UWORD;
- case TC_SWORD:
- return SIZE_SWORD;
- case TC_UBYTE:
- return SIZE_UBYTE;
- case TC_SBYTE:
- return SIZE_SBYTE;
- case TC_MUTEX:
- return SIZE_MUTEX;
- case TC_ARRAY:
- //Arrays have a 2-byte structure in the dataspace for the DVIndex
- return SIZE_UWORD;
- case TC_CLUSTER:
- default:
- return 0;
- }
+
+// Only for scalar types and no offset
+void cCmdSetScalarValFromDataArg(DATA_ARG DataArg, ULONG NewVal)
+{
+ DS_TOC_ENTRY *dsTOCPtr= &VarsCmd.pDataspaceTOC[DataArg];
+ SetProcArray[dsTOCPtr->TypeCode](VarsCmd.pDataspace + dsTOCPtr->DSOffset, NewVal);
}
+void cCmdSetVal(void * pVal, TYPE_CODE TypeCode, ULONG NewVal)
+{
+ if (pVal)
+ SetProcArray[TypeCode](pVal, NewVal);
+}
void* cCmdDSPtr(DS_ELEMENT_ID DSElementID, UWORD Offset)
{
@@ -3179,23 +3854,19 @@ DS_ELEMENT_ID cCmdGetDataspaceCount(void)
}
-CODE_INDEX cCmdGetCodespaceCount(CLUMP_ID Clump)
-{
- if (Clump == NOT_A_CLUMP)
- return (VarsCmd.CodespaceCount);
- else
- {
- NXT_ASSERT(cCmdIsClumpIDSane(Clump));
- return (VarsCmd.pAllClumps[Clump].CodeEnd - VarsCmd.pAllClumps[Clump].CodeStart + 1);
- }
-}
-
-
UBYTE cCmdCompare(UBYTE CompCode, ULONG Val1, ULONG Val2, TYPE_CODE TypeCode1, TYPE_CODE TypeCode2)
{
SLONG SVal1, SVal2;
-
- if (IS_SIGNED_TYPE(TypeCode1) && IS_SIGNED_TYPE(TypeCode2))
+ if (QUICK_UNSIGNED_TEST(TypeCode1) || QUICK_UNSIGNED_TEST(TypeCode2))
+ {
+ return ((CompCode == OPCC1_LT && Val1 < Val2)
+ || (CompCode == OPCC1_GT && Val1 > Val2)
+ || (CompCode == OPCC1_LTEQ && Val1 <= Val2)
+ || (CompCode == OPCC1_GTEQ && Val1 >= Val2)
+ || (CompCode == OPCC1_EQ && Val1 == Val2)
+ || (CompCode == OPCC1_NEQ && Val1 != Val2));
+ }
+ else
{
SVal1 = (SLONG)Val1;
SVal2 = (SLONG)Val2;
@@ -3206,16 +3877,17 @@ UBYTE cCmdCompare(UBYTE CompCode, ULONG Val1, ULONG Val2, TYPE_CODE TypeCode1, T
|| (CompCode == OPCC1_EQ && SVal1 == SVal2)
|| (CompCode == OPCC1_NEQ && SVal1 != SVal2));
}
- else
- {
- return ((CompCode == OPCC1_LT && Val1 < Val2)
- || (CompCode == OPCC1_GT && Val1 > Val2)
- || (CompCode == OPCC1_LTEQ && Val1 <= Val2)
- || (CompCode == OPCC1_GTEQ && Val1 >= Val2)
- || (CompCode == OPCC1_EQ && Val1 == Val2)
- || (CompCode == OPCC1_NEQ && Val1 != Val2));
- }
+}
+UBYTE cCmdCompareFlt(UBYTE CompCode, float Val1, float Val2, TYPE_CODE TypeCode1, TYPE_CODE TypeCode2)
+{
+ //!!! add threshold to equality comparisons
+ return ((CompCode == OPCC1_LT && Val1 < Val2)
+ || (CompCode == OPCC1_GT && Val1 > Val2)
+ || (CompCode == OPCC1_LTEQ && Val1 <= Val2)
+ || (CompCode == OPCC1_GTEQ && Val1 >= Val2)
+ || (CompCode == OPCC1_EQ && Val1 == Val2)
+ || (CompCode == OPCC1_NEQ && Val1 != Val2));
}
@@ -3253,9 +3925,6 @@ NXT_STATUS cCmdRecursiveCompareAggregates(UBYTE CompCode, UBYTE *ReturnBool, UBY
UWORD Count2, Count3, MinCount;
UWORD i;
- void *pArg2 = NULL,
- *pArg3 = NULL;
-
TypeCode2 = cCmdDSType(Arg2);
TypeCode3 = cCmdDSType(Arg3);
@@ -3269,11 +3938,8 @@ NXT_STATUS cCmdRecursiveCompareAggregates(UBYTE CompCode, UBYTE *ReturnBool, UBY
//Simple case, both args are scalars. Solve and return.
if (!IS_AGGREGATE_TYPE(TypeCode2))
{
- pArg2 = cCmdResolveDataArg(Arg2, Offset2, &TypeCode2);
- pArg3 = cCmdResolveDataArg(Arg3, Offset3, &TypeCode3);
-
- ArgVal2 = cCmdGetVal(pArg2, TypeCode2);
- ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, Offset2);
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, Offset3);
//Once we find an inequality, we can determine the result of the comparison
*Finished = cCmdCompare(OPCC1_NEQ, ArgVal2, ArgVal3, TypeCode2, TypeCode3);
@@ -3355,102 +4021,188 @@ NXT_STATUS cCmdRecursiveCompareAggregates(UBYTE CompCode, UBYTE *ReturnBool, UBY
return Status;
}
+ULONG gClearProfileInfo= 0, bigExecTime= 0;
+#if VMProfilingCode
+void UpdateProfileInfo(ULONG shortOp, CODE_WORD *pInstr, ULONG execTime, ULONG InstrSize)
+{
+ ULONG j;
+ ULONG opCode;
+
+ if(execTime > 500 && shortOp == 8)
+ bigExecTime= shortOp;
+ if(gClearProfileInfo) {
+ ExecutedInstrs= 0;
+ CmdCtrlTime= 0;
+ OverheadTime= 0;
+ CmdCtrlCalls= 0;
+ LastAvgCount= 0;
+ for(j= 0; j < 255; j++)
+ CmdCtrlClumpTime[j]= 0;
+ for(j= 0; j < OPCODE_COUNT; j++) {
+ InstrProfile[j].Avg= 0;
+ InstrProfile[j].Time= 0;
+ InstrProfile[j].Count= 0;
+ InstrProfile[j].Max= 0;
+ }
+ for(j= 0; j < SYSCALL_COUNT; j++) {
+ SysCallProfile[j].Avg= 0;
+ SysCallProfile[j].Time= 0;
+ SysCallProfile[j].Count= 0;
+ SysCallProfile[j].Max= 0;
+ }
+ for(j= 0; j < NUM_SHORT_OPCODE_COUNT; j++) {
+ ShortInstrProfile[j].Avg= 0;
+ ShortInstrProfile[j].Time= 0;
+ ShortInstrProfile[j].Count= 0;
+ ShortInstrProfile[j].Max= 0;
+ }
+ for(j= 0; j < NUM_INTERP_FUNCS; j++) {
+ InterpFuncProfile[j].Avg= 0;
+ InterpFuncProfile[j].Time= 0;
+ InterpFuncProfile[j].Count= 0;
+ InterpFuncProfile[j].Max= 0;
+ }
+ gClearProfileInfo= FALSE;
+ }
+ ExecutedInstrs ++;
+ if(shortOp > 7) // shortop bit set
+ {
+ ShortInstrProfile[shortOp-8].Time += execTime;
+ ShortInstrProfile[shortOp-8].Count++;
+ if(execTime > ShortInstrProfile[shortOp-8].Max)
+ ShortInstrProfile[shortOp-8].Max= execTime;
+ }
+ else
+ {
+ opCode = OP_CODE(pInstr);
+ InstrProfile[opCode].Time += execTime;
+ InstrProfile[opCode].Count++;
+ if(execTime > InstrProfile[opCode].Max)
+ InstrProfile[opCode].Max= execTime;
+ if(opCode == OP_SYSCALL)
+ {
+ SysCallProfile[GetDataArg(pInstr[1])].Time += execTime;
+ SysCallProfile[GetDataArg(pInstr[1])].Count++;
+ if(execTime > SysCallProfile[GetDataArg(pInstr[1])].Max)
+ SysCallProfile[GetDataArg(pInstr[1])].Max= execTime;
+ }
+
+ InterpFuncProfile[InstrSize].Time += execTime;
+ InterpFuncProfile[InstrSize].Count++;
+ if(execTime > InterpFuncProfile[InstrSize].Max)
+ InterpFuncProfile[InstrSize].Max= execTime;
+ }
+ if(ExecutedInstrs - LastAvgCount > 999) // every N instrs, update avgs
+ {
+ for(j= 0; j < OPCODE_COUNT; j++)
+ if(InstrProfile[j].Count)
+ InstrProfile[j].Avg= InstrProfile[j].Time/InstrProfile[j].Count;
+ for(j= 0; j < SYSCALL_COUNT; j++)
+ if(SysCallProfile[j].Count)
+ SysCallProfile[j].Avg= SysCallProfile[j].Time/SysCallProfile[j].Count;
+ for(j= 0; j < NUM_SHORT_OPCODE_COUNT; j++)
+ if(ShortInstrProfile[j].Count)
+ ShortInstrProfile[j].Avg= ShortInstrProfile[j].Time/ShortInstrProfile[j].Count;
+ for(j= 0; j < NUM_INTERP_FUNCS; j++)
+ if(InterpFuncProfile[j].Count)
+ InterpFuncProfile[j].Avg= InterpFuncProfile[j].Time/InterpFuncProfile[j].Count;
+ LastAvgCount= ExecutedInstrs;
+ }
+}
+#endif
+
//
// Interpreter Functions
//
-#define VAR_INSTR_SIZE 0xE
-NXT_STATUS cCmdInterpFromClump(CLUMP_ID Clump)
+NXT_STATUS cCmdInterpFromClump()
{
+ CLUMP_ID Clump= VarsCmd.RunQ.Head;
NXT_STATUS Status = NO_ERR;
CLUMP_REC * pClumpRec;
- CODE_WORD * pInstr;
- UBYTE InterpFuncIndex, InstrSize;
+ CODE_WORD * pInstr, *lastClumpInstr;
+ UBYTE InstrSize;
+ ULONG shortOp, nextMSTick;
+ SLONG i;
#if VM_BENCHMARK
ULONG InstrTime = dTimerRead();
#endif
- if (!cCmdIsClumpIDSane(Clump))
- {
- //Caller gave us a bad clump ID -- something is very wrong! Force interpretter to halt.
- NXT_BREAK;
- return (ERR_ARG);
- }
+ if (!cCmdIsClumpIDSane(Clump)) // this means all clumps are asleep
+ return TIMES_UP;
//Resolve clump record structure and current instruction pointer
pClumpRec = &(VarsCmd.pAllClumps[Clump]);
- pInstr = (VarsCmd.pCodespace + pClumpRec->CodeStart + pClumpRec->PC);
+ pInstr = pClumpRec->PC; // abs
+ lastClumpInstr= pClumpRec->CodeEnd; // abs
- //Get instruction size in bytes.
- InstrSize = INSTR_SIZE(pInstr);
-
- //If instruction is odd-sized or if "real" op code is out of range, give up and return ERR_INSTR
- if ((InstrSize & 0x01) || OP_CODE(pInstr) >= OPCODE_COUNT)
- return (ERR_INSTR);
-
- InterpFuncIndex = (InstrSize / 2) - 1;
-
-#ifdef USE_SHORT_OPS
- //If instruction has shortened encoding, add 1 for true interpretter
- if (IS_SHORT_OP(pInstr))
+ i= gInstrsToExecute;
+ nextMSTick= dTimerGetNextMSTickCnt();
+ do
{
- InterpFuncIndex++;
- }
+#if VMProfilingCode
+ ULONG instrStartTime;
+ instrStartTime= dTimerReadHiRes();
#endif
- //Peg InterpFuncIndex to 'Other'. Illegal instructions will be caught in cCmdInterpOther().
- if (InterpFuncIndex > 4)
- InterpFuncIndex = 4;
-
- //If instruction is variably-sized; true size is held in the first argument
- //!!! This InstrSize wrangling MUST occur after computing InterpFuncIndex
- //because variable sized instructions may confuse the code otherwise
- if (InstrSize == VAR_INSTR_SIZE)
- InstrSize = (UBYTE)(pInstr[1]);
-
- //Set ScratchPC to clump's current PC so sub-interpreters can apply relative offsets
- VarsCmd.ScratchPC = pClumpRec->PC;
-
- //Set CallerClump to Clump, for use by instructions such as OP_ACQUIRE
- VarsCmd.CallerClump = Clump;
-
- Status = (*InterpFuncs[InterpFuncIndex])(pInstr);
+ ULONG instrWord= *(UWORD*)pInstr;
+ shortOp= (instrWord>>8) & 0x0F;
+ if(shortOp > 7) // shortop bit set
+ Status= ShortInterpFuncs[shortOp - 8](pInstr);
+ else
+ { // we know this is a long instr, dispatch on num params, which correlates to size
+ InstrSize = INSTR_SIZE(instrWord); // keep in a local for profiling
+ Status = (*InterpFuncs[InstrSize])(pInstr);
+ }
- if (Status == ERR_MEM)
- {
- //Memory is full. Compact dataspace and try the instruction again.
- //!!! Could compact DopeVectorArray here
- cCmdDSCompact();
- Status = (*InterpFuncs[InterpFuncIndex])(pInstr);
- }
+#if VMProfilingCode
+ UpdateProfileInfo(shortOp, pInstr, dTimerReadHiRes() - instrStartTime, InstrSize);
+#endif
- if (!IS_ERR(Status))
- {
- //If clump is finished, reset PC and firecount
- if (Status == CLUMP_DONE)
+afterCompaction:
+ if (Status == NO_ERR)
+ pInstr += gPCDelta;
+ else if (Status == CLUMP_DONE) // already requeued
{
- pClumpRec->PC = 0;
+ pClumpRec->PC = pClumpRec->CodeStart;
pClumpRec->CurrFireCount = pClumpRec->InitFireCount;
+ return Status;
}
- //Else, if instruction has provided override program counter, use it
- else if (Status == PC_OVERRIDE)
+ else if (Status == CLUMP_SUSPEND || Status == BREAKOUT_REQ || Status == ROTATE_QUEUE) // already requeued
{
- pClumpRec->PC = VarsCmd.ScratchPC;
+ pClumpRec->PC = pInstr + gPCDelta;
+ //Throw error if we ever advance beyond the clump's codespace
+ if (pInstr > lastClumpInstr)
+ {
+ NXT_BREAK;
+ Status = ERR_INSTR;
+ }
+ return Status;
}
- //Else, auto-advance from encoded instruction size (PC is word-based)
- else
+ else if (Status == ERR_MEM)
{
- pClumpRec->PC += InstrSize / 2;
+ //Memory is full. Compact dataspace and try the instruction again.
+ //!!! Could compact DopeVectorArray here
+ cCmdDSCompact();
+ if(shortOp > 7) // shortop bit set
+ Status= ShortInterpFuncs[shortOp - 8](pInstr);
+ else
+ Status = (*InterpFuncs[InstrSize])(pInstr);
+ if(Status == ERR_MEM)
+ return Status;
+ else
+ goto afterCompaction;
}
+ else // other errors, breakout, stop
+ return Status;
//Throw error if we ever advance beyond the clump's codespace
- if (pClumpRec->PC > cCmdGetCodespaceCount(Clump))
+ if (pInstr > lastClumpInstr)
{
NXT_BREAK;
Status = ERR_INSTR;
}
- }
#if VM_BENCHMARK
//Increment opcode count
@@ -3463,8 +4215,16 @@ NXT_STATUS cCmdInterpFromClump(CLUMP_ID Clump)
if (InstrTime > VarsCmd.OpcodeBenchmarks[OP_CODE(pInstr)][2])
VarsCmd.OpcodeBenchmarks[OP_CODE(pInstr)][2] = InstrTime;
}
+ VarsCmd.InstrCount++;
#endif
+ //Count one more instruction for this pass
+ if ((SLONG)(nextMSTick - dTimerReadTicks()) <= 0) // HWTimer has passed ms tick limit
+ Status= TIMES_UP;
+ else if(--i <= 0)
+ Status= ROTATE_QUEUE;
+ } while (!Status);
+ pClumpRec->PC= pInstr;
return (Status);
}
@@ -3474,35 +4234,19 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
NXT_STATUS Status = NO_ERR;
UBYTE opCode;
DATA_ARG Arg1;
- void *pArg1 = NULL;
- TYPE_CODE TypeCode1;
NXT_ASSERT(pCode != NULL);
-#ifdef USE_SHORT_OPS
- if (IS_SHORT_OP(pCode))
- {
- //add mapping from quick op to real op
- opCode = ShortOpMap[SHORT_OP_CODE(pCode)];
- Arg1 = SHORT_ARG(pCode);
- }
- else
- {
- opCode = OP_CODE(pCode);
- Arg1 = pCode[1];
- }
-#else
+ gPCDelta= 2;
opCode = OP_CODE(pCode);
Arg1 = pCode[1];
-#endif //USE_SHORT_OPS
-
switch (opCode)
{
case OP_JMP:
{
- VarsCmd.ScratchPC = VarsCmd.ScratchPC + (SWORD)Arg1;
- Status = PC_OVERRIDE;
+ gPCDelta= (SWORD)Arg1;
+ Status = NO_ERR;
}
break;
@@ -3511,7 +4255,7 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
NXT_ASSERT(VarsCmd.pDataspaceTOC[Arg1].TypeCode == TC_MUTEX);
- Status = cCmdAcquireMutex((MUTEX_Q *)cCmdDSPtr(Arg1, 0), VarsCmd.CallerClump);
+ Status = cCmdAcquireMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
}
break;
@@ -3520,7 +4264,7 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
NXT_ASSERT(VarsCmd.pDataspaceTOC[Arg1].TypeCode == TC_MUTEX);
- Status = cCmdReleaseMutex((MUTEX_Q *)cCmdDSPtr(Arg1, 0), VarsCmd.CallerClump);
+ Status = cCmdReleaseMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
}
break;
@@ -3530,8 +4274,8 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
//Take Subroutine off RunQ
//Add Subroutine's caller to RunQ
- cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.CallerClump);
- cCmdEnQClump(&(VarsCmd.RunQ), *((CLUMP_ID *)cCmdDSPtr(Arg1, 0)));
+ cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.RunQ.Head);
+ cCmdEnQClump(&(VarsCmd.RunQ), *((CLUMP_ID *)cCmdDSScalarPtr(Arg1, 0)));
Status = CLUMP_DONE;
}
@@ -3539,8 +4283,9 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
case OP_FINCLUMPIMMED:
{
- cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.CallerClump); //Dequeue finalized clump
- cCmdSchedDependent(VarsCmd.CallerClump, (CLUMP_ID)Arg1); // Use immediate form
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // DeQ changes Head, use local val
+ cCmdDeQClump(&(VarsCmd.RunQ), Clump); //Dequeue finalized clump
+ cCmdSchedDependent(Clump, (CLUMP_ID)Arg1); // Use immediate form
Status = CLUMP_DONE;
}
@@ -3548,10 +4293,7 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
case OP_GETTICK:
{
- pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
-
-
- cCmdSetVal(pArg1, TypeCode1, dTimerRead());
+ cCmdSetScalarValFromDataArg(Arg1, dTimerReadNoPoll());
}
break;
@@ -3559,16 +4301,9 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
{
//Unwired Arg1 means always stop
if (Arg1 == NOT_A_DS_ID)
- {
Status = STOP_REQ;
- }
- else
- {
- pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
-
- if (cCmdGetVal(pArg1, TypeCode1) > 0)
- Status = STOP_REQ;
- }
+ else if (cCmdGetScalarValFromDataArg(Arg1, 0) > 0)
+ Status = STOP_REQ;
}
break;
@@ -3584,6 +4319,78 @@ NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode)
return (Status);
}
+ULONG scalarNots= 0, scalarBrtst= 0, scalarUn2Other= 0, scalarUn2Dispatch= 0, polyUn2Dispatch= 0;
+NXT_STATUS cCmdInterpScalarUnop2(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ UBYTE opCode;
+
+ NXT_ASSERT(pCode != NULL);
+ opCode = OP_CODE(pCode);
+ DATA_ARG Arg1, Arg2;
+
+ scalarUn2Dispatch ++;
+ if(opCode == OP_NOT) // t2 && t3 guaranteed scalar
+ {
+ gPCDelta= 3;
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ ULONG ArgVal1, ArgVal2;
+
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ //!!! OP_NOT is logical, *not* bit-wise.
+ //This differs from the other logical ops because we don't distinguish booleans from UBYTEs.
+ ArgVal1= (!ArgVal2);
+ cCmdSetScalarValFromDataArg(Arg1, ArgVal1);
+ Status = NO_ERR;
+ scalarNots ++;
+ }
+ else if(opCode == OP_BRTST)
+ {
+ ULONG Branch, compare= COMP_CODE(pCode);
+ ULONG TypeCode;
+
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ TypeCode = cCmdDSType(Arg2);
+
+ if(Arg2 == NOT_A_DS_ID)
+ {
+ Branch= ((compare == OPCC1_EQ)
+ || (compare == OPCC1_LTEQ)
+ || (compare == OPCC1_GTEQ));
+ }
+ else
+ {
+ if(compare == OPCC1_EQ && TypeCode == TC_UBYTE) // very common for loops
+ {
+ UBYTE *pBRVal = (VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[Arg2].DSOffset);
+ Branch= *pBRVal == 0;
+ }
+ else
+ {
+ SLONG SVal1 = (SLONG)cCmdGetScalarValFromDataArg(Arg2, 0);
+ Branch= ((compare == OPCC1_EQ && SVal1 == 0)
+ || (compare == OPCC1_NEQ && SVal1 != 0)
+ || (compare == OPCC1_GT && SVal1 > 0)
+ || (compare == OPCC1_LT && SVal1 < 0)
+ || (compare == OPCC1_LTEQ && SVal1 <= 0)
+ || (compare == OPCC1_GTEQ && SVal1 >= 0));
+ }
+ }
+ if (Branch)
+ gPCDelta = (SWORD)Arg1;
+ else
+ gPCDelta= 3;
+ Status = NO_ERR;
+ scalarBrtst ++;
+ }
+ else {
+ Status= cCmdInterpUnop2(pCode);
+ scalarUn2Other ++;
+ }
+ return Status;
+}
NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
{
@@ -3598,35 +4405,25 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
UWORD ArgC;
static UBYTE * ArgV[MAX_CALL_ARGS + 1];
+ polyUn2Dispatch ++;
UWORD Count;
UWORD Offset;
SLONG TmpSLong;
ULONG TmpULong;
ULONG ArgVal2;
+ float FltArgVal2;
+ char Buffer[30];
+ char FormatString[5];
+ UBYTE CheckTrailingZeros = 0;
NXT_ASSERT(pCode != NULL);
-#ifdef USE_SHORT_OPS
- if (IS_SHORT_OP(pCode))
- {
- //add mapping from quick op to real op
- opCode = ShortOpMap[SHORT_OP_CODE(pCode)];
- Arg1 = SHORT_ARG(pCode) + pCode[1];
- Arg2 = pCode[1];
- }
- else
- {
- opCode = OP_CODE(pCode);
- Arg1 = pCode[1];
- Arg2 = pCode[2];
- }
-#else
+ gPCDelta= 3;
opCode = OP_CODE(pCode);
Arg1 = pCode[1];
Arg2 = pCode[2];
-#endif //USE_SHORT_OPS
- if (opCode == OP_NEG || opCode == OP_NOT || opCode == OP_TST)
+ if (opCode == OP_NEG || opCode == OP_NOT || opCode == OP_TST || opCode == OP_SQRT || opCode == OP_ABS)
{
return cCmdInterpPolyUnop2(*pCode, Arg1, 0, Arg2, 0);
}
@@ -3635,24 +4432,7 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
{
case OP_MOV:
{
- //!!! Optimized move for byte arrays (makes File I/O involving CStrs tolerable). Optimize for other cases?
- if ((cCmdDSType(Arg1) == TC_ARRAY) && (cCmdDSType(INC_ID(Arg1)) == TC_UBYTE) &&
- (cCmdDSType(Arg2) == TC_ARRAY) && (cCmdDSType(INC_ID(Arg2)) == TC_UBYTE))
- {
- Count = cCmdArrayCount(Arg2, 0);
- Status = cCmdDSArrayAlloc(Arg1, 0, Count);
- if (IS_ERR(Status))
- return Status;
-
- pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
- pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
-
- memmove(pArg1, pArg2, Count);
- }
- else
- {
- Status = cCmdInterpPolyUnop2(OP_MOV, Arg1, 0, Arg2, 0);
- }
+ Status= cCmdMove(Arg1, Arg2);
}
break;
@@ -3660,27 +4440,44 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
{
//!!! Should throw error if TypeCode1 is non-scalar
// Accepting non-scalar destinations could have unpredictable results!
- pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
- cCmdSetVal(pArg1, TypeCode1, Arg2);
+ cCmdSetScalarValFromDataArg(Arg1, Arg2);
}
break;
case OP_BRTST:
{
- pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
- if (cCmdCompare(COMP_CODE(pCode), (SLONG)cCmdGetVal(pArg2, TypeCode2), 0, TC_SLONG, TC_SLONG))
+ //!!!BDUGGAN BRTST w/ Float?
+ ULONG Branch, compare= COMP_CODE(pCode);
+ ULONG TypeCode = cCmdDSType(Arg2);
+ if(compare == OPCC1_EQ && TypeCode == TC_UBYTE) // very common for loops
+ {
+ UBYTE *pBRVal = (VarsCmd.pDataspace + VarsCmd.pDataspaceTOC[Arg2].DSOffset);
+ Branch= *pBRVal == 0;
+ }
+ else
{
- VarsCmd.ScratchPC = VarsCmd.ScratchPC + (SWORD)Arg1;
- Status = PC_OVERRIDE;
+ SLONG SVal1 = (SLONG)cCmdGetScalarValFromDataArg(Arg2, 0);
+ Branch= ((compare == OPCC1_EQ && SVal1 == 0)
+ || (compare == OPCC1_NEQ && SVal1 != 0)
+ || (compare == OPCC1_GT && SVal1 > 0)
+ || (compare == OPCC1_LT && SVal1 < 0)
+ || (compare == OPCC1_LTEQ && SVal1 <= 0)
+ || (compare == OPCC1_GTEQ && SVal1 >= 0));
+ }
+ if (Branch)
+
+ {
+ gPCDelta = (SWORD)Arg1;
+ Status = NO_ERR;
}
}
break;
case OP_FINCLUMP:
{
- cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.CallerClump); //Dequeue finalized clump
- cCmdSchedDependents(VarsCmd.CallerClump, (SWORD)Arg1, (SWORD)Arg2);
-
+ CLUMP_ID Clump= VarsCmd.RunQ.Head; // DeQ changes Head, use local val
+ cCmdDeQClump(&(VarsCmd.RunQ), Clump); //Dequeue finalized clump
+ cCmdSchedDependents(Clump, (SWORD)Arg1, (SWORD)Arg2);
Status = CLUMP_DONE;
}
break;
@@ -3692,9 +4489,9 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
NXT_ASSERT(cCmdIsDSElementIDSane(Arg2));
- *((CLUMP_ID *)(cCmdDSPtr(Arg2, 0))) = VarsCmd.CallerClump;
+ *((CLUMP_ID *)(cCmdDSScalarPtr(Arg2, 0))) = VarsCmd.RunQ.Head;
- cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.CallerClump); //Take caller off RunQ
+ cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.RunQ.Head); //Take caller off RunQ
cCmdEnQClump(&(VarsCmd.RunQ), (CLUMP_ID)Arg1); //Add callee to RunQ
Status = CLUMP_SUSPEND;
@@ -3703,8 +4500,7 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
case OP_ARRSIZE:
{
- pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
- cCmdSetVal(pArg1, TypeCode1, cCmdArrayCount(Arg2, 0));
+ cCmdSetScalarValFromDataArg(Arg1, cCmdArrayCount(Arg2, 0));
}
break;
@@ -3798,43 +4594,72 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
NXT_ASSERT(cCmdDSType(INC_ID(Arg1)) == TC_UBYTE);
- pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
//Make sure we're trying to convert a scalar to a string
+ TypeCode2= cCmdDSType(Arg2);
NXT_ASSERT(!IS_AGGREGATE_TYPE(TypeCode2));
- ArgVal2 = cCmdGetVal(pArg2, TypeCode2);
-
- //Calculate size of array
- if (ArgVal2 == 0)
- Count = 1;
- else
- Count = 0;
-
- if (TypeCode2 == TC_SLONG || TypeCode2 == TC_SWORD || TypeCode2 == TC_SBYTE)
+ if (TypeCode2 == TC_FLOAT)
{
- TmpSLong = (SLONG)ArgVal2;
- //Add room for negative sign
- if (TmpSLong < 0)
- Count++;
-
- while (TmpSLong)
- {
- TmpSLong /= 10;
- Count++;
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+ FltArgVal2 = cCmdGetValFlt(pArg2, TypeCode2);
+ // is number too big for display? then format differently and don't bother with trailing zeros
+ if ((FltArgVal2 > 9999999999999.99)||(FltArgVal2 < -999999999999.99)){ // these are the widest %.2f numbers that will fit on display
+ strcpy (FormatString, "%.6g");
+ }
+ else{
+ strcpy (FormatString, "%.2f");
+ CheckTrailingZeros = 1;
+ }
+ Count = sprintf(Buffer, FormatString, FltArgVal2);
+ Count++; //add room for null terminator
+
+ if (CheckTrailingZeros){
+ // Determine if the trailing digits are zeros. If so, drop them
+ if (Buffer[Count-2] == 0x30) { // NOTE: 0x30 is ASCII 0
+ if (Buffer[Count-3] == 0x30){
+ strcpy (FormatString, "%.0f"); // the last two digits = 0, copy as integer
+ Count = Count - 3; // don't need memory for decimal and 2 ascii characters
+ }
+ else {
+ strcpy (FormatString, "%.1f"); // only the 2nd digit = 0 so drop it, but keep the tenths place
+ Count = Count - 1; // don't need memory for 2nd ascii character
+ }
+ }
}
}
else
{
- TmpULong = ArgVal2;
- while (TmpULong)
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ //Calculate size of array
+ if (ArgVal2 == 0)
+ Count = 1;
+ else {
+ Count = 0;
+ SLONG digits= 0;
+ ULONG Tmp= 1;
+ if (TypeCode2 == TC_SLONG || TypeCode2 == TC_SWORD || TypeCode2 == TC_SBYTE)
{
- TmpULong /= 10;
- Count++;
+ TmpSLong = (SLONG)ArgVal2;
+ //Add room for negative sign
+ if (TmpSLong < 0) {
+ Count++;
+ TmpULong= -TmpSLong;
+ }
+ else
+ TmpULong= ArgVal2;
}
- }
+ else
+ TmpULong= ArgVal2;
+ while (Tmp <= TmpULong && digits < 10) { // maxint is ten digits, max
+ Tmp *= 10;
+ digits++;
+ }
+ Count += digits;
+ }
//add room for NULL terminator
Count++;
+ }
//Allocate array
Status = cCmdDSArrayAlloc(Arg1, 0, Count);
@@ -3844,7 +4669,11 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
//Populate array
- if (TypeCode2 == TC_SLONG || TypeCode2 == TC_SWORD || TypeCode2 == TC_SBYTE)
+ if (TypeCode2 == TC_FLOAT)
+ {
+ sprintf(pArg1, FormatString, FltArgVal2);
+ }
+ else if (TypeCode2 == TC_SLONG || TypeCode2 == TC_SWORD || TypeCode2 == TC_SBYTE)
{
sprintf(pArg1, "%d", (SLONG)ArgVal2);
}
@@ -3895,7 +4724,22 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
}
break;
- default:
+ case OP_WAIT:
+ {
+ ULONG wait= 0;
+ //Unwired Arg2 defaults to wait 0, which rotates queue
+ if (Arg2 != NOT_A_DS_ID)
+ wait= cCmdGetScalarValFromDataArg(Arg2, 0);
+ if(wait == 0)
+ Status= ROTATE_QUEUE;
+ else
+ Status = cCmdSleepClump(wait + IOMapCmd.Tick); // put to sleep, to wake up wait ms in future
+ if(Arg1 != NOT_A_DS_ID)
+ cCmdSetScalarValFromDataArg(Arg1, dTimerReadNoPoll());
+ }
+ break;
+
+ default:
{
//Fatal error: Unrecognized instruction
NXT_BREAK;
@@ -3908,13 +4752,14 @@ NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode)
}
-NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset1, DATA_ARG Arg2, UWORD Offset2)
+NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset1Param, DATA_ARG Arg2, UWORD Offset2Param)
{
NXT_STATUS Status = NO_ERR;
TYPE_CODE TypeCode1, TypeCode2;
DV_INDEX DVIndex1, DVIndex2;
ULONG ArgVal1, ArgVal2;
- UWORD Count1, Count2;
+ float FltArgVal1, FltArgVal2;
+ UWORD Count1, Count2, Offset1= Offset1Param, Offset2= Offset2Param;
UWORD MinArrayCount;
UWORD i;
//!!! AdvCluster is intended to catch the case where sources are Cluster and an Array of Clusters.
@@ -3933,16 +4778,46 @@ NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset
NXT_ASSERT(!IS_AGGREGATE_TYPE(TypeCode1));
pArg1 = cCmdResolveDataArg(Arg1, Offset1, &TypeCode1);
- pArg2 = cCmdResolveDataArg(Arg2, Offset2, &TypeCode2);
- ArgVal2 = cCmdGetVal(pArg2, TypeCode2);
- ArgVal1 = cCmdUnop2(Code, ArgVal2, TypeCode2);
- cCmdSetVal(pArg1, TypeCode1, ArgVal1);
+ if (TypeCode1 == TC_FLOAT || TypeCode2 == TC_FLOAT)
+ {
+ pArg2 = cCmdResolveDataArg(Arg2, Offset2, &TypeCode2);
+ FltArgVal2 = cCmdGetValFlt(pArg2, TypeCode2);
+ FltArgVal1 = cCmdUnop2Flt(Code, FltArgVal2, TypeCode2);
+ cCmdSetValFlt(pArg1, TypeCode1, FltArgVal1);
+ }
+ else
+ {
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, Offset2);
+ if(OP_CODE(&Code) == OP_MOV)
+ ArgVal1= ArgVal2;
+ else
+ ArgVal1 = cCmdUnop2(Code, ArgVal2, TypeCode2);
+ cCmdSetVal(pArg1, TypeCode1, ArgVal1);
+ }
return Status;
}
//At least one of the args is an aggregate type
+ if(TypeCode1 == TC_ARRAY && TypeCode2 == TC_ARRAY) {
+ TYPE_CODE tc1, tc2;
+ tc1= cCmdDSType(INC_ID(Arg1));
+ tc2= cCmdDSType(INC_ID(Arg2));
+ if(tc1 <= TC_LAST_INT_SCALAR && tc1 == tc2) {
+ void *pArg1, *pArg2;
+ ULONG Count = cCmdArrayCount(Arg2, Offset2);
+ Status = cCmdDSArrayAlloc(Arg1, Offset1, Count);
+ if (IS_ERR(Status))
+ return Status;
+ pArg1 = cCmdResolveDataArg(Arg1, Offset1, NULL);
+ pArg2 = cCmdResolveDataArg(Arg2, Offset2, NULL);
+ memmove(pArg1, pArg2, Count * cCmdSizeOf(tc1));
+ return Status;
+ }
+ }
+
+
//
// Initialize Count and ArrayType local variables for each argument
//
@@ -3966,6 +4841,11 @@ NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset
NXT_BREAK;
return (ERR_ARG);
}
+ if(Count2 == 0) { // both arrays, input is empty, is output already empty?
+ Count1= cCmdArrayCount(Arg1, Offset1);
+ if(Count1 == 0)
+ return NO_ERR;
+ }
MinArrayCount = Count2;
@@ -3974,6 +4854,8 @@ NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset
if (IS_ERR(Status))
return Status;
+ if(MinArrayCount == 0) // if we emptied array, nothing else to do.
+ return NO_ERR;
Count1 = MinArrayCount;
DVIndex1 = cCmdGetDVIndex(Arg1, Offset1);
Offset1 = DV_ARRAY[DVIndex1].Offset;
@@ -3995,7 +4877,6 @@ NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset
// Loop through the sub-elements of aggregate arguments.
// Call cCmdInterpPolyUnop2 recursively with simpler type.
//
-
for (i = 0; i < Count1; i++)
{
Status = cCmdInterpPolyUnop2(Code, Arg1, Offset1, Arg2, Offset2);
@@ -4013,7 +4894,6 @@ NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset
else if ((TypeCode2 == TC_CLUSTER) && AdvCluster)
Arg2 = cCmdNextDSElement(Arg2);
}
-
return Status;
}
@@ -4023,38 +4903,189 @@ ULONG cCmdUnop2(CODE_WORD const Code, ULONG Operand, TYPE_CODE TypeCode)
UBYTE opCode;
opCode = OP_CODE((&Code));
+ if(opCode == OP_MOV)
+ return Operand;
+ else if(opCode == OP_NEG)
+ return (-((SLONG)Operand));
+ else if(opCode == OP_NOT)
+ //!!! OP_NOT is logical, *not* bit-wise.
+ //This differs from the other logical ops because we don't distinguish booleans from UBYTEs.
+ return (!Operand);
+ else if(opCode == OP_TST)
+ return cCmdCompare(COMP_CODE((&Code)), Operand, 0, TypeCode, TypeCode);
+ else if(opCode == OP_ABS)
+ return abs(Operand);
+ else
+ {
+ //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
+ NXT_BREAK;
+ return 0;
+ }
+}
- switch (opCode)
+float cCmdUnop2Flt(CODE_WORD const Code, float Operand, TYPE_CODE TypeCode)
+{
+ UBYTE opCode;
+
+ opCode = OP_CODE((&Code));
+ if(opCode == OP_MOV)
+ return Operand;
+ else if(opCode == OP_NEG)
+ return (-(Operand));
+ else if(opCode == OP_NOT)
+ //!!! OP_NOT is logical, *not* bit-wise.
+ //This differs from the other logical ops because we don't distinguish booleans from UBYTEs.
+ return (!Operand);
+ else if(opCode == OP_TST)
+ return cCmdCompareFlt(COMP_CODE((&Code)), Operand, 0, TypeCode, TypeCode);
+ else if(opCode == OP_ABS)
+ return fabsf(Operand);
+ else if(opCode == OP_SQRT)
+ return sqrt(Operand);
+#if 0
+ else if(opCode == OP_SIN)
+ return sin(Operand);
+ else if(opCode == OP_COS)
+ return cos(Operand);
+ else if(opCode == OP_TAN)
+ return tan(Operand);
+ else if(opCode == OP_ASIN)
+ return asin(Operand);
+ else if(opCode == OP_ACOS)
+ return acos(Operand);
+ else if(opCode == OP_ATAN)
+ return atan(Operand);
+#endif
+ else
{
- case OP_MOV:
+ //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
+ NXT_BREAK;
+ return 0;
+ }
+}
+
+NXT_STATUS cCmdIOGetSet(ULONG opCode, DATA_ARG Arg1, DATA_ARG Arg2, DATA_ARG Arg3)
+{
+ ULONG ArgVal1, ArgVal2;
+ TYPE_CODE TypeCode2;
+ void *pArg2 = NULL;
+ switch(opCode)
+ {
+ case OP_GETOUT:
{
- return Operand;
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ Arg2 = (UWORD)(0x200 | (Arg3 + ArgVal2 * IO_OUT_FPP));
+ pArg2 = cCmdResolveIODataArg(Arg2, 0, &TypeCode2);
+ cCmdSetScalarValFromDataArg(Arg1, cCmdGetVal(pArg2, TypeCode2));
}
-
- case OP_NEG:
+ break;
+ //!!! All IO map access commands should screen illegal port values!
+ // Right now, cCmdResolveIODataArg's implementation allows SETIN/GETIN to access arbitrary RAM!
+ case OP_SETIN:
{
- return (-((SLONG)Operand));
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ Arg2 = (UWORD)(Arg3 + ArgVal2 * IO_IN_FPP);
+ pArg2 = cCmdResolveIODataArg(Arg2, 0, &TypeCode2);
+ ArgVal1 = cCmdGetScalarValFromDataArg(Arg1, 0);
+ cCmdSetVal(pArg2, TypeCode2, ArgVal1);
}
-
- case OP_NOT:
+ break;
+ case OP_GETIN:
{
- //!!! OP_NOT is logical, *not* bit-wise.
- //This differs from the other logical ops because we don't distinguish booleans from UBYTEs.
- return (!Operand);
+ TYPE_CODE TypeCode1;
+ void * pArg1;
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, 0);
+ Arg2 = (UWORD)(Arg3 + ArgVal2 * IO_IN_FPP);
+ pArg2 = cCmdResolveIODataArg(Arg2, 0, &TypeCode2);
+ TypeCode1= cCmdDSType(Arg1);
+ pArg1= cCmdDSScalarPtr(Arg1, 0);
+ if(TypeCode1 <= TC_SBYTE && TypeCode1 <= TC_SBYTE) // seems really common
+ *(UBYTE*)pArg1= *(UBYTE*)pArg2;
+ else
+ cCmdSetVal(pArg1, TypeCode1, cCmdGetVal(pArg2, TypeCode2));
}
+ break;
+ }
+ return NO_ERR;
+}
- case OP_TST:
+ULONG scalarCmp= 0, scalarFloatCmp= 0, recursiveCmp= 0, PolyScalarCmp= 0, polyPolyCmp= 0, scalarOther= 0, scalarBinopDispatch= 0, polyBinopDispatch= 0;
+NXT_STATUS cCmdInterpScalarBinop(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ UBYTE opCode;
+ UBYTE CmpBool;
+
+ NXT_ASSERT(pCode != NULL);
+ opCode = OP_CODE(pCode);
+ DATA_ARG Arg1, Arg2, Arg3;
+
+ scalarBinopDispatch ++;
+ if(opCode == OP_CMP) // t2 && t3 guaranteed scalar or string
+ {
+ gPCDelta= 4;
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ ULONG ArgVal1, ArgVal2, ArgVal3;
+ TYPE_CODE TypeCode2, TypeCode3;
+ DS_TOC_ENTRY *dsTOC2Ptr= &VarsCmd.pDataspaceTOC[Arg2];
+ DS_TOC_ENTRY *dsTOC3Ptr= &VarsCmd.pDataspaceTOC[Arg3];
+
+ TypeCode2 = dsTOC2Ptr->TypeCode;
+ TypeCode3 = dsTOC3Ptr->TypeCode;
+ if(TypeCode2 <= TC_LAST_INT_SCALAR && TypeCode3 <= TC_LAST_INT_SCALAR) {
+ ArgVal2= GetProcArray[TypeCode2](VarsCmd.pDataspace + dsTOC2Ptr->DSOffset);
+ ArgVal3= GetProcArray[TypeCode3](VarsCmd.pDataspace + dsTOC3Ptr->DSOffset);
+ ArgVal1= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+ DS_TOC_ENTRY *dsTOC1Ptr= &VarsCmd.pDataspaceTOC[Arg1];
+ SetProcArray[dsTOC1Ptr->TypeCode](VarsCmd.pDataspace + dsTOC1Ptr->DSOffset, ArgVal1);
+ scalarCmp++;
+ Status = NO_ERR;
+ }
+ else if (TypeCode2 == TC_ARRAY) // two strings
{
- return cCmdCompare(COMP_CODE((&Code)), Operand, 0, TypeCode, TypeCode);
+ // memcmp(); here or in compareagg, could use memcmp to speed up string compares ???
+ Status = cCmdCompareAggregates(COMP_CODE(pCode), &CmpBool, Arg2, 0, Arg3, 0);
+ cCmdSetScalarValFromDataArg(Arg1, CmpBool);
+ recursiveCmp++;
+ }
+ else { // floats
+ Status = cCmdInterpPolyBinop(*pCode, Arg1, 0, Arg2, 0, Arg3, 0);
+ scalarFloatCmp++;
}
+ }
+ else if(opCode == OP_BRCMP) { // t2 and t3 guaranteed scalar
+ TYPE_CODE TypeCode2, TypeCode3;
+ ULONG ArgVal2, ArgVal3;
- default:
- {
- //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
- NXT_BREAK;
- return 0;
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ TypeCode2= cCmdDSType(Arg2);
+ TypeCode3= cCmdDSType(Arg3);
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ ArgVal3= cCmdGetScalarValFromDataArg(Arg3, 0);
+ CmpBool= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+
+ if (CmpBool)
+ gPCDelta = (SWORD)Arg1;
+ else
+ gPCDelta= 4;
+ Status= NO_ERR;
+ }
+ else if(opCode >= OP_SETIN && opCode <= OP_GETOUT) {
+ Arg1 = pCode[1];
+ Arg2 = pCode[2];
+ Arg3 = pCode[3];
+ Status= cCmdIOGetSet(opCode, Arg1, Arg2, Arg3);
+ gPCDelta= 4;
}
+ else {
+ scalarOther ++;
+ Status= cCmdInterpBinop(pCode);
}
+ return Status;
}
@@ -4063,136 +5094,74 @@ NXT_STATUS cCmdInterpBinop(CODE_WORD * const pCode)
NXT_STATUS Status = NO_ERR;
UBYTE opCode;
DATA_ARG Arg1, Arg2, Arg3;
- TYPE_CODE TypeCode1, TypeCode2, TypeCode3;
- ULONG ArgVal2, ArgVal3;
+ ULONG ArgVal3;
UBYTE CmpBool;
DV_INDEX DVIndex1, DVIndex2;
UWORD i;
- void * pArg1 = NULL,
- *pArg2 = NULL,
- *pArg3 = NULL;
+ polyBinopDispatch ++;
+ gPCDelta= 4;
NXT_ASSERT(pCode != NULL);
-#ifdef USE_SHORT_OPS
- if (IS_SHORT_OP(pCode))
- {
- //add mapping from quick op to real op
- opCode = ShortOpMap[SHORT_OP_CODE(pCode)];
- Arg1 = SHORT_ARG(pCode) + pCode[1];
- Arg2 = pCode[1];
- Arg3 = pCode[2];
- }
- else
- {
opCode = OP_CODE(pCode);
Arg1 = pCode[1];
Arg2 = pCode[2];
Arg3 = pCode[3];
- }
-#else
- opCode = OP_CODE(pCode);
- Arg1 = pCode[1];
- Arg2 = pCode[2];
- Arg3 = pCode[3];
-#endif //USE_SHORT_OPS
-
- if (opCode == OP_ADD || opCode == OP_SUB || opCode == OP_MUL || opCode == OP_DIV || opCode == OP_MOD ||
- opCode == OP_AND || opCode == OP_OR || opCode == OP_XOR)
- {
- return cCmdInterpPolyBinop(opCode, Arg1, 0, Arg2, 0, Arg3, 0);
- }
-
- //Resolve data arguments, except for opcodes which the arguments are not DataArgs
- if (opCode != OP_BRCMP)
- {
- pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
- }
-
- if (opCode != OP_INDEX)
- {
- pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
- ArgVal2 = cCmdGetVal(pArg2, TypeCode2);
- }
-
- if ((opCode != OP_GETOUT) && (opCode != OP_SETIN) && (opCode != OP_GETIN) && (opCode != OP_INDEX) && (opCode != OP_ARRINIT))
- {
- pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
- ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
- }
+ if (opCode <= OP_XOR) // && ! OP_NEG, can't happen since it is unop
+ Status= cCmdInterpPolyBinop(opCode, Arg1, 0, Arg2, 0, Arg3, 0);
+ else if(opCode >= OP_SETIN && opCode <= OP_GETOUT)
+ Status= cCmdIOGetSet(opCode, Arg1, Arg2, Arg3);
+ else {
switch (opCode)
{
-
case OP_CMP:
{
- if (!IS_AGGREGATE_TYPE(cCmdDSType(Arg1)) && IS_AGGREGATE_TYPE(cCmdDSType(Arg2)) && IS_AGGREGATE_TYPE(cCmdDSType(Arg3)))
+ TYPE_CODE TypeCode2= cCmdDSType(Arg2), TypeCode3= cCmdDSType(Arg3);
+ if(TypeCode2 <= TC_LAST_INT_SCALAR && TypeCode3 <= TC_LAST_INT_SCALAR) {
+ ULONG ArgVal1, ArgVal2, ArgVal3;
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ ArgVal3= cCmdGetScalarValFromDataArg(Arg3, 0);
+ ArgVal1= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+ cCmdSetScalarValFromDataArg(Arg1, ArgVal1);
+ PolyScalarCmp++;
+ }
+ else if (IS_AGGREGATE_TYPE(TypeCode2) && IS_AGGREGATE_TYPE(TypeCode3) && !IS_AGGREGATE_TYPE(cCmdDSType(Arg1)))
{
//Compare Aggregates
Status = cCmdCompareAggregates(COMP_CODE(pCode), &CmpBool, Arg2, 0, Arg3, 0);
- cCmdSetVal(pArg1, TypeCode1, CmpBool);
+ cCmdSetScalarValFromDataArg(Arg1, CmpBool);
+ recursiveCmp++;
}
else
{
//Compare Elements
Status = cCmdInterpPolyBinop(*pCode, Arg1, 0, Arg2, 0, Arg3, 0);
+ polyPolyCmp++;
}
}
break;
case OP_BRCMP:
{
- //Compare Aggregates
+ TYPE_CODE TypeCode2= cCmdDSType(Arg2), TypeCode3= cCmdDSType(Arg3);
+ if(TypeCode2 <= TC_LAST_INT_SCALAR && TypeCode3 <= TC_LAST_INT_SCALAR) {
+ ULONG ArgVal2, ArgVal3;
+ ArgVal2= cCmdGetScalarValFromDataArg(Arg2, 0);
+ ArgVal3= cCmdGetScalarValFromDataArg(Arg3, 0);
+ CmpBool= cCmdCompare(COMP_CODE(pCode), ArgVal2, ArgVal3, TypeCode2, TypeCode3);
+ }
+ else //Compare Aggregates
Status = cCmdCompareAggregates(COMP_CODE(pCode), &CmpBool, Arg2, 0, Arg3, 0);
if (CmpBool)
- {
- VarsCmd.ScratchPC = VarsCmd.ScratchPC + (SWORD)Arg1;
- Status = PC_OVERRIDE;
- }
- }
- break;
-
- case OP_GETOUT:
- {
- Arg2 = (UWORD)(0xC200 | (Arg3 + ArgVal2 * IO_OUT_FPP));
- pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
-
- cCmdSetVal(pArg1, TypeCode1, cCmdGetVal(pArg2, TypeCode2));
- }
- break;
-
- //!!! All IO map access commands should screen illegal port values!
- // Right now, cCmdResolveDataArg's implementation allows SETIN/GETIN to access arbitrary RAM!
- case OP_SETIN:
- {
- Arg2 = (UWORD)(0xC000 | (Arg3 + ArgVal2 * IO_IN_FPP));
- pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
-
- cCmdSetVal(pArg2, TypeCode2, cCmdGetVal(pArg1, TypeCode1));
- }
- break;
-
- case OP_GETIN:
- {
- Arg2 = (UWORD)(0xC000 | (Arg3 + ArgVal2 * IO_IN_FPP));
- pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
-
- cCmdSetVal(pArg1, TypeCode1, cCmdGetVal(pArg2, TypeCode2));
+ gPCDelta = (SWORD)Arg1;
}
break;
case OP_INDEX:
{
- if (Arg3 != NOT_A_DS_ID)
- {
- pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
- ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
- }
- else //Index input unwired
- {
- ArgVal3 = 0;
- }
+ ArgVal3 = (Arg3 != NOT_A_DS_ID) ? cCmdGetScalarValFromDataArg(Arg3, 0) : 0;
DVIndex2 = cCmdGetDVIndex(Arg2, 0);
if (ArgVal3 >= DV_ARRAY[DVIndex2].Count)
@@ -4206,26 +5175,26 @@ NXT_STATUS cCmdInterpBinop(CODE_WORD * const pCode)
{
//Arg1 - Dst, Arg2 - element type/default val, Arg3 - length
- NXT_ASSERT(TypeCode1 == TC_ARRAY);
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_ARRAY);
- if (Arg3 != NOT_A_DS_ID)
- {
- pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
- ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
- }
- else //Length input unwired
- {
- ArgVal3 = 0;
- }
+ ArgVal3 = (Arg3 != NOT_A_DS_ID) ? cCmdGetScalarValFromDataArg(Arg3, 0) : 0;
Status = cCmdDSArrayAlloc(Arg1, 0, (UWORD)ArgVal3);
- if (IS_ERR(Status))
- return Status;
-
+ if (!IS_ERR(Status))
+ {
DVIndex1 = cCmdGetDVIndex(Arg1, 0);
- for (i = 0; i < ArgVal3; i++)
+ if(cCmdDSType(Arg2) <= TC_LAST_INT_SCALAR)
+ {
+ ULONG val= cCmdGetScalarValFromDataArg(Arg2, 0);
+ TYPE_CODE TypeCode= cCmdDSType(INC_ID(Arg1));
+ for (i = 0; i < ArgVal3; i++) // could init ptr and incr by offset GM???
{
//copy Arg2 into each element of Arg1
+ cCmdSetVal(VarsCmd.pDataspace + ARRAY_ELEM_OFFSET(DVIndex1, i), TypeCode, val);
+ }
+ }
+ else
+ for (i = 0; i < ArgVal3; i++) //copy Arg2 into each element of Arg1
Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg1), ARRAY_ELEM_OFFSET(DVIndex1, i), Arg2, 0);
}
}
@@ -4239,7 +5208,7 @@ NXT_STATUS cCmdInterpBinop(CODE_WORD * const pCode)
}
break;
}
-
+ }
return (Status);
}
@@ -4250,6 +5219,7 @@ NXT_STATUS cCmdInterpPolyBinop(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset
TYPE_CODE TypeCode1, TypeCode2, TypeCode3;
DV_INDEX DVIndex1, DVIndex2, DVIndex3;
ULONG ArgVal1, ArgVal2, ArgVal3;
+ float FltArgVal1, FltArgVal2, FltArgVal3;
UWORD Count1, Count2, Count3;
UWORD MinArrayCount;
UWORD i;
@@ -4270,14 +5240,23 @@ NXT_STATUS cCmdInterpPolyBinop(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset
{
NXT_ASSERT(!IS_AGGREGATE_TYPE(TypeCode1));
- pArg1 = cCmdResolveDataArg(Arg1, Offset1, &TypeCode1);
- pArg2 = cCmdResolveDataArg(Arg2, Offset2, &TypeCode2);
- pArg3 = cCmdResolveDataArg(Arg3, Offset3, &TypeCode3);
+ pArg1 = cCmdResolveDataArg(Arg1, Offset1, NULL);
- ArgVal2 = cCmdGetVal(pArg2, TypeCode2);
- ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
+ if (TypeCode1 == TC_FLOAT || TypeCode2 == TC_FLOAT || TypeCode3 == TC_FLOAT){
+ pArg2 = cCmdResolveDataArg(Arg2, Offset2, NULL);
+ pArg3 = cCmdResolveDataArg(Arg3, Offset3, NULL);
+ FltArgVal2 = cCmdGetValFlt(pArg2, TypeCode2);
+ FltArgVal3 = cCmdGetValFlt(pArg3, TypeCode3);
+ FltArgVal1 = cCmdBinopFlt(Code, FltArgVal2, FltArgVal3, TypeCode2, TypeCode3);
+ cCmdSetValFlt(pArg1, TypeCode1, FltArgVal1);
+ }
+ else
+ {
+ ArgVal2 = cCmdGetScalarValFromDataArg(Arg2, Offset2);
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, Offset3);
ArgVal1 = cCmdBinop(Code, ArgVal2, ArgVal3, TypeCode2, TypeCode3);
cCmdSetVal(pArg1, TypeCode1, ArgVal1);
+ }
return Status;
}
@@ -4472,6 +5451,78 @@ ULONG cCmdBinop(CODE_WORD const Code, ULONG LeftOp, ULONG RightOp, TYPE_CODE Lef
}
}
+
+float cCmdBinopFlt(CODE_WORD const Code, float LeftOp, float RightOp, TYPE_CODE LeftType, TYPE_CODE RightType)
+{
+ UBYTE opCode;
+
+ opCode = OP_CODE((&Code));
+
+ switch (opCode)
+ {
+ case OP_ADD:
+ {
+ return LeftOp + RightOp;
+ }
+
+ case OP_SUB:
+ {
+ return LeftOp - RightOp;
+ }
+
+ case OP_MUL:
+ {
+ return LeftOp * RightOp;
+ }
+
+ case OP_DIV:
+ {
+ //Catch divide-by-zero for a portable, well-defined result.
+ //(x / 0) = 0. Thus Spake LOTHAR!! (It's technical.)
+ if (RightOp == 0)
+ return 0;
+
+ return LeftOp / RightOp;
+ }
+
+ case OP_MOD:
+ {
+ //As with OP_DIV, make sure (x % 0) = x is well-defined
+ if (RightOp == 0)
+ return (LeftOp);
+
+ return (SLONG)LeftOp % (SLONG)RightOp;
+ }
+
+ case OP_AND:
+ {
+ return ((SLONG)LeftOp & (SLONG)RightOp);
+ }
+
+ case OP_OR:
+ {
+ return ((SLONG)LeftOp | (SLONG)RightOp);
+ }
+
+ case OP_XOR:
+ {
+ return (((SLONG)LeftOp | (SLONG)RightOp) & (~((SLONG)LeftOp & (SLONG)RightOp)));
+ }
+
+ case OP_CMP:
+ {
+ return cCmdCompareFlt(COMP_CODE((&Code)), LeftOp, RightOp, LeftType, RightType);
+ }
+
+ default:
+ {
+ //Unrecognized instruction, NXT_BREAK for easy debugging (ERR_INSTR handled in caller)
+ NXT_BREAK;
+ return 0;
+ }
+ }
+}
+
NXT_STATUS cCmdInterpNoArg(CODE_WORD * const pCode)
{
//Fatal error: Unrecognized instruction (no current opcodes have zero instructions)
@@ -4479,6 +5530,144 @@ NXT_STATUS cCmdInterpNoArg(CODE_WORD * const pCode)
return (ERR_INSTR);
}
+NXT_STATUS cCmdInterpShortError(CODE_WORD * const pCode)
+{
+ //Fatal error: Unrecognized instruction (no current opcodes have zero instructions)
+ NXT_BREAK;
+ return (ERR_INSTR);
+}
+
+NXT_STATUS cCmdInterpShortSubCall(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1, Arg2;
+
+ gPCDelta= 2;
+ Arg1 = GetDataArg(SHORT_ARG(pCode) + pCode[1]);
+ Arg2 = GetDataArg(pCode[1]);
+ NXT_ASSERT(cCmdIsClumpIDSane((CLUMP_ID)Arg1));
+ NXT_ASSERT(!cCmdIsClumpOnQ(&(VarsCmd.RunQ), (CLUMP_ID)Arg1));
+
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg2));
+
+ *((CLUMP_ID *)(cCmdDSScalarPtr(Arg2, 0))) = VarsCmd.RunQ.Head;
+
+ cCmdDeQClump(&(VarsCmd.RunQ), VarsCmd.RunQ.Head); //Take caller off RunQ
+ cCmdEnQClump(&(VarsCmd.RunQ), (CLUMP_ID)Arg1); //Add callee to RunQ
+
+ Status = CLUMP_SUSPEND;
+
+ return Status;
+}
+
+ULONG moveSameInt= 0, moveDiffInt= 0, moveFloat= 0, moveArrInt= 0, moveOther= 0;
+NXT_STATUS cCmdMove(DATA_ARG Arg1, DATA_ARG Arg2)
+{
+ NXT_STATUS Status;
+ DS_TOC_ENTRY *TOC1Ptr= &VarsCmd.pDataspaceTOC[Arg1],
+ *TOC2Ptr= &VarsCmd.pDataspaceTOC[Arg2];
+ TYPE_CODE tc1= TOC1Ptr->TypeCode, tc2= TOC2Ptr->TypeCode;
+ void *pArg1, *pArg2;
+
+ if(tc1 <= TC_LAST_INT_SCALAR && tc2 <= TC_LAST_INT_SCALAR)
+ {
+ // if tc1 == tc2, do long, byte, then word assignment
+ if(tc1 == tc2)
+ {
+ moveSameInt++;
+ pArg1= VarsCmd.pDataspace + TOC1Ptr->DSOffset;
+ pArg2= VarsCmd.pDataspace + TOC2Ptr->DSOffset;
+ if(tc1 >= TC_ULONG)
+ *(ULONG*)pArg1= *(ULONG*)pArg2;
+ else if(tc1 <= TC_SBYTE)
+ *(UBYTE*)pArg1= *(UBYTE*)pArg2;
+ else
+ *(UWORD*)pArg1= *(UWORD*)pArg2;
+ Status= NO_ERR;
+ }
+ else
+ {
+ moveDiffInt++;
+ ULONG val= cCmdGetScalarValFromDataArg(Arg2, 0);
+ cCmdSetScalarValFromDataArg(Arg1, val);
+ Status= NO_ERR;
+ }
+ }
+ else if(tc1 == TC_FLOAT && tc2 == TC_FLOAT) { // may also need to speed up float to int and int to float conversions
+ moveFloat++;
+ pArg1= VarsCmd.pDataspace + TOC1Ptr->DSOffset;
+ pArg2= VarsCmd.pDataspace + TOC2Ptr->DSOffset;
+ *(float*)pArg1= *(float*)pArg2;
+ Status= NO_ERR;
+ }
+ //!!! Optimized move for arrays of ints.
+ else if ((tc1 == TC_ARRAY) && (tc2 == TC_ARRAY)
+ && ((TOC1Ptr+1)->TypeCode <= TC_LAST_INT_SCALAR)
+ && ((TOC1Ptr+1)->TypeCode == (TOC2Ptr+1)->TypeCode))
+ {
+ ULONG Count;
+ moveArrInt++;
+ Count = cCmdArrayCount(Arg2, 0);
+ Status = cCmdDSArrayAlloc(Arg1, 0, Count);
+ if (IS_ERR(Status))
+ return Status;
+
+ pArg1 = cCmdResolveDataArg(Arg1, 0, NULL);
+ pArg2 = cCmdResolveDataArg(Arg2, 0, NULL);
+
+ memmove(pArg1, pArg2, Count * cCmdSizeOf((TOC1Ptr+1)->TypeCode));
+ }
+ else { // if ((tc1 == TC_CLUSTER) && (tc2 == TC_CLUSTER))
+ moveOther++;
+ Status = cCmdInterpPolyUnop2(OP_MOV, Arg1, 0, Arg2, 0);
+ }
+ return Status;
+}
+
+
+NXT_STATUS cCmdInterpShortMove(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1, Arg2;
+
+ Arg1 = GetDataArg(SHORT_ARG(pCode) + pCode[1]);
+ Arg2 = GetDataArg(pCode[1]);
+ Status= cCmdMove(Arg1, Arg2);
+
+ gPCDelta= 2;
+ return Status;
+}
+
+NXT_STATUS cCmdInterpShortAcquire(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1;
+
+ gPCDelta= 1;
+ Arg1 = GetDataArg(SHORT_ARG(pCode));
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_MUTEX);
+
+ Status = cCmdAcquireMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
+
+ return Status;
+}
+
+NXT_STATUS cCmdInterpShortRelease(CODE_WORD * const pCode)
+{
+ NXT_STATUS Status;
+ DATA_ARG Arg1;
+
+ gPCDelta= 1;
+ Arg1 = GetDataArg(SHORT_ARG(pCode));
+ NXT_ASSERT(cCmdIsDSElementIDSane(Arg1));
+ NXT_ASSERT(cCmdDSType(Arg1) == TC_MUTEX);
+
+ Status = cCmdReleaseMutex((MUTEX_Q *)cCmdDSScalarPtr(Arg1, 0));
+
+ return Status;
+}
+
//OP_SETOUT gets it's own interpreter function because it is relatively complex
// (called from cCmdInterpOther())
@@ -4525,8 +5714,7 @@ NXT_STATUS cCmdExecuteSetOut(CODE_WORD * const pCode)
}
else
{
- pPort = (UBYTE*)cCmdResolveDataArg(PortArg, 0, NULL);
- Port = cCmdGetVal(pPort, TypeCodePortArg);
+ Port = cCmdGetScalarValFromDataArg(PortArg, 0);
}
//If user specified a valid port, process the tuples. Else, this port is a no-op
@@ -4560,8 +5748,8 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
NXT_STATUS Status = NO_ERR;
UBYTE opCode;
DATA_ARG Arg1, Arg2, Arg3, Arg4, Arg5;
- TYPE_CODE TypeCode1, TypeCode2, TypeCode3, TypeCode4, TypeCode5;
- ULONG ArgVal1, ArgVal2, ArgVal3, ArgVal4, ArgVal5;
+ TYPE_CODE TypeCode1, TypeCode2, TypeCode3, TypeCode5;
+ ULONG ArgVal2, ArgVal3, ArgVal4, ArgVal5;
UWORD ArrayCount1, ArrayCount2, ArrayCount3, ArrayCount4;
UWORD MinCount;
UWORD i,j;
@@ -4575,11 +5763,15 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
void *pArg1 = NULL;
void *pArg2 = NULL;
void *pArg3 = NULL;
- void *pArg4 = NULL;
void *pArg5 = NULL;
NXT_ASSERT(pCode != NULL);
+ ULONG sz= INSTR_SIZE(*(UWORD*)pCode);
+ if (sz == VAR_INSTR_SIZE)
+ sz = ((UWORD*)pCode)[1];
+ gPCDelta= sz/2; // advance words, sz is in bytes
+
opCode = OP_CODE(pCode);
switch (opCode)
@@ -4604,7 +5796,7 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
//!!! Could avoid full data copy if we knew which portion to overwrite
if (Arg1 != Arg2)
{
- Status = cCmdInterpPolyUnop2(OP_MOV, Arg1, 0, Arg2, 0);
+ Status= cCmdMove(Arg1, Arg2);
if (IS_ERR(Status))
return Status;
}
@@ -4672,24 +5864,14 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
ArrayCount2 = cCmdArrayCount(Arg2, 0);
if (Arg3 != NOT_A_DS_ID)
- {
- pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
- ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
- }
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, 0);
else //Index input unwired
- {
ArgVal3 = 0;
- }
if (Arg4 != NOT_A_DS_ID)
- {
- pArg4 = cCmdResolveDataArg(Arg4, 0, &TypeCode4);
- ArgVal4 = cCmdGetVal(pArg4, TypeCode4);
- }
+ ArgVal4 = cCmdGetScalarValFromDataArg(Arg4, 0);
else //Length input unwired, set to "rest"
- {
ArgVal4 = (UWORD)(ArrayCount2 - ArgVal3);
- }
//Bounds check
if (ArgVal3 > ArrayCount2)
@@ -4747,24 +5929,14 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
ArrayCount2--;
if (Arg3 != NOT_A_DS_ID)
- {
- pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
- ArgVal3 = cCmdGetVal(pArg3, TypeCode3);
- }
+ ArgVal3 = cCmdGetScalarValFromDataArg(Arg3, 0);
else //Index input unwired
- {
ArgVal3 = 0;
- }
if (Arg4 != NOT_A_DS_ID)
- {
- pArg4 = cCmdResolveDataArg(Arg4, 0, &TypeCode4);
- ArgVal4 = cCmdGetVal(pArg4, TypeCode4);
- }
+ ArgVal4 = cCmdGetScalarValFromDataArg(Arg4, 0);
else //Length input unwired, set to "rest"
- {
ArgVal4 = (UWORD)(ArrayCount2 - ArgVal3);
- }
//Bounds check
if (ArgVal3 > ArrayCount2)
@@ -4863,6 +6035,13 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
{
NXT_ASSERT(cCmdDSType(TmpDSID) == TC_ARRAY);
TmpDVIndex = cCmdGetDVIndex(TmpDSID, 0);
+ // if flat, use memmove, otherwise this stuff
+ if(cCmdDSType(INC_ID(TmpDSID)) <= TC_LAST_INT_SCALAR)
+ {
+ memmove(VarsCmd.pDataspace + ARRAY_ELEM_OFFSET(DVIndex2, DstIndex), VarsCmd.pDataspace + DV_ARRAY[TmpDVIndex].Offset, (UWORD)(DV_ARRAY[TmpDVIndex].ElemSize * DV_ARRAY[TmpDVIndex].Count));
+ DstIndex += DV_ARRAY[TmpDVIndex].Count;
+ }
+ else
for (j = 0; j < DV_ARRAY[TmpDVIndex].Count; j++)
{
Status = cCmdInterpPolyUnop2(OP_MOV, INC_ID(Arg2), ARRAY_ELEM_OFFSET(DVIndex2, DstIndex), INC_ID(TmpDSID), ARRAY_ELEM_OFFSET(TmpDVIndex, j));
@@ -4983,8 +6162,8 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
Arg4 = pCode[4];
//Move Type template to Dst
- //This provides a default value for Dst and makes sure Dst is properly sized
- Status = cCmdInterpPolyUnop2(OP_MOV, Arg1, 0, Arg4, 0);
+ //This provides a default value for Dst and makes sure Dst is properly sized
+ Status= cCmdMove(Arg1, Arg4);
if (IS_ERR(Status))
return Status;
@@ -5026,7 +6205,9 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
case OP_STRINGTONUM:
{
-
+ float ArgValF;
+ SLONG decimals= 0;
+ UBYTE cont= TRUE;
// Arg1 - Dst number (output)
// Arg2 - Offset past match (output)
// Arg3 - Src string
@@ -5044,18 +6225,12 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
Arg5 = pCode[5];
pArg1 = cCmdResolveDataArg(Arg1, 0, &TypeCode1);
- pArg2 = cCmdResolveDataArg(Arg2, 0, &TypeCode2);
pArg3 = cCmdResolveDataArg(Arg3, 0, &TypeCode3);
if (Arg4 != NOT_A_DS_ID)
- {
- pArg4 = cCmdResolveDataArg(Arg4, 0, &TypeCode4);
- ArgVal4 = cCmdGetVal(pArg4, TypeCode4);
- }
+ ArgVal4 = cCmdGetScalarValFromDataArg(Arg4, 0);
else //Offset input unwired
- {
ArgVal4 = 0;
- }
if (Arg5 != NOT_A_DS_ID)
{
@@ -5068,29 +6243,36 @@ NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode)
}
//Read number from string
- if (sscanf(((PSZ)pArg3 + ArgVal4), "%d", &ArgVal1) == 1)
+ if (sscanf(((PSZ)pArg3 + ArgVal4), "%f", &ArgValF) == 1)
{
i = (UWORD)ArgVal4;
- //Scan until we see the number
+ //Scan until we see the number, consumes negative sign too
while ((((UBYTE *)pArg3)[i] < '0') || (((UBYTE *)pArg3)[i] > '9'))
i++;
- //Scan until we get past the number
- while ((((UBYTE *)pArg3)[i] >= '0') && (((UBYTE *)pArg3)[i] <= '9'))
- i++;
-
+ //Scan until we get past the number and no more than one decimal
+ while (cont) {
+ if ((((UBYTE *)pArg3)[i] >= '0') && (((UBYTE *)pArg3)[i] <= '9'))
+ i++;
+ else if(((UBYTE *)pArg3)[i] == '.' && !decimals) {
+ i++;
+ decimals++;
+ }
+ else
+ cont= FALSE;
+ }
ArgVal2 = i;
}
else
{
//Number wasn't found in string, use defaults
- ArgVal1 = ArgVal5;
+ ArgValF = ArgVal5;
ArgVal2 = 0;
}
//Set outputs
- cCmdSetVal(pArg1, TypeCode1, ArgVal1);
- cCmdSetVal(pArg2, TypeCode2, ArgVal2);
+ cCmdSetValFlt(pArg1, TypeCode1, ArgValF);
+ cCmdSetScalarValFromDataArg(Arg2, ArgVal2);
}
break;
@@ -5528,6 +6710,7 @@ NXT_STATUS cCmdWrapSoundPlayFile(UBYTE * ArgV[])
//Resolve array arguments
DVIndex = *(DV_INDEX *)(ArgV[1]);
+ UBYTE sndVol= *(ArgV[3]);
ArgV[1] = cCmdDVPtr(DVIndex);
//!!! Should check filename and/or existence and return error before proceeding
@@ -5538,7 +6721,9 @@ NXT_STATUS cCmdWrapSoundPlayFile(UBYTE * ArgV[])
else
pMapSound->Mode = SOUND_ONCE;
- pMapSound->Volume = *(ArgV[3]);
+ if(sndVol > 4)
+ sndVol= 4;
+ pMapSound->Volume = sndVol;
//SampleRate of '0' means "let file specify SampleRate"
pMapSound->SampleRate = 0;
pMapSound->Flags |= SOUND_UPDATE;
@@ -5558,9 +6743,12 @@ NXT_STATUS cCmdWrapSoundPlayFile(UBYTE * ArgV[])
//
NXT_STATUS cCmdWrapSoundPlayTone(UBYTE * ArgV[])
{
+ UBYTE sndVol= *(ArgV[4]);
pMapSound->Freq = *(UWORD*)(ArgV[1]);
pMapSound->Duration = *(UWORD*)(ArgV[2]);
- pMapSound->Volume = *(ArgV[4]);
+ if(sndVol > 4)
+ sndVol= 4;
+ pMapSound->Volume = sndVol;
pMapSound->Flags |= SOUND_UPDATE;
if (*(ArgV[3]) == TRUE)
@@ -5799,6 +6987,65 @@ NXT_STATUS cCmdWrapMessageWrite(UBYTE * ArgV[])
return (NO_ERR);
}
+
+
+//
+//cCmdWrapColorSensorRead
+//ArgV[0]: (return) Error code, SBYTE
+//ArgV[1]: Port, UBYTE
+//ArgV[2]: SensorValue, SWORD
+//ArgV[3]: RawArray, UWORD[NO_OF_COLORS]
+//ArgV[4]: NormalizedArray, UWORD[NO_OF_COLORS]
+//ArgV[5]: ScaledArray, SWORD[NO_OF_COLORS]
+//ArgV[6]: InvalidData, UBYTE
+//
+NXT_STATUS cCmdWrapColorSensorRead (UBYTE * ArgV[])
+{
+ DV_INDEX DVIndex;
+ NXT_STATUS Status = NO_ERR;
+ //Resolve return val arguments
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ //Resolve Port argument
+ UBYTE Port = *(UBYTE*)(ArgV[1]);
+ //Resolve SensorValue
+ SWORD SensorValue = *(SWORD*)(ArgV[2]);
+ //Resolve RawArray as array
+ DVIndex = *(DV_INDEX*)(ArgV[3]);
+ NXT_ASSERT(IS_DV_INDEX_SANE(DestDVIndex));
+ Status= cCmdDVArrayAlloc(DVIndex, NO_OF_COLORS);
+ if (IS_ERR(Status))
+ return (Status);
+ ArgV[3] = cCmdDVPtr (DVIndex);
+ //Resolve NormalizedArray as array
+ DVIndex = *(DV_INDEX*)(ArgV[4]);
+ NXT_ASSERT(IS_DV_INDEX_SANE(DestDVIndex));
+ Status= cCmdDVArrayAlloc(DVIndex, NO_OF_COLORS);
+ if (IS_ERR(Status))
+ return (Status);
+ ArgV[4] = cCmdDVPtr (DVIndex);
+ //Resolve ScaledArray as array
+ DVIndex = *(DV_INDEX*)(ArgV[5]);
+ NXT_ASSERT(IS_DV_INDEX_SANE(DestDVIndex));
+ Status= cCmdDVArrayAlloc(DVIndex, NO_OF_COLORS);
+ if (IS_ERR(Status))
+ return (Status);
+ ArgV[5] = cCmdDVPtr (DVIndex);
+ //Resolve InvalidData
+ UBYTE InvalidData = *(UBYTE*)(ArgV[6]);
+
+ //call implementation with unwrapped parameters
+ *pReturnVal = cCmdColorSensorRead (Port, &SensorValue, (UWORD*)ArgV[3], (UWORD*)ArgV[4], (SWORD*)ArgV[5], &InvalidData);
+
+ *(ArgV[2]) = SensorValue;
+ *(ArgV[6]) = InvalidData;
+
+ if (IS_ERR(*pReturnVal)){
+ return (*pReturnVal);
+ }
+ return NO_ERR;
+}
+
+
#define UNPACK_STATUS(StatusWord) ((SBYTE)(StatusWord))
NXT_STATUS cCmdBTCheckStatus(UBYTE Connection)
@@ -6017,6 +7264,8 @@ NXT_STATUS cCmdWrapKeepAlive(UBYTE * ArgV[])
return (NO_ERR);
}
+
+
#define MAX_IOM_BUFFER_SIZE 64
//
//cCmdWrapIOMapRead
@@ -6228,6 +7477,452 @@ void cCmdWriteBenchmarkFile()
}
#endif
+
+/////////////////////////////////////////////////////////////
+// Dymanic syscall implementations
+////////////////////////////////////////////////////////////
+
+//
+//cCmdWrapDatalogWrite
+//ArgV[0]: (return) Error Code, SBYTE (NXT_STATUS)
+//ArgV[1]: Message, CStr
+//
+NXT_STATUS cCmdWrapDatalogWrite(UBYTE * ArgV[])
+{
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[1]);
+ ArgV[1] = cCmdDVPtr(DVIndex);
+
+ Status = cCmdDatalogWrite(ArgV[1], DV_ARRAY[DVIndex].Count);
+
+ *(SBYTE *)(ArgV[0]) = Status;
+
+ if (IS_FATAL(Status))
+ return Status;
+ else
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapDatalogGetTimes
+//ArgV[0]: SyncTime, U32
+//ArgV[1]: SyncTick, U32
+//
+NXT_STATUS cCmdWrapDatalogGetTimes(UBYTE * ArgV[])
+{
+ *((ULONG *)ArgV[1]) = IOMapCmd.SyncTime;
+ *((ULONG *)ArgV[2]) = IOMapCmd.SyncTick;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapSetSleepTimeout
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: desired timer limit in ms, ULONG
+//
+NXT_STATUS cCmdWrapSetSleepTimeout(UBYTE * ArgV[])
+{
+ ULONG value = *(ULONG*)(ArgV[1]);
+ if(value==0)
+ {
+ pMapUi->SleepTimeout=0;
+ }
+ else if(value < 60000)
+ {
+ pMapUi->SleepTimeout=1; //integer math would've made this zero
+ }
+ else
+ {
+ pMapUi->SleepTimeout= value / 60000;
+ }
+ return (NO_ERR);
+}
+
+// currently copied from LS, not finished.
+//
+//cCmdWrapCommHSWrite
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: Buffer to send, UBYTE array, only SIZE_OF_LSBUF bytes will be used
+//ArgV[3]: ResponseLength, UBYTE, specifies expected bytes back from slave device
+//
+NXT_STATUS cCmdWrapCommHSWrite(UBYTE * ArgV[])
+{
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE Port = *(ArgV[1]);
+ UBYTE * pBuf;
+ UWORD BufLength;
+ UBYTE ResponseLength = *(ArgV[3]);
+ DV_INDEX DVIndex;
+
+ //Resolve array arguments
+ DVIndex = *(DV_INDEX *)(ArgV[2]);
+ pBuf = cCmdDVPtr(DVIndex);
+ BufLength = DV_ARRAY[DVIndex].Count;
+
+ *pReturnVal = cCmdLSWrite(Port, (UBYTE)BufLength, pBuf, ResponseLength);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommHSCheckStatus
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: BytesReady, UBYTE
+//
+NXT_STATUS cCmdWrapCommHSCheckStatus(UBYTE * ArgV[])
+{
+ UBYTE Port = *(ArgV[1]);
+
+ *((SBYTE*)(ArgV[0])) = cCmdLSCheckStatus(Port);
+ *((UBYTE*)(ArgV[2])) = cCmdLSCalcBytesReady(Port);
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommHSRead
+//ArgV[0]: (return) Status code, SBYTE
+//ArgV[1]: Port specifier, UBYTE
+//ArgV[2]: Buffer for data, UBYTE array, max SIZE_OF_LSBUF bytes will be written
+//ArgV[3]: BufferLength, UBYTE, specifies size of buffer requested
+//
+NXT_STATUS cCmdWrapCommHSRead(UBYTE * ArgV[])
+{
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE Port = *(ArgV[1]);
+ UBYTE * pBuf;
+ UBYTE BufLength = *(ArgV[3]);
+ UBYTE BytesToRead;
+ DV_INDEX DVIndex = *(DV_INDEX *)(ArgV[2]);
+ NXT_STATUS AllocStatus;
+
+ *pReturnVal = cCmdLSCheckStatus(Port);
+ BytesToRead = cCmdLSCalcBytesReady(Port);
+
+ //If channel is OK and has data ready for us, put the data into outgoing buffer
+ if (!IS_ERR(*pReturnVal) && BytesToRead > 0)
+ {
+ //Limit buffer to available data
+ if (BufLength > BytesToRead)
+ BufLength = BytesToRead;
+
+ AllocStatus = cCmdDVArrayAlloc(DVIndex, BufLength);
+ if (IS_ERR(AllocStatus))
+ return (AllocStatus);
+
+ pBuf = cCmdDVPtr(DVIndex);
+ *pReturnVal = cCmdLSRead(Port, BufLength, pBuf);
+ }
+ //Else, the channel has an error and/or there's no data to read; clear the output array
+ else
+ {
+ AllocStatus = cCmdDVArrayAlloc(DVIndex, 0);
+ if (IS_ERR(AllocStatus))
+ return (AllocStatus);
+ }
+
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommBTOnOff
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Power State, 0-1
+//
+NXT_STATUS cCmdWrapCommBTOnOff(UBYTE * ArgV[])
+{
+ UWORD retVal;
+ NXT_STATUS status;
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+
+ UBYTE powerState = *(ArgV[1]);
+ if(powerState)
+ status= pMapComm->pFunc(BTON, 0, 0, 0, NULL, &retVal);
+ else
+ status= pMapComm->pFunc(BTOFF, 0, 0, 0, NULL, &retVal);
+
+ *pReturnVal= (status == SUCCESS) ? retVal : status;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapCommBTConnection
+//ArgV[0]: (return) Status byte, SBYTE
+//ArgV[1]: Action, UBYTE
+//ArgV[2]: name, UBYTE array CStr
+//ArgV[3]: connection slot, UBYTE
+//
+NXT_STATUS cCmdWrapCommBTConnection(UBYTE * ArgV[])
+{
+ UWORD retVal;
+ NXT_STATUS status;
+ SBYTE * pReturnVal = (SBYTE*)(ArgV[0]);
+ UBYTE *nmPtr;
+
+ UBYTE action = *(ArgV[1]);
+ UBYTE connection = *(ArgV[3]);
+ nmPtr = cCmdDVPtr(*(DV_INDEX *)(ArgV[2]));
+
+ if(action) // Init
+ status= pMapComm->pFunc(CONNECTBYNAME, 0, connection, 0, nmPtr, &retVal);
+ else // Close
+ status= pMapComm->pFunc(DISCONNECT, connection, 0, 0, NULL, &retVal);
+
+ *pReturnVal= (status == SUCCESS) ? retVal : status;
+ return (NO_ERR);
+}
+
+
+//
+//cCmdWrapReadSemData
+//ArgV[0]: return data, U8
+//ArgV[1]: which (0=used, 1=request), U8
+//
+NXT_STATUS cCmdWrapReadSemData(UBYTE * ArgV[])
+{
+ if(!(*((UBYTE *)ArgV[1])))
+ *((UBYTE *)ArgV[0])= gUsageSemData;
+ else
+ *((UBYTE *)ArgV[0])= gRequestSemData;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapWriteSemData
+//ArgV[0]: return data, U8
+//ArgV[1]: which (0=used, 1=request), U8
+//ArgV[2]: newValue, U8
+//ArgV[3]: action (0= OR, 1= AND), U8
+//
+NXT_STATUS cCmdWrapWriteSemData(UBYTE * ArgV[])
+{
+ UBYTE curVal, newVal, which= (*((UBYTE *)ArgV[1]));
+ if(!which)
+ curVal= gUsageSemData;
+ else
+ curVal= gRequestSemData;
+
+ newVal= *((UBYTE *)ArgV[2]);
+
+ if(*((UBYTE *)ArgV[3]))
+ curVal &= ~newVal;
+ else
+ curVal |= newVal;
+
+ if(!which)
+ gUsageSemData= curVal;
+ else
+ gRequestSemData= curVal;
+ *((UBYTE *)ArgV[0])= curVal;
+ return (NO_ERR);
+}
+
+
+//
+//cCmdWrapUpdateCalibCacheInfo
+//ArgV[0]: return data, U8
+//ArgV[1]: nm, UBYTE array CStr
+//ArgV[2]: min, U16
+//ArgV[3]: max , U16
+//
+NXT_STATUS cCmdWrapUpdateCalibCacheInfo(UBYTE * ArgV[])
+{
+ UBYTE *nm= cCmdDVPtr(*(DV_INDEX *)(ArgV[1]));
+ SWORD min= (*((SWORD *)ArgV[2]));
+ SWORD max= (*((SWORD *)ArgV[3]));
+
+ cCmdUpdateCalibrationCache(nm, min, max);
+ *((UBYTE *)ArgV[0])= SUCCESS;
+ return (NO_ERR);
+}
+
+//
+//cCmdWrapComputeCalibValue
+//ArgV[0]: return data, U8
+//ArgV[1]: nm, UBYTE array CStr
+//ArgV[2]: raw, U16 ref in out
+NXT_STATUS cCmdWrapComputeCalibValue (UBYTE * ArgV[])
+{
+ UBYTE *nm= cCmdDVPtr(*(DV_INDEX *)(ArgV[1]));
+ SWORD raw= (*((SWORD *)ArgV[2]));
+
+ *((UBYTE *)ArgV[0])= cCmdComputeCalibratedValue(nm, &raw);
+ (*((SWORD *)ArgV[2]))= raw;
+ return (NO_ERR);
+}
+
+typedef struct {
+ SWORD min, max;
+ UBYTE nm[FILENAME_LENGTH + 1];
+} CalibCacheType;
+
+SBYTE gCalibCacheCnt= 0;
+DV_INDEX gCalibCacheArrayDVIdx= NOT_A_DS_ID;
+CalibCacheType *gCalibCacheArray= NULL;
+
+SWORD cCmdGetCalibrationIndex(UBYTE *nm) {
+ SBYTE i;
+ for(i= 0; i < gCalibCacheCnt; i++)
+ if(!strcmp((PSZ)nm, (PSZ)gCalibCacheArray[i].nm))
+ break;
+ return i;
+}
+
+NXT_STATUS cCmdComputeCalibratedValue(UBYTE *nm, SWORD *pRaw) {
+ SBYTE i= cCmdGetCalibrationIndex(nm);
+ NXT_STATUS status= ERR_RC_ILLEGAL_VAL;
+ SLONG raw= *pRaw, range;
+ if(i < gCalibCacheCnt) {
+ status= SUCCESS;
+ raw -= gCalibCacheArray[i].min;
+ range= (gCalibCacheArray[i].max - gCalibCacheArray[i].min);
+ }
+ else
+ range= 1023;
+ raw *= 100;
+ raw /= range;
+ if(raw < 0) raw= 0;
+ else if(raw > 100) raw= 100;
+ *pRaw= raw;
+ return status;
+}
+
+
+NXT_STATUS ResizeCalibCache(ULONG elements) { // alloc dv if needed, grow if needed. dv never freed. on boot, set to NOT_A_DS_ID. use cnt for valid elements.
+ NXT_STATUS Status = NO_ERR;
+
+ if(gCalibCacheArrayDVIdx == NOT_A_DS_ID)
+ Status = cCmdAllocDopeVector(&gCalibCacheArrayDVIdx, sizeof(CalibCacheType));
+ if(!IS_ERR(Status) && DV_ARRAY[gCalibCacheArrayDVIdx].Count < elements) //Allocate storage for cache element
+ Status = cCmdDVArrayAlloc(gCalibCacheArrayDVIdx, elements);
+ if(!IS_ERR(Status))
+ gCalibCacheArray= cCmdDVPtr(gCalibCacheArrayDVIdx);
+ // on error, does old DVIdx still point to array, or should we null out array???
+ return Status;
+}
+
+// called to update min/max on existing cache element, and to add new named element
+void cCmdUpdateCalibrationCache(UBYTE *nm, SWORD min, SWORD max) {
+ SWORD i= cCmdGetCalibrationIndex(nm);
+ NXT_STATUS Status = NO_ERR;
+
+ if(i == gCalibCacheCnt) { // sensor wasn't found, insert into cache
+ Status= ResizeCalibCache(gCalibCacheCnt+1);
+ if(!IS_ERR(Status)) {
+ gCalibCacheCnt++;
+ strcpy((PSZ)gCalibCacheArray[i].nm, (PSZ)nm);
+ }
+ }
+ if(!IS_ERR(Status)) {
+ gCalibCacheArray[i].min= min;
+ gCalibCacheArray[i].max= max;
+ }
+}
+
+void cCmdLoadCalibrationFiles(void) {
+ ULONG cnt, DataSize;
+ UBYTE nm[FILENAME_LENGTH + 1], nmLen;
+ SWORD Handle, HandleSearch;
+ gCalibCacheCnt= 0;
+ gCalibCacheArrayDVIdx= NOT_A_DS_ID;
+ // file I/O to load all .cal files into cached globals used by scaling syscall
+ HandleSearch = pMapLoader->pFunc(FINDFIRST, "*.cal", nm, &cnt); // returns total files and nm of first one
+ while (LOADER_ERR(HandleSearch) == SUCCESS) { // if we have a file, process it by closing and opening
+ SWORD min= 0, max= 0, tmp;
+ ULONG length;
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL);
+ Handle = pMapLoader->pFunc(OPENREAD, nm, NULL, &DataSize);
+ if (LOADER_ERR(Handle) == SUCCESS && DataSize == 4) {
+ // access data, two bytes for min and two for max
+ length= 2;
+ pMapLoader->pFunc(READ,LOADER_HANDLE_P(Handle),(UBYTE*)&tmp,&length);
+ if (length == 2)
+ min= tmp;
+ length= 2;
+ pMapLoader->pFunc(READ,LOADER_HANDLE_P(Handle),(UBYTE*)&tmp,&length);
+ if (length == 2)
+ max= tmp;
+ }
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(Handle), NULL, NULL);
+ // update calibration cache with nm, min, and max
+ nmLen= strlen((PSZ)nm) - 4; // chop off .cal extension
+ nm[nmLen]= 0;
+ cCmdUpdateCalibrationCache(nm, min, max);
+
+ HandleSearch = pMapLoader->pFunc(FINDNEXT, LOADER_HANDLE_P(HandleSearch), nm, &cnt);
+ }
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL);
+}
+
+//
+//cCmdWrapListFiles
+//ArgV[0]: return data, SBYTE
+//ArgV[1]: pattern, UBYTE array CStr
+//ArgV[2]: list, UBYTE array CStr array ref in out
+NXT_STATUS cCmdWrapListFiles (UBYTE * ArgV[])
+{
+ ULONG fileSize, matchCount=0, i=0, oldCount;
+ SWORD HandleSearch;
+ NXT_STATUS Status = NO_ERR;
+ DV_INDEX listIdx, *list;
+ UBYTE *strTemp, *pattern;
+ UBYTE name[FILENAME_LENGTH + 1];
+
+ //Resolve array arguments
+ pattern = cCmdDVPtr(*(DV_INDEX *)(ArgV[1]));
+ listIdx = *(DV_INDEX *)(ArgV[2]);
+
+ HandleSearch = pMapLoader->pFunc(FINDFIRST, pattern, name, &fileSize); // returns first file matching pattern
+
+ //Count how many files we're going to have
+ while (LOADER_ERR(HandleSearch) == SUCCESS)
+ {
+ matchCount++;
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL);
+ HandleSearch = pMapLoader->pFunc(FINDNEXT, LOADER_HANDLE_P(HandleSearch), name, &fileSize);
+ }
+
+ HandleSearch = pMapLoader->pFunc(FINDFIRST, pattern, name, &fileSize); // returns first file matching pattern
+
+ oldCount = DV_ARRAY[listIdx].Count; // Check to see how many dope vectors are already in the array (if they passed us a non-blank array of strings)
+
+ Status = cCmdDVArrayAlloc(listIdx, matchCount); // Size the top-level array
+ if(IS_ERR(Status))
+ return Status;
+
+ list = (DV_INDEX*)(VarsCmd.pDataspace + DV_ARRAY[listIdx].Offset); // Get a pointer into the dataspace for the array of DV_INDEXes
+
+ while (LOADER_ERR(HandleSearch) == SUCCESS && !IS_ERR(Status))
+ {
+ pMapLoader->pFunc(CLOSE, LOADER_HANDLE_P(HandleSearch), NULL, NULL); // Close the handle that we automatically opened above
+ // Allocate a new dope vector if one doesn't already exist
+ if(i >= oldCount)
+ Status = cCmdAllocDopeVector(&(list[i]), sizeof(char));
+
+ // Allocate the string buffer for output array[i]
+ if(!IS_ERR(Status))
+ Status = cCmdDVArrayAlloc(list[i], strlen((PSZ)name) + 1);
+
+ if(!IS_ERR(Status))
+ {
+ strTemp = VarsCmd.pDataspace + DV_ARRAY[list[i]].Offset; // Get a pointer into the dataspace for this string
+ strcpy((PSZ)strTemp, (PSZ)name);
+ }
+ i++;
+
+ HandleSearch = pMapLoader->pFunc(FINDNEXT, LOADER_HANDLE_P(HandleSearch), name, &fileSize);
+ }
+
+ *(SBYTE *)(ArgV[0]) = Status;
+
+ return Status;
+}
+
#ifdef SIM_NXT
// Accessors for simulator library code
SWORD cCmdGetCodeWord(CLUMP_ID Clump, CODE_INDEX Index)
@@ -6240,6 +7935,7 @@ SWORD cCmdGetCodeWord(CLUMP_ID Clump, CODE_INDEX Index)
else
{
NXT_ASSERT(cCmdIsClumpIDSane(Clump));
+#error // CodeStart is now absolute, but not sure how to fix
return (((SWORD)VarsCmd.pCodespace[VarsCmd.pAllClumps[Clump].CodeStart + Index]));
}
}
@@ -6281,12 +7977,6 @@ ULONG cCmdGetPoolSize()
//!!! !ENABLE_VM implementations really should provide a placeholder function for this pointer
//IOMapCmd.pRCHandler = &cCmdHandleRemoteCommands;
-//#include "c_cmd_alternate.c"
-//#include "c_cmd_FB_LowSpeed_Test.c"
-//#include "c_cmd_FB_LowSpeed_JB_Compass.c"
-//#include "c_cmd_FB_LowSpeed_Continius.c"
-//#include "c_cmd_FB_LowSpeed_JB_Color.c"
-#include "c_cmd_FB_LowSpeed_NorthStar_Demo2.c"
-//#include "c_cmd_FB_LowSpeed_LEGO_TEST.c"
+#include "c_cmd_alternate.c"
#endif //ENABLE_VM
diff --git a/AT91SAM7S256/Source/c_cmd.h b/AT91SAM7S256/Source/c_cmd.h
index 04f10a3..e9227eb 100644
--- a/AT91SAM7S256/Source/c_cmd.h
+++ b/AT91SAM7S256/Source/c_cmd.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 24-07-06 8:52 $
+// Revision date $Date: 10-07-08 13:22 $
//
// Filename $Workfile:: c_cmd.h $
//
-// Version $Revision:: 43 $
+// Version $Revision: 8 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_cmd.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_cmd. $
//
// Platform C
//
@@ -27,7 +27,7 @@
#endif
#include "c_cmd_bytecodes.h"
-#define SYSCALL_COUNT 34
+#define SYSCALL_COUNT 48
extern const HEADER cCmd;
@@ -54,7 +54,7 @@ void cCmdExit(void);
//Define it as 0 to compile alternate implementation for testing (see bottom of c_cmd.c)
//
#define ENABLE_VM 1
-
+#undef ARM_DEBUG
//
//VM_BENCHMARK enables extra instrumentation code to measure VM performance.
//When enabled, a file named "benchmark.txt" is produced every time a program completes.
@@ -84,7 +84,7 @@ void cCmdWriteBenchmarkFile();
//Assert definitions behind ARM_DEBUG aren't quite as handy as WIN_DEBUG,
// but they do record the code line causing the last assert failure.
//
-#elif defined ARM_DEBUG
+#elif defined(ARM_DEBUG)
#define NXT_ASSERT(expr) if (expr) {}\
else\
{\
@@ -108,9 +108,6 @@ void cCmdWriteBenchmarkFile();
//
typedef SBYTE NXT_STATUS;
-//dTimerRead() constantly returns latest system MS tick, so empty loop is convenient macro
-#define BUSY_WAIT_NEXT_MS while (IOMapCmd.Tick == dTimerRead())
-
#if ENABLE_VM
//Intial values for clump records are packed into 4 bytes in the file format.
@@ -134,14 +131,15 @@ enum
TC_UWORD,
TC_SWORD,
TC_ULONG,
- TC_SLONG,
+ TC_SLONG, TC_LAST_INT_SCALAR= TC_SLONG,
//Aggregate types containing one or more scalar
TC_ARRAY,
TC_CLUSTER,
//Mutex tracks current holder and any waiting clumps
- TC_MUTEX
+ TC_MUTEX,
+ TC_FLOAT, TC_LAST_VALID= TC_FLOAT
};
//Sizes (in bytes) of each scalar type
@@ -151,6 +149,7 @@ enum
#define SIZE_SWORD 2
#define SIZE_ULONG 4
#define SIZE_SLONG 4
+#define SIZE_FLOAT 4
//MUTEX record is a struct containing 3 8-bit CLUMP_IDs, packed into 32-bit word
//See MUTEX_Q typedef
@@ -250,14 +249,13 @@ typedef UBYTE FILE_HANDLE;
typedef UWORD DV_INDEX; //Dope Vector Index: Index into the DopeVectorArray
//DOPE_VECTOR struct: One instance exists in the DopeVectorArray for every array in the dataspace.
-//!!! BackPtr is an unused field. Intended to enable compaction of DopeVectorArray.
typedef struct
{
UWORD Offset;
UWORD ElemSize;
UWORD Count;
- UWORD BackPtr;
- DV_INDEX Link;
+ DV_INDEX BackLink; // points to previous DV
+ DV_INDEX Link; // points to next DV
} DOPE_VECTOR;
//
@@ -278,7 +276,7 @@ typedef struct
//Macro to shorten common DVA access code
#define DV_ARRAY VarsCmd.MemMgr.pDopeVectorArray
//# of nodes to alloc when the Dope Vector Array is full
-#define DV_ARRAY_GROWTH_COUNT 5
+#define DV_ARRAY_GROWTH_COUNT 25
//Flag value for invalid Offset fields in DVs
#define NOT_AN_OFFSET 0xFFFF
//Check for legal index into DVA
@@ -322,6 +320,36 @@ typedef struct
#define SET_WRITE_MSG(QueueID, DVIndex) (VarsCmd.MessageQueues[(QueueID)].Messages[VarsCmd.MessageQueues[(QueueID)].WriteIndex] = (DVIndex))
#define SET_READ_MSG(QueueID, DVIndex) (VarsCmd.MessageQueues[(QueueID)].Messages[VarsCmd.MessageQueues[(QueueID)].ReadIndex] = (DVIndex))
+//
+// Datalog Queuing
+//
+// The datalog queue is loosely modeled around the message queue except that there is only one queue, not an array of them.
+//
+
+// A datalog has one less byte of 'header' info so different max size
+#define MAX_DATALOG_SIZE 60
+
+// The number of datalog messages to buffer
+#define DATALOG_QUEUE_DEPTH 30
+
+// A DATALOG_MESSAGE is a dynamically sized string, so we use a DV_INDEX to get to its information
+typedef DV_INDEX DATALOG_MESSAGE;
+
+//
+// DATALOG_QUEUE keeps track of last messages read and written (acts as a circular buffer)
+typedef struct
+{
+ UWORD ReadIndex;
+ UWORD WriteIndex;
+ DATALOG_MESSAGE Datalogs[DATALOG_QUEUE_DEPTH];
+} DATALOG_QUEUE;
+
+//Handy macros for accessing the DATALOG_QUEUE
+#define GET_WRITE_DTLG() (VarsCmd.DatalogBuffer.Datalogs[VarsCmd.DatalogBuffer.WriteIndex])
+#define GET_READ_DTLG() (VarsCmd.DatalogBuffer.Datalogs[VarsCmd.DatalogBuffer.ReadIndex])
+#define SET_WRITE_DTLG(DVIndex) (VarsCmd.DatalogBuffer.Datalogs[VarsCmd.DatalogBuffer.WriteIndex] = (DVIndex))
+#define SET_READ_DTLG(DVIndex) (VarsCmd.DatalogBuffer.Datalogs[VarsCmd.DatalogBuffer.ReadIndex] = (DVIndex))
+
//
//Definitions related to dataflow scheduling
@@ -336,6 +364,7 @@ typedef UBYTE CLUMP_ID;
//
#define NOT_A_CLUMP 0xFF
#define MAX_CLUMPS 255
+#define INSTR_MAX_COUNT 20
//CLUMP_Q struct for tracking head and tail of a queue of clumps
typedef struct
@@ -359,30 +388,32 @@ typedef struct
//
// Clump Record, run-time book-keeping for each clump
//
-// CodeStart: Start of this clump's bytecodes
-// CodeEnd: End of this clump's bytecodes
+// CodeStart: Start of this clump's bytecodes, absolute address
+// CodeEnd: End of this clump's bytecodes, absolute address
// PC: "program counter" -- current offset into codespace relative to CodeStart
// InitFireCount: Initial count of upstream dependencies
// CurrFireCount: Run-time count of unsatisfied dependencies
// Link: ID of next clump in the queue. NOT_A_CLUMP denotes end or bad link.
//
-// Priority: number of instructions to run per pass on this clump
+// clumpScalarDispatchHints: this clump only uses scalar data args, can be interpretted with faster dispatch tables
//
// pDependents: pointer to list of downstream dependents' ClumpIDs
+// awakenTime: If a clump is on rest queue for sleep, this is the time at which it will return to runQueue
// DependentCount: Count of downstream dependents
//
typedef struct
{
- CODE_INDEX CodeStart;
- CODE_INDEX CodeEnd;
- CODE_INDEX PC;
+ CODE_WORD* CodeStart;
+ CODE_WORD* CodeEnd;
+ CODE_WORD* PC;
UBYTE InitFireCount;
UBYTE CurrFireCount; //AKA ShortCount
CLUMP_ID Link;
- UBYTE Priority;
+ UBYTE clumpScalarDispatchHints;
CLUMP_ID* pDependents;
+ ULONG awakenTime;
UBYTE DependentCount;
} CLUMP_REC;
@@ -430,7 +461,6 @@ typedef enum
//AllClumpsCount: Count of CLUMP_RECs in list
//
//RunQ: Head and tail of run queue (elements in-place in AllClumps list)
-//ScratchPC: Temp PC value for control flow instructions
//
//pDataspaceTOC: Pointer to DSTOC entries (stored in flash)
//DataspaceCount: Count of entries in DSTOC
@@ -485,8 +515,7 @@ typedef struct
MEM_MGR MemMgr;
CLUMP_Q RunQ;
- CODE_INDEX ScratchPC;
- CLUMP_ID CallerClump;
+ CLUMP_Q RestQ;
UBYTE ActiveProgHandle;
UBYTE ActiveProgName[FILENAME_LENGTH + 1];
@@ -504,6 +533,8 @@ typedef struct
ULONG StartTick;
+ DATALOG_QUEUE DatalogBuffer;
+
#if VM_BENCHMARK
ULONG InstrCount;
ULONG Average;
@@ -562,13 +593,17 @@ NXT_STATUS cCmdInflateDSDefaults(UBYTE* pDSDefaults, UWORD *pDefaultsOffset, DS_
//Clump queuing
void cCmdEnQClump(CLUMP_Q * Queue, CLUMP_ID NewClump);
void cCmdDeQClump(CLUMP_Q * Queue, CLUMP_ID Clump);
-void cCmdRotateQ(CLUMP_Q * Queue);
+void cCmdRotateQ();
UBYTE cCmdIsClumpOnQ(CLUMP_Q * Queue, CLUMP_ID Clump);
UBYTE cCmdIsQSane(CLUMP_Q * Queue);
+// Rest queue functions
+NXT_STATUS cCmdSleepClump(ULONG time);
+UBYTE cCmdCheckRestQ(ULONG currTime);
+
//Mutex queuing
-NXT_STATUS cCmdAcquireMutex(MUTEX_Q * Mutex, CLUMP_ID Clump);
-NXT_STATUS cCmdReleaseMutex(MUTEX_Q * Mutex, CLUMP_ID Clump);
+NXT_STATUS cCmdAcquireMutex(MUTEX_Q * Mutex);
+NXT_STATUS cCmdReleaseMutex(MUTEX_Q * Mutex);
//Conditionally schedule dependents of given clump (Begin and End specify subset of list)
NXT_STATUS cCmdSchedDependents(CLUMP_ID Clump, SWORD Begin, SWORD End);
@@ -585,21 +620,13 @@ UBYTE cCmdIsClumpIDSane(CLUMP_ID Clump);
//Instruction masking macros -- get the interesting bits out of an encoded instruction word
#define COMP_CODE(pInstr) ((UBYTE)((((pInstr)[0]) & 0x0700) >> 8))
-#define INSTR_SIZE(pInstr) ((UBYTE)((((pInstr)[0]) & 0xF000) >> 12))
+#define INSTR_SIZE(wd) ((wd) >> 12) & 0x0F;
-#ifdef USE_SHORT_OPS
-//!!! IS_SHORT_OP and SHORT_OP_CODE do not check for insane (out of bounds) data. Accessor function would be safer.
#define IS_SHORT_OP(pInstr) ((UBYTE)((((pInstr)[0]) & 0x0800) >> 8) == 8)
#define SHORT_OP_CODE(pInstr) COMP_CODE(pInstr)
#define SHORT_ARG(pInstr) ((SBYTE) (((pInstr)[0]) & 0x00FF))
//ShortOpMap defined in c_cmd_bytecodes.h
-#define OP_CODE(pInstr) (IS_SHORT_OP(pInstr) ? ShortOpMap[SHORT_OP_CODE(pInstr)] : (UBYTE) (((pInstr)[0]) & 0x00FF))
-#else
-#define OP_CODE(pInstr) ((UBYTE) (((pInstr)[0]) & 0x00FF))
-#endif
-
-//Access count of codewords belonging to Clump. If no clump specified, return count of all codewords in program.
-CODE_INDEX cCmdGetCodespaceCount(CLUMP_ID Clump);
+#define OP_CODE(pInstr) (UBYTE) (((pInstr)[0]) & 0x00FF)
//
//Memory pool management
@@ -615,10 +642,9 @@ NXT_STATUS cCmdDVArrayAlloc(DV_INDEX DVIndex, UWORD NewCount);
NXT_STATUS cCmdAllocSubArrayDopeVectors(DS_ELEMENT_ID DSElementID, UWORD Offset);
NXT_STATUS cCmdFreeSubArrayDopeVectors(DS_ELEMENT_ID DSElementID, UWORD Offset);
-NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize, UWORD BackPtr);
+NXT_STATUS cCmdAllocDopeVector(DV_INDEX *pIndex, UWORD ElemSize);
NXT_STATUS cCmdFreeDopeVector(DV_INDEX DVIndex);
NXT_STATUS cCmdGrowDopeVectorArray(UWORD NewCount);
-NXT_STATUS cCmdCompactDopeVectorArray(void);
UWORD cCmdCalcArrayElemSize(DS_ELEMENT_ID DSElementID);
@@ -639,17 +665,34 @@ NXT_STATUS cCmdMessageRead(UWORD QueueID, UBYTE * pData, UWORD Length, UBYTE Rem
NXT_STATUS cCmdMessageGetSize(UWORD QueueID, UWORD * Size);
//
+// Datalog Queue management
+//
+
+NXT_STATUS cCmdDatalogWrite(UBYTE * pData, UWORD Length);
+NXT_STATUS cCmdDatalogRead(UBYTE * pData, UWORD Length, UBYTE Remove);
+NXT_STATUS cCmdDatalogGetSize(UWORD * Size);
+
+//
+// Color Sensor
+//
+
+NXT_STATUS cCmdColorSensorRead (UBYTE Port, SWORD* SensorValue, UWORD* RawArray, UWORD* NormalizedArray,
+ SWORD* ScaledArray, UBYTE* InvalidData);
+
+//
//Dataspace management
//
#define IS_AGGREGATE_TYPE(TypeCode) ((TypeCode == TC_ARRAY) || (TypeCode == TC_CLUSTER))
+// use carefully, only where tc will be a scalar int
+#define QUICK_UNSIGNED_TEST(TypeCode) ((TypeCode) & 0x1)
#define IS_SIGNED_TYPE(TypeCode) (((TypeCode) == TC_SBYTE) || ((TypeCode) == TC_SWORD) || ((TypeCode) == TC_SLONG))
+//!!!BDUGGAN add TC_FLOAT?
//Test if DS_ELEMENT_ID is sane at run-time (valid for indexing DS TOC)
UBYTE cCmdIsDSElementIDSane(DS_ELEMENT_ID Index);
DS_ELEMENT_ID cCmdGetDataspaceCount(void);
-TYPE_CODE cCmdDSType(DS_ELEMENT_ID DSElementID);
//Pointer accessors to resolve actual data locations in RAM
void* cCmdDSPtr(DS_ELEMENT_ID DSElementID, UWORD Offset);
@@ -669,6 +712,7 @@ NXT_STATUS cCmdUnflattenFromByteArray(UBYTE * pByteArray, UWORD * pByteOffset, D
//Comparison evaluation. Comparison codes defined in c_cmd_bytecodes.h.
//cCmdCompare operates on scalars passed as ULONGs -- type-specific comparisons done inside function.
UBYTE cCmdCompare(UBYTE CompCode, ULONG Val1, ULONG Val2, TYPE_CODE TypeCode1, TYPE_CODE TypeCode2);
+UBYTE cCmdCompareFlt(UBYTE CompCode, float Val1, float Val2, TYPE_CODE TypeCode1, TYPE_CODE TypeCode2);
//cCmdCompareAggregates does polymorphic comparisons (with recursive helper function).
NXT_STATUS cCmdCompareAggregates(UBYTE CompCode, UBYTE *ReturnBool, DATA_ARG Arg2, UWORD Offset2, DATA_ARG Arg3, UWORD Offset3);
NXT_STATUS cCmdRecursiveCompareAggregates(UBYTE CompCode, UBYTE *ReturnBool, UBYTE *Finished, DATA_ARG Arg2, UWORD Offset2, DATA_ARG Arg3, UWORD Offset3);
@@ -689,36 +733,53 @@ TYPE_CODE cCmdArrayType(DS_ELEMENT_ID DSElementID);
//General data accessors (DS and IO Map)
void * cCmdResolveDataArg(DATA_ARG DataArg, UWORD Offset, TYPE_CODE * TypeCode);
+void * cCmdResolveIODataArg(DATA_ARG DataArg, ULONG Offset, TYPE_CODE * TypeCode);
ULONG cCmdGetVal(void * pVal, TYPE_CODE TypeCode);
void cCmdSetVal(void * pVal, TYPE_CODE TypeCode, ULONG NewVal);
-UWORD cCmdSizeOf(TYPE_CODE TypeCode);
+
+// Calibration routines
+void cCmdLoadCalibrationFiles(void);
+NXT_STATUS cCmdComputeCalibratedValue(UBYTE *nm, SWORD *raw);
+void cCmdUpdateCalibrationCache(UBYTE *nm, SWORD min, SWORD max);
//
//Interpreter functions
//
//Clump-based "master" interpreter
-NXT_STATUS cCmdInterpFromClump(CLUMP_ID Clump);
+NXT_STATUS cCmdInterpFromClump();
//Function pointer typedef for sub-interpreters
typedef NXT_STATUS (*pInterp)(CODE_WORD * const);
+typedef NXT_STATUS (*pInterpShort)(CODE_WORD * const);
//Sub-interpreter dispatch functions
NXT_STATUS cCmdInterpNoArg(CODE_WORD * const pCode);
NXT_STATUS cCmdInterpUnop1(CODE_WORD * const pCode);
NXT_STATUS cCmdInterpUnop2(CODE_WORD * const pCode);
+NXT_STATUS cCmdInterpScalarUnop2(CODE_WORD * const pCode);
NXT_STATUS cCmdInterpBinop(CODE_WORD * const pCode);
+NXT_STATUS cCmdInterpScalarBinop(CODE_WORD * const pCode);
NXT_STATUS cCmdInterpOther(CODE_WORD * const pCode);
-#define INTERP_COUNT 5
+NXT_STATUS cCmdInterpShortError(CODE_WORD * const pCode);
+NXT_STATUS cCmdInterpShortSubCall(CODE_WORD * const pCode);
+NXT_STATUS cCmdInterpShortMove(CODE_WORD * const pCode);
+NXT_STATUS cCmdInterpShortAcquire(CODE_WORD * const pCode);
+NXT_STATUS cCmdInterpShortRelease(CODE_WORD * const pCode);
+
+NXT_STATUS cCmdMove(DATA_ARG Arg1, DATA_ARG Arg2);
//Polymorphic interpreter functions
NXT_STATUS cCmdInterpPolyUnop2(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset1, DATA_ARG Arg2, UWORD Offset2);
ULONG cCmdUnop2(CODE_WORD const Code, ULONG Operand, TYPE_CODE TypeCode);
+float cCmdUnop2Flt(CODE_WORD const Code, float Operand, TYPE_CODE TypeCode);
NXT_STATUS cCmdInterpPolyBinop(CODE_WORD const Code, DATA_ARG Arg1, UWORD Offset1, DATA_ARG Arg2, UWORD Offset2, DATA_ARG Arg3, UWORD Offset3);
ULONG cCmdBinop(CODE_WORD const Code, ULONG LeftOp, ULONG RightOp, TYPE_CODE LeftType, TYPE_CODE RightType);
-
+float cCmdBinopFlt(CODE_WORD const Code, float LeftOp, float RightOp, TYPE_CODE LeftType, TYPE_CODE RightType);
+void cCmdSetValFlt(void * pVal, TYPE_CODE TypeCode, float NewVal);
+float cCmdGetValFlt(void * pVal, TYPE_CODE TypeCode);
//
//Support functions for lowspeed (I2C devices, i.e. ultrasonic sensor) communications
//
@@ -770,12 +831,29 @@ NXT_STATUS cCmdWrapRandomNumber(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapGetStartTick(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapMessageWrite(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapMessageRead(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapDatalogWrite(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapCommBTCheckStatus(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapCommBTWrite(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapCommBTRead(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapKeepAlive(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapIOMapRead(UBYTE * ArgV[]);
NXT_STATUS cCmdWrapIOMapWrite(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapColorSensorRead (UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapDatalogGetTimes(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapSetSleepTimeout(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapListFiles(UBYTE * ArgV[]);
+
+// Handlers for dynamically added syscalls
+NXT_STATUS cCmdWrapCommHSWrite(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapCommHSRead(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapCommHSCheckStatus(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapCommBTOnOff(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapCommBTConnection(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapReadSemData(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapWriteSemData(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapUpdateCalibCacheInfo(UBYTE * ArgV[]);
+NXT_STATUS cCmdWrapComputeCalibValue(UBYTE * ArgV[]);
+
//Handler for remote control protocol packets -- called from comm module via IO map function pointer
UWORD cCmdHandleRemoteCommands(UBYTE * pInBuf, UBYTE * pOutBuf, UBYTE * pLen);
diff --git a/AT91SAM7S256/Source/c_cmd.iom b/AT91SAM7S256/Source/c_cmd.iom
index 2b36743..7c5906c 100644
--- a/AT91SAM7S256/Source/c_cmd.iom
+++ b/AT91SAM7S256/Source/c_cmd.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date: 14-06-06 8:09 $
+// Revision date $Date: 3-02-09 9:28 $
//
// Filename $Workfile:: c_cmd.iom $
//
-// Version $Revision: 21 $
+// Version $Revision: 5 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_cmd.iom $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_cmd. $
//
// Platform C
//
@@ -28,12 +28,13 @@
//
#define STAT_MSG_EMPTY_MAILBOX 64 //0x40 Specified mailbox contains no new messages
-
+#define STAT_MSG_BUFFERWRAP 16 //0x10 Datalog buffer not being read fast enough
#define STAT_COMM_PENDING 32 //0x20 Pending setup operation in progress
-#define STOP_REQ 5 //0x05 Abort current program
-#define BREAKOUT_REQ 4 //0x04 Break multi-instruction interpreter loop; give I/O a chance to run
-#define PC_OVERRIDE 3 //0x03 Move program counter according to ScratchPC value
+#define TIMES_UP 6 //0x06 Return to let drivers run
+#define ROTATE_QUEUE 5 //0x05 Give a slice to another queue
+#define STOP_REQ 4 //0x04 Abort current program
+#define BREAKOUT_REQ 3 //0x03 Break multi-instruction interpreter loop; give I/O a chance to run
#define CLUMP_SUSPEND 2 //0x02 Place clump in stasis; execute others until this one returns to RunQ
#define CLUMP_DONE 1 //0x01 Finish and reset this clump; execute others until this one is rescheduled
@@ -99,9 +100,30 @@ enum
RC_GET_CURR_PROGRAM,
RC_GET_BUTTON_STATE,
RC_MESSAGE_READ,
+ RC_RESERVED1,
+ RC_RESERVED2,
+ RC_RESERVED3,
+ RC_RESERVED4,
+ RC_RESERVED5,
+ RC_DATALOG_READ,
+ RC_DATALOG_SET_TIMES,
+ RC_BT_GET_CONTACT_COUNT,
+ RC_BT_GET_CONTACT_NAME,
+ RC_BT_GET_CONN_COUNT,
+ RC_BT_GET_CONN_NAME,
+ RC_SET_PROPERTY,
+ RC_GET_PROPERTY,
+ RC_UPDATE_RESET_COUNT,
+
NUM_RC_OPCODES
};
+// selectors for RC Get and Set properties
+enum {
+RC_PROP_BTONOFF,
+RC_PROP_SOUND_LEVEL,
+RC_PROP_SLEEP_TIMEOUT
+};
//
//Published status of last program to be activated
@@ -135,7 +157,6 @@ typedef enum
//Current firmware version defined in c_loader.iom as FIRMWAREVERSION
//This is the oldest compatible version in the same system
#define VM_OLDEST_COMPATIBLE_VERSION 0x0004
-
//
//IO Map for Command Module
// pRCHandler: Function pointer to handler for remote control protocol
@@ -173,6 +194,9 @@ typedef struct
UBYTE FileName[FILENAME_LENGTH + 1];
ULONG MemoryPool[POOL_MAX_SIZE / 4];
+
+ ULONG SyncTime;
+ ULONG SyncTick;
} IOMAPCMD;
#endif //CCMD_IOM
diff --git a/AT91SAM7S256/Source/c_cmd_alternate.c b/AT91SAM7S256/Source/c_cmd_alternate.c
deleted file mode 100644
index 9366296..0000000
--- a/AT91SAM7S256/Source/c_cmd_alternate.c
+++ /dev/null
@@ -1,163 +0,0 @@
-//
-// File Description:
-// This file contains an alternate implementation of c_cmd for testing purposes.
-// It implements the minimal standard interface for the module, and serves as
-// an example of output module control via C code.
-//
-
-void cCmdInit(void* pHeader)
-{
- pHeaders = pHeader;
-
- IOMapCmd.Awake = TRUE;
-
- dTimerInit();
- IOMapCmd.Tick = dTimerRead();
-
- return;
-}
-
-//Test: Start at speed 100 when enter is pressed; then progressively ramp down every half second until -100.
-void cCmdCtrl(void)
-{
- static UBYTE State = 0;
- static ULONG MyTick = 0;
-
- if (pMapButton->State[BTN1] & PRESSED_EV)
- {
- pMapButton->State[BTN1] &= ~PRESSED_EV;
-
- //Coast both motors
- pMapOutPut->Outputs[0].Mode = MOTORON;
- pMapOutPut->Outputs[1].Mode = MOTORON;
-
- pMapOutPut->Outputs[0].Speed = 0;
- pMapOutPut->Outputs[0].TachoLimit = 0;
- pMapOutPut->Outputs[0].RunState = MOTOR_RUN_STATE_IDLE;
- pMapOutPut->Outputs[0].RegMode = REGULATION_MODE_IDLE;
-
- pMapOutPut->Outputs[1].Speed = 0;
- pMapOutPut->Outputs[1].TachoLimit = 0;
- pMapOutPut->Outputs[1].RunState = MOTOR_RUN_STATE_IDLE;
- pMapOutPut->Outputs[1].RegMode = REGULATION_MODE_IDLE;
-
- pMapOutPut->Outputs[0].Flags = UPDATE_MODE | UPDATE_SPEED;
- pMapOutPut->Outputs[1].Flags = UPDATE_MODE | UPDATE_SPEED;
-
- //Drop out of ongoing state machine
- State = 255;
- }
-
- switch(State)
- {
- case 0:
- {
- //Initialize
- pMapOutPut->Outputs[0].Flags = UPDATE_RESET_COUNT;
- pMapOutPut->Outputs[1].Flags = UPDATE_RESET_COUNT;
- pMapOutPut->Outputs[0].RunState = MOTOR_RUN_STATE_IDLE;
- pMapOutPut->Outputs[1].RunState = MOTOR_RUN_STATE_IDLE;
-
- State++;
- }
- break;
-
- case 1:
- {
- //Kick off further states only if Enter button is pressed
- if ((pMapButton->State[BTN4] & PRESSED_EV))
- {
- //Clear pressed event so UI doesn't re-use it.
- pMapButton->State[BTN4] &= ~PRESSED_EV;
-
- pMapOutPut->Outputs[0].Mode = MOTORON | BRAKE | REGULATED;
- pMapOutPut->Outputs[1].Mode = MOTORON | BRAKE | REGULATED;
-
- pMapOutPut->Outputs[0].Speed = 50;
- pMapOutPut->Outputs[0].TachoLimit = 1152;
- pMapOutPut->Outputs[0].RunState = MOTOR_RUN_STATE_RUNNING;
- pMapOutPut->Outputs[0].SyncTurnParameter = 25;
- //pMapOutPut->Outputs[0].RegMode = REGULATION_MODE_MOTOR_SPEED;
- pMapOutPut->Outputs[0].RegMode = REGULATION_MODE_MOTOR_SYNC;
-
- pMapOutPut->Outputs[1].Speed = 50;
- pMapOutPut->Outputs[1].TachoLimit = 1152;
- pMapOutPut->Outputs[1].RunState = MOTOR_RUN_STATE_RUNNING;
- //pMapOutPut->Outputs[1].SyncTurnParameter = -7;
- //pMapOutPut->Outputs[1].RegMode = REGULATION_MODE_MOTOR_SPEED;
- pMapOutPut->Outputs[1].RegMode = REGULATION_MODE_MOTOR_SYNC;
-
- pMapOutPut->Outputs[0].Flags = UPDATE_MODE | UPDATE_SPEED | UPDATE_TACHO_LIMIT;
- pMapOutPut->Outputs[1].Flags = UPDATE_MODE | UPDATE_SPEED | UPDATE_TACHO_LIMIT;
-
- State++;
- }
- }
- break;
-
- case 2:
- {
- if (pMapOutPut->Outputs[0].RunState == MOTOR_RUN_STATE_IDLE)
- {
- pMapOutPut->Outputs[0].Mode = MOTORON;
- pMapOutPut->Outputs[1].Mode = MOTORON;
-
- pMapOutPut->Outputs[0].Speed = 0;
- pMapOutPut->Outputs[0].TachoLimit = 0;
- pMapOutPut->Outputs[0].RunState = MOTOR_RUN_STATE_IDLE;
- pMapOutPut->Outputs[0].RegMode = REGULATION_MODE_IDLE;
-
- pMapOutPut->Outputs[1].Speed = 0;
- pMapOutPut->Outputs[1].TachoLimit = 0;
- pMapOutPut->Outputs[1].RunState = MOTOR_RUN_STATE_IDLE;
- pMapOutPut->Outputs[1].RegMode = REGULATION_MODE_IDLE;
-
- pMapOutPut->Outputs[0].Flags = UPDATE_MODE | UPDATE_SPEED;
- pMapOutPut->Outputs[1].Flags = UPDATE_MODE | UPDATE_SPEED;
- State++;
- }
- }
- break;
-
- case 3:
- {
- pMapOutPut->Outputs[0].Mode = MOTORON | BRAKE | REGULATED;
- pMapOutPut->Outputs[1].Mode = MOTORON | BRAKE | REGULATED;
-
- pMapOutPut->Outputs[0].Speed = 50;
- pMapOutPut->Outputs[0].TachoLimit = 1152;
- pMapOutPut->Outputs[0].RunState = MOTOR_RUN_STATE_RUNNING;
- //pMapOutPut->Outputs[0].SyncTurnParameter = 5;
- //pMapOutPut->Outputs[0].RegMode = REGULATION_MODE_MOTOR_SPEED;
- pMapOutPut->Outputs[0].RegMode = REGULATION_MODE_MOTOR_SYNC;
-
- pMapOutPut->Outputs[1].Speed = 50;
- pMapOutPut->Outputs[1].TachoLimit = 1152;
- pMapOutPut->Outputs[1].RunState = MOTOR_RUN_STATE_RUNNING;
- //pMapOutPut->Outputs[1].RegMode = REGULATION_MODE_MOTOR_SPEED;
- pMapOutPut->Outputs[1].RegMode = REGULATION_MODE_MOTOR_SYNC;
-
- pMapOutPut->Outputs[0].Flags = UPDATE_MODE | UPDATE_SPEED | UPDATE_TACHO_LIMIT;
- pMapOutPut->Outputs[1].Flags = UPDATE_MODE | UPDATE_SPEED | UPDATE_TACHO_LIMIT;
-
- State = 2;
- }
- break;
-
- default:
- break;
- };
-
- //Busy loop to ensure return on 1ms boundary
- BUSY_WAIT_NEXT_MS;
-
- IOMapCmd.Tick = dTimerRead();
- MyTick++;
-
- return;
-}
-
-void cCmdExit(void)
-{
- return;
-}
diff --git a/AT91SAM7S256/Source/c_cmd_bytecodes.h b/AT91SAM7S256/Source/c_cmd_bytecodes.h
index 6051aba..5cd9dfd 100644
--- a/AT91SAM7S256/Source/c_cmd_bytecodes.h
+++ b/AT91SAM7S256/Source/c_cmd_bytecodes.h
@@ -4,83 +4,87 @@
// opcode definitions
// symbol, bits, arg format
//
-#define OPCODE_COUNT 0x36
+#define OPCODE_COUNT 0x38
//Family: Math
-#define OP_ADD 0x00 // dest, src1, src2
-#define OP_SUB 0x01 // dest, src1, src2
-#define OP_NEG 0x02 // dest, src
-#define OP_MUL 0x03 // dest, src1, src2
-#define OP_DIV 0x04 // dest, src1, src2
-#define OP_MOD 0x05 // dest, src1, src2
+#define OP_ADD 0x00 // dest, src1, src2
+#define OP_SUB 0x01 // dest, src1, src2
+#define OP_NEG 0x02 // dest, src
+#define OP_MUL 0x03 // dest, src1, src2
+#define OP_DIV 0x04 // dest, src1, src2
+#define OP_MOD 0x05 // dest, src1, src2
//Family: Logic
-#define OP_AND 0x06 // dest, src1, src2
-#define OP_OR 0x07 // dest, src1, src2
-#define OP_XOR 0x08 // dest, src1, src2
-#define OP_NOT 0x09 // dest, src
+#define OP_AND 0x06 // dest, src1, src2
+#define OP_OR 0x07 // dest, src1, src2
+#define OP_XOR 0x08 // dest, src1, src2
+#define OP_NOT 0x09 // dest, src
//Family: Bit manipulation
-#define OP_CMNT 0x0A // dest, src
-#define OP_LSL 0x0B // dest, src
-#define OP_LSR 0x0C // dest, src
-#define OP_ASL 0x0D // dest, src
-#define OP_ASR 0x0E // dest, src
-#define OP_ROTL 0x0F // dest, src
-#define OP_ROTR 0x10 // dest, src
+#define OP_CMNT 0x0A // dest, src
+#define OP_LSL 0x0B // dest, src
+#define OP_LSR 0x0C // dest, src
+#define OP_ASL 0x0D // dest, src
+#define OP_ASR 0x0E // dest, src
+#define OP_ROTL 0x0F // dest, src
+#define OP_ROTR 0x10 // dest, src
//Family: Comparison
-#define OP_CMP 0x11 // dest, src1, src2
-#define OP_TST 0x12 // dest, src
-#define OP_CMPSET 0x13 // dest, src, testsrc, testsrc
-#define OP_TSTSET 0x14 // dest, src, testsrc
+#define OP_CMP 0x11 // dest, src1, src2
+#define OP_TST 0x12 // dest, src
+#define OP_CMPSET 0x13 // dest, src, testsrc, testsrc
+#define OP_TSTSET 0x14 // dest, src, testsrc
//Family: Array ops
-#define OP_INDEX 0x15 // dest, src, index
-#define OP_REPLACE 0x16 // dest, src, index, val
-#define OP_ARRSIZE 0x17 // dest, src
-#define OP_ARRBUILD 0x18 // instrsize, dest, src1, src2,
-#define OP_ARRSUBSET 0x19 // dest, src, index, length
-#define OP_ARRINIT 0x1A // dest, elem, length
+#define OP_INDEX 0x15 // dest, src, index
+#define OP_REPLACE 0x16 // dest, src, index, val
+#define OP_ARRSIZE 0x17 // dest, src
+#define OP_ARRBUILD 0x18 // instrsize, dest, src1, src2,
+#define OP_ARRSUBSET 0x19 // dest, src, index, length
+#define OP_ARRINIT 0x1A // dest, elem, length
//Family: Memory ops
-#define OP_MOV 0x1B // dest, src
-#define OP_SET 0x1C // dest, imm
+#define OP_MOV 0x1B // dest, src
+#define OP_SET 0x1C // dest, imm
//Family: String ops
-#define OP_FLATTEN 0x1D // dest, src
-#define OP_UNFLATTEN 0x1E // dest, err, src, type
-#define OP_NUMTOSTRING 0x1F // dest, src
-#define OP_STRINGTONUM 0x20 // dest, offsetpast, src, offset, default
-#define OP_STRCAT 0x21 // instrsize, dest, src1, src2,
-#define OP_STRSUBSET 0x22 // dest, src, index, length
-#define OP_STRTOBYTEARR 0x23 // dest, src
-#define OP_BYTEARRTOSTR 0x24 // dest, src
+#define OP_FLATTEN 0x1D // dest, src
+#define OP_UNFLATTEN 0x1E // dest, err, src, type
+#define OP_NUMTOSTRING 0x1F // dest, src
+#define OP_STRINGTONUM 0x20 // dest, offsetpast, src, offset, default
+#define OP_STRCAT 0x21 // instrsize, dest, src1, src2,
+#define OP_STRSUBSET 0x22 // dest, src, index, length
+#define OP_STRTOBYTEARR 0x23 // dest, src
+#define OP_BYTEARRTOSTR 0x24 // dest, src
//Family: Control flow
-#define OP_JMP 0x25 // offset
-#define OP_BRCMP 0x26 // offset, src1, src2
-#define OP_BRTST 0x27 // offset, src
-#define OP_SYSCALL 0x28 // func, args
-#define OP_STOP 0x29 // stop?
+#define OP_JMP 0x25 // offset
+#define OP_BRCMP 0x26 // offset, src1, src2
+#define OP_BRTST 0x27 // offset, src
+#define OP_SYSCALL 0x28 // func, args
+#define OP_STOP 0x29 // stop?
//Family: Clump scheduling
-#define OP_FINCLUMP 0x2A // start, end
-#define OP_FINCLUMPIMMED 0x2B // clumpID
-#define OP_ACQUIRE 0x2C // mutexID
-#define OP_RELEASE 0x2D // mutexID
-#define OP_SUBCALL 0x2E // subroutine, callerID
-#define OP_SUBRET 0x2F // callerID
+#define OP_FINCLUMP 0x2A // start, end
+#define OP_FINCLUMPIMMED 0x2B // clumpID
+#define OP_ACQUIRE 0x2C // mutexID
+#define OP_RELEASE 0x2D // mutexID
+#define OP_SUBCALL 0x2E // subroutine, callerID
+#define OP_SUBRET 0x2F // callerID
//Family: IO ops
-#define OP_SETIN 0x30 // src, port, propid
-#define OP_SETOUT 0x31 // instrsize, port/portlist, propid1, src1, ...
-#define OP_GETIN 0x32 // dest, port, propid
-#define OP_GETOUT 0x33 // dest, port, propid
+#define OP_SETIN 0x30 // src, port, propid
+#define OP_SETOUT 0x31 // src, port, propid
+#define OP_GETIN 0x32 // dest, port, propid
+#define OP_GETOUT 0x33 // dest, port, propid
//Family: Timing
-#define OP_WAIT 0x34 // milliseconds
-#define OP_GETTICK 0x35 // dest
+#define OP_WAIT 0x34 // dest, src
+#define OP_GETTICK 0x35 // dest
+
+//Family: Math NEW
+#define OP_SQRT 0x36 // dest, src
+#define OP_ABS 0x37 // dest, src
// condition code definitions
#define OPCC1_LT 0x00
@@ -96,20 +100,20 @@
// short op definitions
//
#define USE_SHORT_OPS
-#define SHORT_OP_MOV 0
-#define SHORT_OP_ACQUIRE 1
-#define SHORT_OP_RELEASE 2
-#define SHORT_OP_SUBCALL 3
+#define SHORT_OP_MOV 0
+#define SHORT_OP_ACQUIRE 1
+#define SHORT_OP_RELEASE 2
+#define SHORT_OP_SUBCALL 3
//
// short op mapping table
//
-static UBYTE ShortOpMap[4] =
+static UBYTE ShortOpMap[4] =
{
- OP_MOV,
- OP_ACQUIRE,
- OP_RELEASE,
- OP_SUBCALL
+ OP_MOV,
+ OP_ACQUIRE,
+ OP_RELEASE,
+ OP_SUBCALL
};
#endif // C_CMD_BYTECODES
diff --git a/AT91SAM7S256/Source/c_comm.c b/AT91SAM7S256/Source/c_comm.c
index 291c96b..ee0c6ae 100644
--- a/AT91SAM7S256/Source/c_comm.c
+++ b/AT91SAM7S256/Source/c_comm.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:42 $
+// Revision date $Date: 8-09-08 14:11 $
//
// Filename $Workfile:: c_comm.c $
//
-// Version $Revision:: 172 $
+// Version $Revision: 7 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_comm.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_comm $
//
// Platform C
//
@@ -126,6 +126,7 @@ void cCommsDisconnectAll(UBYTE *pNextState);
void cCommsBtReset(UBYTE *pNextState);
void cCommPinCode(UBYTE *pPinCode);
void cCommClrConnTable(void);
+SBYTE cCommSearchBTDevTableForName(UBYTE*);
void cCommInit(void* pHeader)
{
@@ -328,6 +329,24 @@ void cCommExit(void)
dBtExit();
}
+
+UBYTE cCommCheckSysFileType(UBYTE *pName)
+{
+ UBYTE RtnVal;
+ UBYTE TmpFilename[FILENAME_LENGTH + 1];
+
+ RtnVal = FALSE;
+ cCommCpyToUpper(TmpFilename, &pName[1], (UBYTE)(FILENAME_LENGTH + 1));
+ if ((0 != strstr((PSZ)(TmpFilename), ".RXE")) ||
+ (0 != strstr((PSZ)(TmpFilename), ".SYS")) ||
+ (0 != strstr((PSZ)(TmpFilename), ".RTM")))
+ {
+ RtnVal = TRUE;
+ }
+ return(RtnVal);
+}
+
+
UWORD cCommInterprete(UBYTE *pInBuf, UBYTE *pOutBuf, UBYTE *pLength, UBYTE CmdBit, UWORD MsgLength)
{
UWORD ReturnStatus;
@@ -469,18 +488,12 @@ UWORD cCommInterpreteCmd(UBYTE Cmd, UBYTE *pInBuf, UBYTE *pOutBuf, UBYTE *pL
{
case OPENWRITE:
{
- UBYTE TmpFilename[FILENAME_LENGTH + 1];
-
FileLength = pInBuf[21];
FileLength += (ULONG)pInBuf[22] << 8;
FileLength += (ULONG)pInBuf[23] << 16;
FileLength += (ULONG)pInBuf[24] << 24;
- cCommCpyToUpper(TmpFilename, &pInBuf[1], (UBYTE)(FILENAME_LENGTH + 1));
-
- if ((0 != strstr((PSZ)(TmpFilename), ".RXE")) ||
- (0 != strstr((PSZ)(TmpFilename), ".SYS")) ||
- (0 != strstr((PSZ)(TmpFilename), ".RTM")))
+ if(TRUE == cCommCheckSysFileType(&pInBuf[1]))
{
Status = pMapLoader->pFunc(OPENWRITELINEAR, &pInBuf[1], NULL, &FileLength);
}
@@ -564,8 +577,14 @@ UWORD cCommInterpreteCmd(UBYTE Cmd, UBYTE *pInBuf, UBYTE *pOutBuf, UBYTE *pL
FileLength += (ULONG)pInBuf[23] << 16;
FileLength += (ULONG)pInBuf[24] << 24;
- Status = pMapLoader->pFunc(OPENWRITEDATA, &pInBuf[1], NULL, &FileLength);
-
+ if(TRUE == cCommCheckSysFileType(&pInBuf[1]))
+ {
+ Status = ILLEGALFILENAME;
+ }
+ else
+ {
+ Status = pMapLoader->pFunc(OPENWRITEDATA, &pInBuf[1], NULL, &FileLength);
+ }
pOutBuf[0] = LOADER_ERR_BYTE(Status);
pOutBuf[1] = LOADER_HANDLE(Status);
*pLength = 2;
@@ -604,6 +623,14 @@ UWORD cCommInterpreteCmd(UBYTE Cmd, UBYTE *pInBuf, UBYTE *pOutBuf, UBYTE *pL
*pLength = 2;
}
break;
+ case CROPDATAFILE:
+ {
+ Status = pMapLoader->pFunc(CROPDATAFILE, &(pInBuf[1]), NULL, &FileLength);
+ pOutBuf[0] = LOADER_ERR_BYTE(Status);
+ pOutBuf[1] = LOADER_HANDLE(Status);
+ *pLength = 2;
+ }
+ break;
case OPENREAD:
{
Status = pMapLoader->pFunc(OPENREAD, &pInBuf[1], NULL, &FileLength);
@@ -1181,7 +1208,7 @@ UWORD cCommReceivedBtData(void)
}
else
{
-
+
/* ActiveUpdate has to be idle because BC4 can send stream data even if CMD */
/* mode has been requested - dont try to interprete the data */
/* VarsComm.CmdSwitchCnt != 0 if a transition to Cmd mode is in process */
@@ -3175,7 +3202,7 @@ void cCommsSetCmdMode(UBYTE *pNextState)
/* stream status has been cleared now wait until buffers has been emptied */
if (TRUE == dBtTxEnd())
{
-
+
/* Wait 100 ms after last byte has been sent to BC4 - else BC4 can crash */
if (++(VarsComm.BtCmdModeWaitCnt) > 100)
{
@@ -3435,6 +3462,7 @@ UWORD cCommReq(UBYTE Cmd, UBYTE Param1, UBYTE Param2, UBYTE Param3, UBYTE *p
{
ULONG Length;
UWORD ReturnVal;
+ SBYTE foundIndex= 0;
ReturnVal = BTBUSY;
*pRetVal = BTBUSY;
@@ -3473,11 +3501,14 @@ UWORD cCommReq(UBYTE Cmd, UBYTE Param1, UBYTE Param2, UBYTE Param3, UBYTE *p
}
}
break;
-
+ case CONNECTBYNAME: // redo Param1, then fall through existing CONNECT code
+ foundIndex= cCommSearchBTDevTableForName(pName);
+ if(foundIndex != -1)
+ Param1= foundIndex;
case CONNECT:
{
- if (BLUETOOTH_HANDLE_UNDEFIEND == IOMapComm.BtConnectTable[Param2].HandleNr)
+ if (BLUETOOTH_HANDLE_UNDEFIEND == IOMapComm.BtConnectTable[Param2].HandleNr && foundIndex != -1)
{
/* Connection not occupied */
@@ -3577,7 +3608,7 @@ UWORD cCommReq(UBYTE Cmd, UBYTE Param1, UBYTE Param2, UBYTE Param3, UBYTE *p
/* to be sent. pName is the pointer to the data */
if (Param1 <= sizeof(VarsComm.BtModuleOutBuf.Buf))
{
- if ('\0' != IOMapComm.BtConnectTable[VarsComm.BtCmdData.ParamTwo].Name[0])
+ if ('\0' != IOMapComm.BtConnectTable[Param2].Name[0])
{
VarsComm.BtCmdData.ParamOne = Param1;
VarsComm.BtCmdData.ParamTwo = Param2;
@@ -3656,3 +3687,14 @@ void cCommClrConnTable(void)
pMapUi->BluetoothState &= ~BT_STATE_CONNECTED;
pMapUi->Flags |= UI_REDRAW_STATUS;
}
+
+ /* search the BT table */
+SBYTE cCommSearchBTDevTableForName(UBYTE *name) {
+ UBYTE Tmp;
+ for (Tmp = 0; Tmp < SIZE_OF_BT_DEVICE_TABLE; Tmp++)
+ {
+ if (0 == strcmp((char*)(IOMapComm.BtDeviceTable[Tmp].Name), (char*)name))
+ return Tmp;
+ }
+ return -1;
+}
diff --git a/AT91SAM7S256/Source/c_comm.h b/AT91SAM7S256/Source/c_comm.h
index 8487a82..a1e112c 100644
--- a/AT91SAM7S256/Source/c_comm.h
+++ b/AT91SAM7S256/Source/c_comm.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:42 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_comm.h $
//
-// Version $Revision:: 54 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_comm.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_comm $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_comm.iom b/AT91SAM7S256/Source/c_comm.iom
index 6a43149..2dfe994 100644
--- a/AT91SAM7S256/Source/c_comm.iom
+++ b/AT91SAM7S256/Source/c_comm.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:42 $
+// Revision date $Date:: 9-06-08 14:57 $
//
// Filename $Workfile:: c_comm.iom $
//
-// Version $Revision:: 72 $
+// Version $Revision:: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_comm.iom $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_comm $
//
// Platform C
//
@@ -62,7 +62,7 @@ enum
enum
{
HS_INITIALISE = 1,
- HS_INIT_RECEIVER,
+ HS_INIT_RECEIVER,
HS_SEND_DATA,
HS_DISABLE
};
@@ -97,7 +97,8 @@ enum
SETBTNAME,
EXTREAD,
PINREQ,
- CONNECTREQ
+ CONNECTREQ,
+ CONNECTBYNAME
};
@@ -138,7 +139,7 @@ typedef struct
typedef struct
{
UBYTE Buf[SIZE_OF_BTBUF];
- UBYTE InPtr;
+ UBYTE InPtr;
UBYTE OutPtr;
UBYTE Spare1;
UBYTE Spare2;
diff --git a/AT91SAM7S256/Source/c_display.c b/AT91SAM7S256/Source/c_display.c
index 36d66e7..6b15495 100644
--- a/AT91SAM7S256/Source/c_display.c
+++ b/AT91SAM7S256/Source/c_display.c
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author: Dkflebun $
//
-// Revision date $Date:: 17-02-06 8:45 $
+// Revision date $Date: 9-06-08 13:35 $
//
// Filename $Workfile:: c_display.c $
//
-// Version $Revision:: 36 $
+// Version $Revision: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_display. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_disp $
//
// Platform C
//
@@ -349,23 +349,13 @@ void cDisplayFrame(SCREEN_CORDINATE *pCord)
void cDisplayEraseLine(UBYTE Line)
{
- UBYTE Tmp;
-
- for (Tmp = 0;Tmp < DISPLAY_WIDTH;Tmp++)
- {
- IOMapDisplay.Display[Line * DISPLAY_WIDTH + Tmp] = 0x00;
- }
+ memset(&IOMapDisplay.Display[Line * DISPLAY_WIDTH], 0x00, DISPLAY_WIDTH);
}
void cDisplayErase(void)
{
- UBYTE Tmp;
-
- for (Tmp = 0;Tmp < (DISPLAY_HEIGHT / 8);Tmp++)
- {
- cDisplayEraseLine(Tmp);
- }
+ memset(&IOMapDisplay.Display[0], 0x00, DISPLAY_WIDTH*DISPLAY_HEIGHT/8);
}
diff --git a/AT91SAM7S256/Source/c_display.h b/AT91SAM7S256/Source/c_display.h
index 62a89f8..56b6744 100644
--- a/AT91SAM7S256/Source/c_display.h
+++ b/AT91SAM7S256/Source/c_display.h
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 17-02-06 8:45 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_display.h $
//
-// Version $Revision:: 8 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_display. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_disp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_display.iom b/AT91SAM7S256/Source/c_display.iom
index 79fd86b..2e1ab74 100644
--- a/AT91SAM7S256/Source/c_display.iom
+++ b/AT91SAM7S256/Source/c_display.iom
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 17-02-06 8:45 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_display.iom $
//
-// Version $Revision:: 30 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_display. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_disp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_input.c b/AT91SAM7S256/Source/c_input.c
index d17c546..47ca7c0 100644
--- a/AT91SAM7S256/Source/c_input.c
+++ b/AT91SAM7S256/Source/c_input.c
@@ -1,13 +1,14 @@
+
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:06 $
+// Revision date $Date:: 3/21/09 10:31a $
//
// Filename $Workfile:: c_input.c $
//
-// Version $Revision:: 25 $
+// Version $Revision:: 39 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_input.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_inpu $
//
// Platform C
//
@@ -17,9 +18,13 @@
#include "c_input.h"
#include "d_input.h"
#include "c_output.iom"
+#include "c_loader.iom"
+#include <string.h>
+
#define INVALID_RELOAD_NORMAL 20
#define INVALID_RELOAD_SOUND 300
+#define INVALID_RELOAD_COLOR 400
#define ROT_SLOW_SPEED 30
#define ROT_OV_SAMPLING 7
@@ -40,6 +45,14 @@
#define NEWSOUNDSENSORMAX ((AD_MAX * 4980L)/VCC_SENSOR)
#define NEWSOUNDSENSORPCTDYN (UBYTE)(((NEWSOUNDSENSORMAX - NEWSOUNDSENSORMIN) * 100L)/AD_MAX)
+/* Remember this is ARM AD converter - 3,3 VDC as max voltage */
+/* When in color mode background value is substracted => min = 0!!! */
+#define COLORSENSORBGMIN (214/(3300/AD_MAX))
+#define COLORSENSORMIN (1L/(3300/AD_MAX)) /* 1 inserted else div 0 (1L/(120/AD_MAX)) */
+#define COLORSENSORMAX ((AD_MAX * 3300L)/3300)
+#define COLORSENSORPCTDYN (UBYTE)(((COLORSENSORMAX - COLORSENSORMIN) * 100L)/AD_MAX)
+#define COLORSENSORBGPCTDYN (UBYTE)(((COLORSENSORMAX - COLORSENSORBGMIN) * 100L)/AD_MAX)
+
enum
{
POWER = 0x00,
@@ -48,24 +61,66 @@ enum
ALWAYS_ACTIVE = 0x04,
DIGI_0_HIGH = 0x08,
DIGI_1_HIGH = 0x10,
- CUSTOM_SETUP = 0x20
+ DIGI_0_IN = 0x20,
+ DIGI_1_IN = 0x40,
+ CUSTOM_SETUP = 0x80
};
-static const UBYTE ActiveList[NO_OF_SENSOR_TYPES] =
-{
- NO_POWER, /* NO_SENSOR */
- NO_POWER, /* SWITCH */
- NO_POWER, /* TEMPERATURE */
- ACTIVE, /* REFLECTION */
- ACTIVE, /* ANGLE */
- DIGI_0_HIGH, /* LIGHT_ACTIVE */
- POWER, /* LIGHT_INACTIVE */
- DIGI_0_HIGH, /* SOUND_DB */
- DIGI_1_HIGH, /* SOUND_DBA */
- CUSTOM_SETUP, /* CUSTOM */
- DIGI_0_HIGH | DIGI_1_HIGH, /* LOWSPEED */
- ALWAYS_ACTIVE | DIGI_0_HIGH | DIGI_1_HIGH /* LOWSPEED_9V on */
+const SWORD TempConvTable[] =
+{
+ 1500, 1460, 1430, 1400, 1380, 1360, 1330, 1310, 1290, 1270, 1250, 1230, 1220, 1200, 1190, 1170,
+ 1160, 1150, 1140, 1130, 1110, 1100, 1090, 1080, 1070, 1060, 1050, 1040, 1030, 1020, 1010, 1000,
+ 994, 988, 982, 974, 968, 960, 954, 946, 940, 932, 926, 918, 912, 906, 900, 894,
+ 890, 884, 878, 874, 868, 864, 858, 854, 848, 844, 838, 832, 828, 822, 816, 812,
+ 808, 802, 798, 794, 790, 786, 782, 780, 776, 772, 768, 764, 762, 758, 754, 750,
+ 748, 744, 740, 736, 732, 730, 726, 722, 718, 716, 712, 708, 704, 700, 696, 694,
+ 690, 688, 684, 682, 678, 674, 672, 668, 666, 662, 660, 656, 654, 650, 648, 644,
+ 642, 640, 638, 634, 632, 630, 628, 624, 622, 620, 616, 614, 612, 610, 608, 604,
+ 602, 600, 598, 596, 592, 590, 588, 586, 584, 582, 580, 578, 576, 574, 572, 570,
+ 568, 564, 562, 560, 558, 556, 554, 552, 550, 548, 546, 544, 542, 540, 538, 536,
+ 534, 532, 530, 528, 526, 524, 522, 520, 518, 516, 514, 512, 510, 508, 508, 506,
+ 504, 502, 500, 498, 496, 494, 494, 492, 490, 488, 486, 486, 484, 482, 480, 478,
+ 476, 476, 474, 472, 470, 468, 468, 466, 464, 462, 460, 458, 458, 456, 454, 452,
+ 450, 448, 448, 446, 444, 442, 442, 440, 438, 436, 436, 434, 432, 432, 430, 428,
+ 426, 426, 424, 422, 420, 420, 418, 416, 416, 414, 412, 410, 408, 408, 406, 404,
+ 404, 402, 400, 398, 398, 396, 394, 394, 392, 390, 390, 388, 386, 386, 384, 382,
+ 382, 380, 378, 378, 376, 374, 374, 372, 370, 370, 368, 366, 366, 364, 362, 362,
+ 360, 358, 358, 356, 354, 354, 352, 350, 350, 348, 348, 346, 344, 344, 342, 340,
+ 340, 338, 338, 336, 334, 334, 332, 332, 330, 328, 328, 326, 326, 324, 322, 322,
+ 320, 320, 318, 316, 316, 314, 314, 312, 310, 310, 308, 308, 306, 304, 304, 302,
+ 300, 300, 298, 298, 296, 296, 294, 292, 292, 290, 290, 288, 286, 286, 284, 284,
+ 282, 282, 280, 280, 278, 278, 276, 274, 274, 272, 272, 270, 270, 268, 268, 266,
+ 264, 264, 262, 262, 260, 260, 258, 258, 256, 254, 254, 252, 252, 250, 250, 248,
+ 248, 246, 244, 244, 242, 240, 240, 240, 238, 238, 236, 236, 234, 234, 232, 230,
+ 230, 228, 228, 226, 226, 224, 224, 222, 220, 220, 218, 218, 216, 216, 214, 214,
+ 212, 212, 210, 210, 208, 208, 206, 204, 204, 202, 202, 200, 200, 198, 198, 196,
+ 196, 194, 194, 192, 190, 190, 188, 188, 186, 186, 184, 184, 182, 182, 180, 180,
+ 178, 178, 176, 176, 174, 174, 172, 172, 170, 170, 168, 168, 166, 166, 164, 164,
+ 162, 162, 160, 160, 158, 156, 156, 154, 154, 152, 152, 150, 150, 148, 148, 146,
+ 146, 144, 144, 142, 142, 140, 140, 138, 136, 136, 136, 134, 134, 132, 130, 130,
+ 128, 128, 126, 126, 124, 124, 122, 122, 120, 120, 118, 118, 116, 116, 114, 114,
+ 112, 110, 110, 108, 108, 106, 106, 104, 104, 102, 102, 100, 100, 98, 98, 96,
+ 94, 94, 92, 92, 90, 90, 88, 88, 86, 86, 84, 82, 82, 80, 80, 78,
+ 78, 76, 76, 74, 74, 72, 72, 70, 70, 68, 68, 66, 66, 64, 62, 62,
+ 60, 60, 58, 56, 56, 54, 54, 52, 52, 50, 50, 48, 48, 46, 46, 44,
+ 44, 42, 40, 40, 38, 38, 36, 34, 34, 32, 32, 30, 30, 28, 28, 26,
+ 24, 24, 22, 22, 20, 20, 18, 16, 16, 14, 14, 12, 12, 10, 10, 8,
+ 6, 6, 4, 2, 2, 0, 0, -2, -4, -4, -6, -6, -8, -10, -10, -12,
+ -12, -14, -16, - 16, -18, -20, -20, -22, -22, -24, -26, -26, -28, -30, -30, -32,
+ -34, -34, -36, -36, -38, -40, -40, -42, -42, -44, -46, -46, -48, -50, -50, -52,
+ -54, -54, -56, -58, -58, -60, -60, -62, -64, -66, -66, -68, -70, -70, -72, -74,
+ -76, -76, -78, -80, -80, -82, -84, -86, -86, -88, -90, -90, -92, -94, -94, -96,
+ -98, -98, -100, -102, -104, -106, -106, -108, -110, -112, -114, -114, -116, -118, -120, -120,
+ -122, -124, -126, -128, -130, -130, -132, -134, -136, -138, -140, -142, -144, -146, -146, -148,
+ -150, -152, -154, -156, -158, -160, -162, -164, -166, -166, -168, -170, -172, -174, -176, -178,
+ -180, -182, -184, -186, -188, -190, -192, -194, -196, -196, -198, -200, -202, -204, -206, -208,
+ -210, -212, -214, -216, -218, -220, -224, -226, -228, -230, -232, -234, -236, -238, -242, -246,
+ -248, -250, -254, -256, -260, -262, -264, -268, -270, -274, -276, -278, -282, -284, -286, -290,
+ -292, -296, -298, -300, -306, -308, -312, -316, -320, -324, -326, -330, -334, -338, -342, -344,
+ -348, -354, -358, -362, -366, -370, -376, -380, -384, -388, -394, -398, -404, -410, -416, -420,
+ -428, -432, -440, -446, -450, -460, -468, -476, -484, -492, -500, -510, -524, -534, -546, -560,
+ -572, -588, -600, -630, -656, -684, -720, -770
};
static IOMAPINPUT IOMapInput;
@@ -85,18 +140,24 @@ const HEADER cInput =
0x0000 //Code size - not used so far
};
-void cInputCalcSensorRaw(UWORD *pRaw, UBYTE Type, UBYTE No);
void cInputCalcFullScale(UWORD *pRawVal, UWORD ZeroPointOffset, UBYTE PctFullScale, UBYTE InvState);
-void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp);
-void cInputCalcSensor(UBYTE Tmp);
-void cInputSetupType(UBYTE Port);
+void cInputCalcSensorValue(UWORD NewSensorRaw, UWORD *pOldSensorRaw, SWORD *pSensorValue,
+ UBYTE *pBoolean, UBYTE *pDebounce, UBYTE *pSampleCnt,
+ UBYTE *LastAngle, UBYTE *pEdgeCnt, UBYTE Slope,
+ UBYTE Mode);
+void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType);
void cInputSetupCustomSensor(UBYTE Port);
-
+void cInputCalcSensorValues(UBYTE No);
+UBYTE cInputInitColorSensor(UBYTE Port, UBYTE *pInitStatus);
+void cInputCalibrateColor(COLORSTRUCT *pC, UWORD *pNewVals);
void cInputInit(void* pHeader)
{
UBYTE Tmp;
+ memset(IOMapInput.Colors, 0, sizeof(IOMapInput.Colors));
+ memset(VarsInput.VarsColor, 0, sizeof(VarsInput.VarsColor));
+
/* Init IO map */
for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)
{
@@ -121,6 +182,10 @@ void cInputInit(void* pHeader)
VarsInput.InvalidTimer[Tmp] = INVALID_RELOAD_NORMAL;
VarsInput.OldSensorType[Tmp] = NO_SENSOR;
}
+
+ VarsInput.ColorStatus = 0;
+ VarsInput.ColorCnt = 0;
+
dInputInit();
}
@@ -128,6 +193,37 @@ void cInputCtrl(void)
{
UBYTE Tmp;
+
+ if (VarsInput.ColorStatus)
+ {
+ switch(VarsInput.ColorCnt)
+ {
+ case 0:
+ {
+ VarsInput.ColorCnt = 1;
+ dInputSetColorClkInput();
+
+ }
+ break;
+ case 1:
+ {
+ VarsInput.ColorCnt = 2;
+ }
+ break;
+ case 2:
+ {
+ VarsInput.ColorCnt = 0;
+ dInputGetAllColors(IOMapInput.Colors, VarsInput.ColorStatus);
+ }
+ break;
+ default:
+ {
+ VarsInput.ColorCnt = 0;
+ }
+ break;
+ }
+ }
+
for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)
{
@@ -139,38 +235,31 @@ void cInputCtrl(void)
VarsInput.InputDebounce[Tmp] = 0;
VarsInput.LastAngle[Tmp] = 0;
VarsInput.SampleCnt[Tmp] = 0;
+ VarsInput.ColorStatus &= ~(0x01<<Tmp);
+ memset(&(VarsInput.VarsColor[Tmp]),0 ,sizeof(VarsInput.VarsColor[Tmp]));
- /* Has the type change any influence on pin setup? */
- if ((ActiveList[IOMapInput.Inputs[Tmp].SensorType]) != (ActiveList[VarsInput.OldSensorType[Tmp]]))
- {
-
- /* The type change has influence on pin setup - therefore a delay is inserted */
- /* to ensure valid data representation (delay is: time for data to get down into */
- /* the avr + delay before ad conversion + time for data to get up to the ARM */
- /* processor */
- if ((SOUND_DB == IOMapInput.Inputs[Tmp].SensorType) || (SOUND_DBA == IOMapInput.Inputs[Tmp].SensorType))
- {
-
- /* Sound Sensors have a long hardware stabilizing time */
- VarsInput.InvalidTimer[Tmp] = INVALID_RELOAD_SOUND;
- }
- else
- {
- VarsInput.InvalidTimer[Tmp] = INVALID_RELOAD_NORMAL;
- }
-
- /* Setup the pins for the new sensortype */
- cInputSetupType(Tmp);
- IOMapInput.Inputs[Tmp].InvalidData = INVALID_DATA;
- }
- VarsInput.OldSensorType[Tmp] = IOMapInput.Inputs[Tmp].SensorType;
+ /* Setup the pins for the new sensortype */
+ cInputSetupType(Tmp, &(IOMapInput.Inputs[Tmp].SensorType), VarsInput.OldSensorType[Tmp]);
+ IOMapInput.Inputs[Tmp].InvalidData = INVALID_DATA;
+ VarsInput.OldSensorType[Tmp] = IOMapInput.Inputs[Tmp].SensorType;
}
else
{
if (VarsInput.InvalidTimer[Tmp])
{
- /* A type change has bee carried out earlier - waiting for valid data */
+ /* A type change has been carried out earlier - waiting for valid data */
+ /* The color sensor requires special startup sequence with communication */
+ if (((IOMapInput.Inputs[Tmp].SensorType) == COLORFULL) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORRED) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORGREEN)||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORBLUE) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLOREXIT) ||
+ ((IOMapInput.Inputs[Tmp].SensorType) == COLORNONE))
+ {
+ cInputCalcSensorValues(Tmp);
+ }
+
(VarsInput.InvalidTimer[Tmp])--;
if (0 == VarsInput.InvalidTimer[Tmp])
{
@@ -190,37 +279,533 @@ void cInputCtrl(void)
if (!(INVALID_DATA & (IOMapInput.Inputs[Tmp].InvalidData)))
{
- cInputCalcSensor(Tmp);
+ cInputCalcSensorValues(Tmp);
}
}
}
-void cInputCalcSensor(UBYTE Tmp)
+void cInputCalcSensorValues(UBYTE No)
{
- UWORD InputRaw;
- /* Get the RCX hardware compensated AD values put values in */
- /* InputRaw array */
- dInputGetRawAd(&InputRaw, Tmp);
- IOMapInput.Inputs[Tmp].ADRaw = InputRaw;
+ switch(IOMapInput.Inputs[No].SensorType)
+ {
+ case SWITCH:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ case TEMPERATURE:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ if (InputVal < 290)
+ {
+ InputVal = 290;
+ }
+ else
+ {
+ if (InputVal > 928)
+ {
+ InputVal = 928;
+ }
+ }
+ InputVal = TempConvTable[(InputVal) - 197];
+ InputVal = InputVal + 200;
+ InputVal = (UWORD)(((SLONG)InputVal * (SLONG)1023)/(SLONG)900);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ case REFLECTION:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, REFLECTIONSENSORMIN, REFLECTIONSENSORPCTDYN, TRUE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ case ANGLE:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ break;
+
+ /* Dual case intended */
+ case LIGHT_ACTIVE:
+ case LIGHT_INACTIVE:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- /* Calculate the sensor hardware compensated AD values and put then */
- /* in IOMapInput.Inputs[Tmp].SensorRaw */
- cInputCalcSensorRaw(&InputRaw, IOMapInput.Inputs[Tmp].SensorType, Tmp);
+ }
+ break;
- /* Calculate the sensor value compensated for sensor mode and put */
- /* them in IOMapInput.Inputs[Tmp].SensorValue */
- cInputCalcSensorValue( &InputRaw,
- ((IOMapInput.Inputs[Tmp].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[Tmp].SensorMode) & MODEMASK),
- Tmp);
+ /* Dual case intended */
+ case SOUND_DB:
+ case SOUND_DBA:
+ {
+ UWORD InputVal;
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
-}
+ }
+ break;
+
+ case CUSTOM:
+ {
+ UWORD InputVal;
+
+ /* Setup and read digital IO */
+ cInputSetupCustomSensor(No);
+ dInputRead0(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+ dInputRead1(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+
+ dInputGetRawAd(&InputVal, No);
+ IOMapInput.Inputs[No].ADRaw = InputVal;
+ cInputCalcFullScale(&InputVal, IOMapInput.Inputs[No].CustomZeroOffset, IOMapInput.Inputs[No].CustomPctFullScale, FALSE);
+ cInputCalcSensorValue( InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+
+ }
+ break;
+
+ /* Tripple case intended */
+ case LOWSPEED:
+ case LOWSPEED_9V:
+ case HIGHSPEED:
+ {
+ }
+ break;
+
+ /* Four cases intended */
+ case COLORRED:
+ case COLORGREEN:
+ case COLORBLUE:
+ case COLORNONE:
+ {
+
+ UWORD InputVal;
+ switch (IOMapInput.Colors[No].CalibrationState)
+ {
+ case SENSOROFF:
+ {
+ /* Make sure that sensor data are invalid while unplugged*/
+ VarsInput.InvalidTimer[No] = INVALID_RELOAD_COLOR;
+ IOMapInput.Inputs[No].InvalidData = INVALID_DATA;
+ /* Check if sensor has been attached */
+ if (dInputCheckColorStatus(No))
+ {
-void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
+ /* Sensor has been attached now get cal data */
+ VarsInput.VarsColor[No].ColorInitState = 0;
+ (IOMapInput.Colors[No].CalibrationState) = SENSORCAL;
+ }
+ }
+ break;
+ case SENSORCAL:
+ {
+
+ UBYTE Status;
+ if (FALSE == cInputInitColorSensor(No, &Status))
+ {
+
+ /* Color sensor has been removed during calibration */
+ (IOMapInput.Colors[No].CalibrationState) = SENSOROFF;
+ }
+
+ if (TRUE == Status)
+ {
+
+ /* Use clock to detect errors */
+ dInputSetDirInDigi0(No);
+ (IOMapInput.Colors[No].CalibrationState) = 0;
+ }
+ }
+ break;
+ default:
+ {
+ if (dInputGetColor(No, &(IOMapInput.Inputs[No].ADRaw)))
+ {
+ InputVal = IOMapInput.Inputs[No].ADRaw;
+ cInputCalcFullScale(&InputVal, COLORSENSORBGMIN, COLORSENSORBGPCTDYN, FALSE);
+ cInputCalcSensorValue(InputVal,
+ &(IOMapInput.Inputs[No].SensorRaw),
+ &(IOMapInput.Inputs[No].SensorValue),
+ &(IOMapInput.Inputs[No].SensorBoolean),
+ &(VarsInput.InputDebounce[No]),
+ &(VarsInput.SampleCnt[No]),
+ &(VarsInput.LastAngle[No]),
+ &(VarsInput.EdgeCnt[No]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+ else
+ {
+ IOMapInput.Colors[No].CalibrationState = SENSOROFF;
+ }
+ }
+ break;
+ }
+ }
+ break;
+ case COLORFULL:
+ {
+ switch (IOMapInput.Colors[No].CalibrationState)
+ {
+ case SENSOROFF:
+ {
+
+ /* Make sure that sensor data are invalid while unplugged */
+ VarsInput.InvalidTimer[No] = INVALID_RELOAD_COLOR;
+ IOMapInput.Inputs[No].InvalidData = INVALID_DATA;
+
+ /* Check if sensor has been attached */
+ if (dInputCheckColorStatus(No))
+ {
+
+ /* Sensor has been attached now get cal data */
+ VarsInput.VarsColor[No].ColorInitState = 0;
+ (IOMapInput.Colors[No].CalibrationState) = SENSORCAL;
+ }
+ }
+ break;
+ case SENSORCAL:
+ {
+ UBYTE Status;
+
+ if (FALSE == cInputInitColorSensor(No, &Status))
+ {
+
+ /* Color sensor has been removed during calibration */
+ (IOMapInput.Colors[No].CalibrationState) = SENSOROFF;
+ VarsInput.ColorStatus &= ~(0x01<<No);
+ }
+
+ if (TRUE == Status)
+ {
+
+ /* Initialization finished with success recalc the values*/
+ (IOMapInput.Colors[No].CalibrationState) = 0;
+
+ /* Calculate Calibration factor */
+ VarsInput.ColorStatus |= (0x01<<No);
+
+ }
+ }
+ break;
+ default:
+ {
+
+ /* calculate only when new ad values are ready */
+ if (0 == VarsInput.ColorCnt)
+ {
+
+ UWORD NewSensorVals[NO_OF_COLORS];
+ UBYTE ColorCount;
+
+ COLORSTRUCT *pC;
+
+ pC = &(IOMapInput.Colors[No]);
+
+ /* Check if sensor is deteched */
+ if (dInputCheckColorStatus(No))
+ {
+
+ /* Calibrate the raw ad values returns the SensorRaw */
+ cInputCalibrateColor(pC, NewSensorVals);
+
+ for(ColorCount = 0; ColorCount < BLANK; ColorCount++)
+ {
+
+ /* Calculate color sensor values */
+ cInputCalcSensorValue(NewSensorVals[ColorCount],
+ &(IOMapInput.Colors[No].SensorRaw[ColorCount]),
+ &(IOMapInput.Colors[No].SensorValue[ColorCount]),
+ &(IOMapInput.Colors[No].Boolean[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorInputDebounce[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorSampleCnt[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorLastAngle[ColorCount]),
+ &(VarsInput.VarsColor[No].ColorEdgeCnt[ColorCount]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+ }
+
+ /* Calculate background sensor values */
+ cInputCalcSensorValue(NewSensorVals[BLANK],
+ &(IOMapInput.Colors[No].SensorRaw[BLANK]),
+ &(IOMapInput.Colors[No].SensorValue[BLANK]),
+ &(IOMapInput.Colors[No].Boolean[BLANK]),
+ &(VarsInput.VarsColor[No].ColorInputDebounce[BLANK]),
+ &(VarsInput.VarsColor[No].ColorSampleCnt[BLANK]),
+ &(VarsInput.VarsColor[No].ColorLastAngle[BLANK]),
+ &(VarsInput.VarsColor[No].ColorEdgeCnt[BLANK]),
+ ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
+ ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
+
+ /* Color Sensor values has been calculated - */
+ /* now calculate the color and put it in Sensor value */
+ if (((pC->SensorRaw[RED]) > (pC->SensorRaw[BLUE] )) &&
+ ((pC->SensorRaw[RED]) > (pC->SensorRaw[GREEN])))
+ {
+
+ /* If all 3 colors are less than 65 OR (Less that 110 and bg less than 40)*/
+ if (((pC->SensorRaw[RED]) < 65) ||
+ (((pC->SensorRaw[BLANK]) < 40) && ((pC->SensorRaw[RED]) < 110)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if (((((pC->SensorRaw[BLUE]) >> 2) + ((pC->SensorRaw[BLUE]) >> 3) + (pC->SensorRaw[BLUE])) < (pC->SensorRaw[GREEN])) &&
+ ((((pC->SensorRaw[GREEN]) << 1)) > (pC->SensorRaw[RED])))
+ {
+ IOMapInput.Inputs[No].SensorValue = YELLOWCOLOR;
+ }
+ else
+ {
+
+ if ((((pC->SensorRaw[GREEN]) << 1) - ((pC->SensorRaw[GREEN]) >> 2)) < (pC->SensorRaw[RED]))
+ {
+
+ IOMapInput.Inputs[No].SensorValue = REDCOLOR;
+ }
+ else
+ {
+
+ if ((((pC->SensorRaw[BLUE]) < 70) ||
+ ((pC->SensorRaw[GREEN]) < 70)) ||
+ (((pC->SensorRaw[BLANK]) < 140) && ((pC->SensorRaw[RED]) < 140)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ IOMapInput.Inputs[No].SensorValue = WHITECOLOR;
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+
+ /* Red is not the dominant color */
+ if ((pC->SensorRaw[GREEN]) > (pC->SensorRaw[BLUE]))
+ {
+
+ /* Green is the dominant color */
+ /* If all 3 colors are less than 40 OR (Less that 70 and bg less than 20)*/
+ if (((pC->SensorRaw[GREEN]) < 40) ||
+ (((pC->SensorRaw[BLANK]) < 30) && ((pC->SensorRaw[GREEN]) < 70)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[BLUE]) << 1)) < (pC->SensorRaw[RED]))
+ {
+ IOMapInput.Inputs[No].SensorValue = YELLOWCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[RED]) + ((pC->SensorRaw[RED])>>2)) < (pC->SensorRaw[GREEN])) ||
+ (((pC->SensorRaw[BLUE]) + ((pC->SensorRaw[BLUE])>>2)) < (pC->SensorRaw[GREEN])))
+ {
+ IOMapInput.Inputs[No].SensorValue = GREENCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[RED]) < 70) ||
+ ((pC->SensorRaw[BLUE]) < 70)) ||
+ (((pC->SensorRaw[BLANK]) < 140) && ((pC->SensorRaw[GREEN]) < 140)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ IOMapInput.Inputs[No].SensorValue = WHITECOLOR;
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+
+ /* Blue is the most dominant color */
+ /* Colors can be blue, white or black */
+ /* If all 3 colors are less than 48 OR (Less that 85 and bg less than 25)*/
+ if (((pC->SensorRaw[BLUE]) < 48) ||
+ (((pC->SensorRaw[BLANK]) < 25) && ((pC->SensorRaw[BLUE]) < 85)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if ((((((pC->SensorRaw[RED]) * 48) >> 5) < (pC->SensorRaw[BLUE])) &&
+ ((((pC->SensorRaw[GREEN]) * 48) >> 5) < (pC->SensorRaw[BLUE])))
+ ||
+ (((((pC->SensorRaw[RED]) * 58) >> 5) < (pC->SensorRaw[BLUE])) ||
+ ((((pC->SensorRaw[GREEN]) * 58) >> 5) < (pC->SensorRaw[BLUE]))))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLUECOLOR;
+ }
+ else
+ {
+
+ /* Color is white or Black */
+ if ((((pC->SensorRaw[RED]) < 60) ||
+ ((pC->SensorRaw[GREEN]) < 60)) ||
+ (((pC->SensorRaw[BLANK]) < 110) && ((pC->SensorRaw[BLUE]) < 120)))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLACKCOLOR;
+ }
+ else
+ {
+ if ((((pC->SensorRaw[RED]) + ((pC->SensorRaw[RED]) >> 3)) < (pC->SensorRaw[BLUE])) ||
+ (((pC->SensorRaw[GREEN]) + ((pC->SensorRaw[GREEN]) >> 3)) < (pC->SensorRaw[BLUE])))
+ {
+ IOMapInput.Inputs[No].SensorValue = BLUECOLOR;
+ }
+ else
+ {
+ IOMapInput.Inputs[No].SensorValue = WHITECOLOR;
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+ IOMapInput.Colors[No].CalibrationState = SENSOROFF;
+ VarsInput.ColorStatus &= ~(0x01<<No);
+ }
+ }
+ break;
+ }
+ }
+ }
+ break;
+ case COLOREXIT:
+ {
+ UBYTE Status;
+
+ VarsInput.ColorStatus &= ~(0x01<<No);
+ if (FALSE == cInputInitColorSensor(No, &Status))
+ {
+ IOMapInput.Inputs[No].SensorType = NO_SENSOR;
+ }
+
+ if (TRUE == Status)
+ {
+
+ /* Initialization finished with success recalc the values*/
+ (IOMapInput.Colors[No].CalibrationState) = 0;
+ IOMapInput.Inputs[No].SensorType = NO_SENSOR;
+ VarsInput.OldSensorType[No] = NO_SENSOR;
+ }
+ }
+ break;
+ default:
+ {
+ }
+ break;
+ }
+}
+
+
+void cInputCalcSensorValue(UWORD NewSensorRaw, UWORD *pOldSensorRaw, SWORD *pSensorValue,
+ UBYTE *pBoolean, UBYTE *pDebounce, UBYTE *pSampleCnt,
+ UBYTE *LastAngle, UBYTE *pEdgeCnt, UBYTE Slope,
+ UBYTE Mode)
{
SWORD Delta;
UBYTE PresentBoolean;
@@ -230,13 +815,13 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
{
/* This is absolute measure method */
- if (*pRaw > THRESHOLD_FALSE)
+ if (NewSensorRaw > THRESHOLD_FALSE)
{
PresentBoolean = FALSE;
}
else
{
- if (*pRaw < THRESHOLD_TRUE)
+ if (NewSensorRaw < THRESHOLD_TRUE)
{
PresentBoolean = TRUE;
}
@@ -246,19 +831,19 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
{
/* This is dynamic measure method */
- if (*pRaw > (ACTUAL_AD_RES - Slope))
+ if (NewSensorRaw > (ACTUAL_AD_RES - Slope))
{
PresentBoolean = FALSE;
}
else
{
- if (*pRaw < Slope)
+ if (NewSensorRaw < Slope)
{
PresentBoolean = TRUE;
}
else
{
- Delta = IOMapInput.Inputs[Tmp].SensorRaw - *pRaw;
+ Delta = *pOldSensorRaw - NewSensorRaw;
if (Delta < 0)
{
if (-Delta > Slope)
@@ -276,35 +861,35 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
}
}
}
- IOMapInput.Inputs[Tmp].SensorRaw = *pRaw;
+ *pOldSensorRaw = NewSensorRaw;
switch(Mode)
{
case RAWMODE:
{
- IOMapInput.Inputs[Tmp].SensorValue = *pRaw;
+ *pSensorValue = NewSensorRaw;
}
break;
case BOOLEANMODE:
{
- IOMapInput.Inputs[Tmp].SensorValue = PresentBoolean;
+ *pSensorValue = PresentBoolean;
}
break;
case TRANSITIONCNTMODE:
{
- if (VarsInput.InputDebounce[Tmp] > 0)
+ if ((*pDebounce) > 0)
{
- VarsInput.InputDebounce[Tmp]--;
+ (*pDebounce)--;
}
else
{
- if (IOMapInput.Inputs[Tmp].SensorBoolean != PresentBoolean)
+ if (*pBoolean != PresentBoolean)
{
- VarsInput.InputDebounce[Tmp] = DEBOUNCERELOAD;
- (IOMapInput.Inputs[Tmp].SensorValue)++;
+ (*pDebounce) = DEBOUNCERELOAD;
+ (*pSensorValue)++;
}
}
}
@@ -312,22 +897,22 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
case PERIODCOUNTERMODE:
{
- if (VarsInput.InputDebounce[Tmp] > 0)
+ if ((*pDebounce) > 0)
{
- VarsInput.InputDebounce[Tmp]--;
+ (*pDebounce)--;
}
else
{
- if (IOMapInput.Inputs[Tmp].SensorBoolean != PresentBoolean)
+ if (*pBoolean != PresentBoolean)
{
- VarsInput.InputDebounce[Tmp] = DEBOUNCERELOAD;
- IOMapInput.Inputs[Tmp].SensorBoolean = PresentBoolean;
- if (++VarsInput.EdgeCnt[Tmp] > 1)
+ (*pDebounce) = DEBOUNCERELOAD;
+ *pBoolean = PresentBoolean;
+ if (++(*pEdgeCnt) > 1)
{
if (PresentBoolean == 0)
{
- VarsInput.EdgeCnt[Tmp] = 0;
- (IOMapInput.Inputs[Tmp].SensorValue)++;
+ (*pEdgeCnt) = 0;
+ (*pSensorValue)++;
}
}
}
@@ -339,7 +924,7 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
{
/* Output is 0-100 pct */
- IOMapInput.Inputs[Tmp].SensorValue = ((*pRaw) * 100)/SENSOR_RESOLUTION;
+ *pSensorValue = ((NewSensorRaw) * 100)/SENSOR_RESOLUTION;
}
break;
@@ -347,8 +932,8 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
{
/* Fahrenheit mode goes from -40 to 158 degrees */
- IOMapInput.Inputs[Tmp].SensorValue = (((ULONG)(*pRaw) * 900L)/SENSOR_RESOLUTION) - 200;
- IOMapInput.Inputs[Tmp].SensorValue = ((180L * (ULONG)(IOMapInput.Inputs[Tmp].SensorValue))/100L) + 320;
+ *pSensorValue = (((ULONG)(NewSensorRaw) * 900L)/SENSOR_RESOLUTION) - 200;
+ *pSensorValue = ((180L * (ULONG)(*pSensorValue))/100L) + 320;
}
break;
@@ -356,27 +941,27 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
{
/* Celsius mode goes from -20 to 70 degrees */
- IOMapInput.Inputs[Tmp].SensorValue = (((ULONG)(*pRaw) * 900L)/SENSOR_RESOLUTION) - 200;
+ *pSensorValue = (((ULONG)(NewSensorRaw * 900L)/SENSOR_RESOLUTION) - 200);
}
break;
case ANGLESTEPSMODE:
{
- IOMapInput.Inputs[Tmp].SensorBoolean = PresentBoolean;
+ *pBoolean = PresentBoolean;
- if (*pRaw < ANGLELIMITA)
+ if (NewSensorRaw < ANGLELIMITA)
{
Sample = 0;
}
else
{
- if (*pRaw < ANGLELIMITB)
+ if (NewSensorRaw < ANGLELIMITB)
{
Sample = 1;
}
else
{
- if (*pRaw < ANGLELIMITC)
+ if (NewSensorRaw < ANGLELIMITC)
{
Sample = 2;
}
@@ -387,37 +972,37 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
}
}
- switch (VarsInput.LastAngle[Tmp])
+ switch (*LastAngle)
{
case 0 :
{
if (Sample == 1)
{
- if (VarsInput.SampleCnt[Tmp] >= ROT_SLOW_SPEED )
+ if ((*pSampleCnt) >= ROT_SLOW_SPEED )
{
- if (++(VarsInput.SampleCnt[Tmp]) >= (ROT_SLOW_SPEED + ROT_OV_SAMPLING))
+ if (++(*pSampleCnt) >= (ROT_SLOW_SPEED + ROT_OV_SAMPLING))
{
- (IOMapInput.Inputs[Tmp].SensorValue)++;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
}
}
else
{
- (IOMapInput.Inputs[Tmp].SensorValue)++;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
}
}
if (Sample == 2)
{
- (IOMapInput.Inputs[Tmp].SensorValue)--;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
}
if (Sample == 0)
{
- if (VarsInput.SampleCnt[Tmp] < ROT_SLOW_SPEED)
+ if ((*pSampleCnt) < ROT_SLOW_SPEED)
{
- (VarsInput.SampleCnt[Tmp])++;
+ (*pSampleCnt)++;
}
}
}
@@ -426,61 +1011,61 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
{
if (Sample == 3)
{
- (IOMapInput.Inputs[Tmp].SensorValue)++;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
}
if (Sample == 0)
{
- (IOMapInput.Inputs[Tmp].SensorValue)--;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
}
- VarsInput.SampleCnt[Tmp] = 0;
+ (*pSampleCnt) = 0;
}
break;
case 2 :
{
if (Sample == 0)
{
- (IOMapInput.Inputs[Tmp].SensorValue)++;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
}
if (Sample == 3)
{
- (IOMapInput.Inputs[Tmp].SensorValue)--;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
}
- VarsInput.SampleCnt[Tmp] = 0;
+ (*pSampleCnt) = 0;
}
break;
case 3 :
{
if (Sample == 2)
{
- if (VarsInput.SampleCnt[Tmp] >= ROT_SLOW_SPEED)
+ if ((*pSampleCnt) >= ROT_SLOW_SPEED)
{
- if (++(VarsInput.SampleCnt[Tmp]) >= (ROT_SLOW_SPEED + ROT_OV_SAMPLING))
+ if (++(*pSampleCnt) >= (ROT_SLOW_SPEED + ROT_OV_SAMPLING))
{
- (IOMapInput.Inputs[Tmp].SensorValue)++;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
}
}
else
{
- (IOMapInput.Inputs[Tmp].SensorValue)++;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)++;
+ (*LastAngle) = Sample;
}
}
if (Sample == 1)
{
- (IOMapInput.Inputs[Tmp].SensorValue)--;
- VarsInput.LastAngle[Tmp] = Sample;
+ (*pSensorValue)--;
+ (*LastAngle) = Sample;
}
if (Sample == 3)
{
- if (VarsInput.SampleCnt[Tmp] < ROT_SLOW_SPEED)
+ if ((*pSampleCnt) < ROT_SLOW_SPEED)
{
- (VarsInput.SampleCnt[Tmp])++;
+ (*pSampleCnt)++;
}
}
}
@@ -489,149 +1074,202 @@ void cInputCalcSensorValue(UWORD *pRaw, UBYTE Slope, UBYTE Mode, UBYTE Tmp)
}
}
- IOMapInput.Inputs[Tmp].SensorBoolean = PresentBoolean;
+ *pBoolean = PresentBoolean;
}
-
-const SWORD TempConvTable[] =
+void cInputCalcFullScale(UWORD *pRawVal, UWORD ZeroPointOffset, UBYTE PctFullScale, UBYTE InvStatus)
{
- 1500, 1460, 1430, 1400, 1380, 1360, 1330, 1310, 1290, 1270, 1250, 1230, 1220, 1200, 1190, 1170,
- 1160, 1150, 1140, 1130, 1110, 1100, 1090, 1080, 1070, 1060, 1050, 1040, 1030, 1020, 1010, 1000,
- 994, 988, 982, 974, 968, 960, 954, 946, 940, 932, 926, 918, 912, 906, 900, 894,
- 890, 884, 878, 874, 868, 864, 858, 854, 848, 844, 838, 832, 828, 822, 816, 812,
- 808, 802, 798, 794, 790, 786, 782, 780, 776, 772, 768, 764, 762, 758, 754, 750,
- 748, 744, 740, 736, 732, 730, 726, 722, 718, 716, 712, 708, 704, 700, 696, 694,
- 690, 688, 684, 682, 678, 674, 672, 668, 666, 662, 660, 656, 654, 650, 648, 644,
- 642, 640, 638, 634, 632, 630, 628, 624, 622, 620, 616, 614, 612, 610, 608, 604,
- 602, 600, 598, 596, 592, 590, 588, 586, 584, 582, 580, 578, 576, 574, 572, 570,
- 568, 564, 562, 560, 558, 556, 554, 552, 550, 548, 546, 544, 542, 540, 538, 536,
- 534, 532, 530, 528, 526, 524, 522, 520, 518, 516, 514, 512, 510, 508, 508, 506,
- 504, 502, 500, 498, 496, 494, 494, 492, 490, 488, 486, 486, 484, 482, 480, 478,
- 476, 476, 474, 472, 470, 468, 468, 466, 464, 462, 460, 458, 458, 456, 454, 452,
- 450, 448, 448, 446, 444, 442, 442, 440, 438, 436, 436, 434, 432, 432, 430, 428,
- 426, 426, 424, 422, 420, 420, 418, 416, 416, 414, 412, 410, 408, 408, 406, 404,
- 404, 402, 400, 398, 398, 396, 394, 394, 392, 390, 390, 388, 386, 386, 384, 382,
- 382, 380, 378, 378, 376, 374, 374, 372, 370, 370, 368, 366, 366, 364, 362, 362,
- 360, 358, 358, 356, 354, 354, 352, 350, 350, 348, 348, 346, 344, 344, 342, 340,
- 340, 338, 338, 336, 334, 334, 332, 332, 330, 328, 328, 326, 326, 324, 322, 322,
- 320, 320, 318, 316, 316, 314, 314, 312, 310, 310, 308, 308, 306, 304, 304, 302,
- 300, 300, 298, 298, 296, 296, 294, 292, 292, 290, 290, 288, 286, 286, 284, 284,
- 282, 282, 280, 280, 278, 278, 276, 274, 274, 272, 272, 270, 270, 268, 268, 266,
- 264, 264, 262, 262, 260, 260, 258, 258, 256, 254, 254, 252, 252, 250, 250, 248,
- 248, 246, 244, 244, 242, 240, 240, 240, 238, 238, 236, 236, 234, 234, 232, 230,
- 230, 228, 228, 226, 226, 224, 224, 222, 220, 220, 218, 218, 216, 216, 214, 214,
- 212, 212, 210, 210, 208, 208, 206, 204, 204, 202, 202, 200, 200, 198, 198, 196,
- 196, 194, 194, 192, 190, 190, 188, 188, 186, 186, 184, 184, 182, 182, 180, 180,
- 178, 178, 176, 176, 174, 174, 172, 172, 170, 170, 168, 168, 166, 166, 164, 164,
- 162, 162, 160, 160, 158, 156, 156, 154, 154, 152, 152, 150, 150, 148, 148, 146,
- 146, 144, 144, 142, 142, 140, 140, 138, 136, 136, 136, 134, 134, 132, 130, 130,
- 128, 128, 126, 126, 124, 124, 122, 122, 120, 120, 118, 118, 116, 116, 114, 114,
- 112, 110, 110, 108, 108, 106, 106, 104, 104, 102, 102, 100, 100, 98, 98, 96,
- 94, 94, 92, 92, 90, 90, 88, 88, 86, 86, 84, 82, 82, 80, 80, 78,
- 78, 76, 76, 74, 74, 72, 72, 70, 70, 68, 68, 66, 66, 64, 62, 62,
- 60, 60, 58, 56, 56, 54, 54, 52, 52, 50, 50, 48, 48, 46, 46, 44,
- 44, 42, 40, 40, 38, 38, 36, 34, 34, 32, 32, 30, 30, 28, 28, 26,
- 24, 24, 22, 22, 20, 20, 18, 16, 16, 14, 14, 12, 12, 10, 10, 8,
- 6, 6, 4, 2, 2, 0, 0, -2, -4, -4, -6, -6, -8, -10, -10, -12,
- -12, -14, -16, -16, -18, -20, -20, -22, -22, -24, -26, -26, -28, -30, -30, -32,
- -34, -34, -36, -36, -38, -40, -40, -42, -42, -44, -46, -46, -48, -50, -50, -52,
- -54, -54, -56, -58, -58, -60, -60, -62, -64, -66, -66, -68, -70, -70, -72, -74,
- -76, -76, -78, -80, -80, -82, -84, -86, -86, -88, -90, -90, -92, -94, -94, -96,
- -98, -98, -100, -102, -104, -106, -106, -108, -110, -112, -114, -114, -116, -118, -120, -120,
- -122, -124, -126, -128, -130, -130, -132, -134, -136, -138, -140, -142, -144, -146, -146, -148,
- -150, -152, -154, -156, -158, -160, -162, -164, -166, -166, -168, -170, -172, -174, -176, -178,
- -180, -182, -184, -186, -188, -190, -192, -194, -196, -196, -198, -200, -202, -204, -206, -208,
- -210, -212, -214, -216, -218, -220, -224, -226, -228, -230, -232, -234, -236, -238, -242, -246,
- -248, -250, -254, -256, -260, -262, -264, -268, -270, -274, -276, -278, -282, -284, -286, -290,
- -292, -296, -298, -300, -306, -308, -312, -316, -320, -324, -326, -330, -334, -338, -342, -344,
- -348, -354, -358, -362, -366, -370, -376, -380, -384, -388, -394, -398, -404, -410, -416, -420,
- -428, -432, -440, -446, -450, -460, -468, -476, -484, -492, -500, -510, -524, -534, -546, -560,
- -572, -588, -600, -630, -656, -684, -720, -770
-};
+ if (*pRawVal >= ZeroPointOffset)
+ {
+ *pRawVal -= ZeroPointOffset;
+ }
+ else
+ {
+ *pRawVal = 0;
+ }
+
+ *pRawVal = (*pRawVal * 100)/PctFullScale;
+ if (*pRawVal > SENSOR_RESOLUTION)
+ {
+ *pRawVal = SENSOR_RESOLUTION;
+ }
+ if (TRUE == InvStatus)
+ {
+ *pRawVal = SENSOR_RESOLUTION - *pRawVal;
+ }
+}
-void cInputCalcSensorRaw(UWORD *pRaw, UBYTE Type, UBYTE No)
+void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType)
{
- switch (Type)
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_NORMAL;
+
+ /* If old type is color sensor in color lamp mode then turn off leds */
+ switch (OldType)
{
- case SWITCH:
+ case COLORRED:
+ case COLORGREEN:
+ case COLORBLUE:
+ case COLORFULL:
+ case COLOREXIT:
{
+ if (NO_SENSOR == *pType)
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ *pType = COLOREXIT;
+ }
}
break;
+ }
+ switch(*pType)
+ {
+ case NO_SENSOR:
+ case SWITCH:
case TEMPERATURE:
{
- if (*pRaw < 290)
- {
- *pRaw = 290;
- }
- else
- {
- if (*pRaw > 928)
- {
- *pRaw = 928;
- }
- }
- *pRaw = TempConvTable[(*pRaw) - 197];
- *pRaw = *pRaw + 200;
- *pRaw = (UWORD)(((SLONG)*pRaw * (SLONG)1023)/(SLONG)900);
+ dInputSetInactive(Port);
+ dInputSetDirInDigi0(Port);
+ dInputSetDirInDigi1(Port);
}
break;
+
case REFLECTION:
{
-
- /* Sensor dynanmic is restricted by a double diode connected to ground, */
- /* and it cannot go to the top either, dynamic is approx. 390 - 900 count*/
- cInputCalcFullScale(pRaw, REFLECTIONSENSORMIN, REFLECTIONSENSORPCTDYN, TRUE);
+ dInputSetActive(Port);
+ dInputClearDigi0(Port);
+ dInputClearDigi1(Port);
}
break;
+
case ANGLE:
{
+ dInputSetActive(Port);
+ dInputClearDigi0(Port);
+ dInputClearDigi1(Port);
}
break;
+
case LIGHT_ACTIVE:
{
- cInputCalcFullScale(pRaw, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputClearDigi1(Port);
}
break;
+
case LIGHT_INACTIVE:
{
- cInputCalcFullScale(pRaw, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
+ dInputSetInactive(Port);
+ dInputClearDigi0(Port);
+ dInputClearDigi1(Port);
}
break;
+
case SOUND_DB:
{
- cInputCalcFullScale(pRaw, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_SOUND;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputClearDigi1(Port);
}
break;
+
case SOUND_DBA:
{
- cInputCalcFullScale(pRaw, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_SOUND;
+ dInputSetInactive(Port);
+ dInputClearDigi0(Port);
+ dInputSetDigi1(Port);
}
break;
+
+ case CUSTOM:
+ {
+ cInputSetupCustomSensor(Port);
+ }
+ break;
+
case LOWSPEED:
{
- /* Intended empty Low Speed module takes over */
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDigi1(Port);
+ }
+ break;
+
+ case LOWSPEED_9V:
+ {
+ dInputSet9v(Port);
+ dInputSetDigi0(Port);
+ dInputSetDigi1(Port);
}
break;
+
case HIGHSPEED:
{
+ dInputSetInactive(Port);
+ dInputSetDirInDigi0(Port);
+ dInputSetDirInDigi1(Port);
}
break;
- case CUSTOM:
+
+ case COLORFULL:
{
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
- /* Setup and read digital IO */
- cInputSetupCustomSensor(No);
- dInputRead0(No, &(IOMapInput.Inputs[No].DigiPinsIn));
- dInputRead1(No, &(IOMapInput.Inputs[No].DigiPinsIn));
- cInputCalcFullScale(pRaw, IOMapInput.Inputs[No].CustomZeroOffset, IOMapInput.Inputs[No].CustomPctFullScale, FALSE);
}
break;
- case NO_SENSOR:
+
+ case COLORRED:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+
+ case COLORGREEN:
{
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
}
break;
+
+ case COLORBLUE:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+
+ case COLORNONE:
+ {
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
+ dInputSetInactive(Port);
+ dInputSetDigi0(Port);
+ dInputSetDirInDigi1(Port);
+ IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
+
default:
{
}
@@ -639,139 +1277,247 @@ void cInputCalcSensorRaw(UWORD *pRaw, UBYTE Type, UBYTE No)
}
}
-void cInputCalcFullScale(UWORD *pRawVal, UWORD ZeroPointOffset, UBYTE PctFullScale, UBYTE InvStatus)
+void cInputSetupCustomSensor(UBYTE Port)
{
- if (*pRawVal >= ZeroPointOffset)
+ if ((IOMapInput.Inputs[Port].DigiPinsDir) & 0x01)
{
- *pRawVal -= ZeroPointOffset;
+ if ((IOMapInput.Inputs[Port].DigiPinsOut) & 0x01)
+ {
+ dInputSetDigi0(Port);
+ }
+ else
+ {
+ dInputClearDigi0(Port);
+ }
+ }
+ if ((IOMapInput.Inputs[Port].DigiPinsDir) & 0x02)
+ {
+ if ((IOMapInput.Inputs[Port].DigiPinsOut) & 0x02)
+ {
+ dInputSetDigi1(Port);
+ }
+ else
+ {
+ dInputClearDigi1(Port);
+ }
}
else
{
- *pRawVal = 0;
+ dInputSetDirInDigi1(Port);
}
- *pRawVal = (*pRawVal * 100)/PctFullScale;
- if (*pRawVal > SENSOR_RESOLUTION)
+ if (CUSTOMACTIVE == (IOMapInput.Inputs[Port].CustomActiveStatus))
{
- *pRawVal = SENSOR_RESOLUTION;
+ dInputSetActive(Port);
}
- if (TRUE == InvStatus)
+ else
{
- *pRawVal = SENSOR_RESOLUTION - *pRawVal;
+ if (CUSTOM9V == (IOMapInput.Inputs[Port].CustomActiveStatus))
+ {
+ dInputSet9v(Port);
+ }
+ else
+ {
+ dInputSetInactive(Port);
+ }
}
}
-void cInputSetupType(UBYTE Port)
-{
- UBYTE Setup;
- Setup = (ActiveList[IOMapInput.Inputs[Port].SensorType]);
+UBYTE cInputInitColorSensor(UBYTE Port, UBYTE *pInitStatus)
+{
- if (CUSTOM_SETUP & Setup)
+ *pInitStatus = FALSE;
+ switch(VarsInput.VarsColor[Port].ColorInitState)
{
- cInputSetupCustomSensor(Port);
- }
- else
- {
- if (NO_POWER & Setup)
+ case 0:
+ {
+ dInputSetDigi0(Port);
+ dInputSetDigi1(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+ case 1:
+ {
+ dInputClearDigi0(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+
+ case 2:
+ {
+ dInputSetDigi0(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+ case 3:
{
- /* Setup is not used - set pins in unconfigured state */
- dInputSetInactive(Port);
- dInputSetDirInDigi0(Port);
- dInputSetDirInDigi1(Port);
+ dInputClearDigi0(Port);
+
+ /* Clear clock for 100mS - use pit timer*/
+ dInputClearColor100msTimer(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
}
- else
+ break;
+ case 4:
{
- if (ACTIVE & Setup)
+
+ /* Wait 100mS */
+ if (dInputChkColor100msTimer(Port))
{
- dInputSetActive(Port);
+ VarsInput.VarsColor[Port].ColorInitState += 1;
}
- else
+ }
+ break;
+ case 5:
+ {
+ UBYTE TmpType;
+
+ if (COLOREXIT == IOMapInput.Inputs[Port].SensorType)
{
- if(ALWAYS_ACTIVE & Setup)
- {
- dInputSet9v(Port);
- }
- else
- {
- dInputSetInactive(Port);
- }
+ TmpType = COLORNONE;
}
- if (DIGI_0_HIGH & Setup)
+ else
{
- dInputSetDigi0(Port);
- dInputSetDirOutDigi0(Port);
+ TmpType = IOMapInput.Inputs[Port].SensorType;
}
- else
+ dInputColorTx(Port, TmpType);
+
+ /* Be ready to receive data from sensor */
+ dInputSetDirInDigi1(Port);
+ VarsInput.VarsColor[Port].ReadCnt = 0;
+ VarsInput.VarsColor[Port].ColorInitState++;
+ }
+ break;
+ case 6:
+ {
+ UBYTE Data;
+ UBYTE DataCnt;
+ UBYTE *pData;
+
+ DataCnt = (VarsInput.VarsColor[Port].ReadCnt);
+ pData = (UBYTE*)(IOMapInput.Colors[Port].Calibration);
+
+ /* Read first byte of cal data */
+ dInputReadCal(Port, &Data);
+
+ pData[DataCnt] = Data;
+
+ /* If all bytes has been read - then continue to next step */
+ if (++(VarsInput.VarsColor[Port].ReadCnt) >= ((sizeof(IOMapInput.Colors[Port].Calibration) + sizeof(IOMapInput.Colors[Port].CalLimits))))
{
- dInputClearDigi0(Port);
- dInputSetDirOutDigi0(Port);
+ VarsInput.VarsColor[Port].ColorInitState++;
}
+ }
+ break;
+ case 7:
+ {
+
+ /* Check CRC then continue or restart if false */
+ UWORD Crc, CrcCheck;
+ UBYTE Cnt;
+ UBYTE Data;
+ UBYTE *pData;
+
+ dInputReadCal(Port, &Data);
+ Crc = (UWORD)(Data) << 8;
+ dInputReadCal(Port, &Data);
+ Crc += (UWORD)Data;
+ CrcCheck = 0x5AA5;
+ pData = (UBYTE*)(IOMapInput.Colors[Port].Calibration);
+ for (Cnt = 0; Cnt < (sizeof(IOMapInput.Colors[Port].Calibration) + sizeof(IOMapInput.Colors[Port].CalLimits)); Cnt++)
+ {
+ UWORD i,j;
+ UBYTE c;
+ c = pData[Cnt];
+ for(i = 0; i != 8; c >>= 1, i++)
+ {
+ j = (c^CrcCheck) & 1;
+ CrcCheck >>= 1;
+
+ if(j)
+ {
+ CrcCheck ^= 0xA001;
+ }
+ }
- if (DIGI_1_HIGH & Setup)
+ }
+ if ((CrcCheck != Crc))
{
- dInputSetDigi1(Port);
- dInputSetDirOutDigi1(Port);
+
+ /* incorrect!!! try again */
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
}
else
{
- dInputClearDigi1(Port);
- dInputSetDirOutDigi1(Port);
+
+ /* Correct crc sum -> calculate the calibration values then exit */
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+
+ /* Sensor is almost ready - needs a little time to make first measurements */
+ VarsInput.InvalidTimer[Port] = 10;
+ *pInitStatus = TRUE;
}
}
+ break;
+ default:
+ {
+ VarsInput.VarsColor[Port].ColorInitState = 0;
+ }
+ break;
}
+ return(dInputCheckColorStatus(Port));
}
-void cInputSetupCustomSensor(UBYTE Port)
+
+void cInputCalibrateColor(COLORSTRUCT *pC, UWORD *pNewVals)
{
- if ((IOMapInput.Inputs[Port].DigiPinsDir) & 0x01)
+ UBYTE CalRange;
+
+ if ((pC->ADRaw[BLANK]) < pC->CalLimits[1])
{
- if ((IOMapInput.Inputs[Port].DigiPinsOut) & 0x01)
- {
- dInputSetDigi0(Port);
- }
- else
- {
- dInputClearDigi0(Port);
- }
- dInputSetDirOutDigi0(Port);
+ CalRange = 2;
}
- if ((IOMapInput.Inputs[Port].DigiPinsDir) & 0x02)
+ else
{
- if ((IOMapInput.Inputs[Port].DigiPinsOut) & 0x02)
+ if ((pC->ADRaw[BLANK]) < pC->CalLimits[0])
{
- dInputSetDigi1(Port);
+ CalRange = 1;
}
else
{
- dInputClearDigi1(Port);
+ CalRange = 0;
}
- dInputSetDirOutDigi1(Port);
}
- else
+
+ pNewVals[RED] = 0;
+ if ((pC->ADRaw[RED]) > (pC->ADRaw[BLANK]))
{
- dInputSetDirInDigi1(Port);
+ pNewVals[RED] = (UWORD)(((ULONG)((pC->ADRaw[RED]) - (pC->ADRaw[BLANK])) * (pC->Calibration[CalRange][RED])) >> 16);
}
- if (CUSTOMACTIVE == (IOMapInput.Inputs[Port].CustomActiveStatus))
+ pNewVals[GREEN] = 0;
+ if ((pC->ADRaw[GREEN]) > (pC->ADRaw[BLANK]))
{
- dInputSetActive(Port);
+ pNewVals[GREEN] = (UWORD)(((ULONG)((pC->ADRaw[GREEN]) - (pC->ADRaw[BLANK])) * (pC->Calibration[CalRange][GREEN])) >> 16);
}
- else
+
+ pNewVals[BLUE] = 0;
+ if ((pC->ADRaw[BLUE]) > (pC->ADRaw[BLANK]))
{
- if (CUSTOM9V == (IOMapInput.Inputs[Port].CustomActiveStatus))
- {
- dInputSet9v(Port);
- }
- else
- {
- dInputSetInactive(Port);
- }
+ pNewVals[BLUE] = (UWORD)(((ULONG)((pC->ADRaw[BLUE]) -(pC->ADRaw[BLANK])) * (pC->Calibration[CalRange][BLUE])) >> 16);
}
+
+ pNewVals[BLANK] = (pC->ADRaw[BLANK]);
+ cInputCalcFullScale(&(pNewVals[BLANK]), COLORSENSORBGMIN, COLORSENSORBGPCTDYN, FALSE);
+ (pNewVals[BLANK]) = (UWORD)(((ULONG)(pNewVals[BLANK]) * (pC->Calibration[CalRange][BLANK])) >> 16);
}
+
void cInputExit(void)
{
dInputExit();
}
+
diff --git a/AT91SAM7S256/Source/c_input.h b/AT91SAM7S256/Source/c_input.h
index dfa981b..4e508f3 100644
--- a/AT91SAM7S256/Source/c_input.h
+++ b/AT91SAM7S256/Source/c_input.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:06 $
+// Revision date $Date:: 14-01-09 10:33 $
//
// Filename $Workfile:: c_input.h $
//
-// Version $Revision:: 9 $
+// Version $Revision:: 7 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_input.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_inpu $
//
// Platform C
//
@@ -37,12 +37,26 @@ extern const HEADER cInput;
typedef struct
{
- UWORD InvalidTimer[NO_OF_INPUTS];
- UBYTE InputDebounce[NO_OF_INPUTS];
- UBYTE EdgeCnt[NO_OF_INPUTS];
- UBYTE LastAngle[NO_OF_INPUTS];
- UBYTE OldSensorType[NO_OF_INPUTS];
- UBYTE SampleCnt[NO_OF_INPUTS];
+ UBYTE ColorInputDebounce [NO_OF_COLORS];
+ UBYTE ColorEdgeCnt [NO_OF_COLORS];
+ UBYTE ColorLastAngle [NO_OF_COLORS];
+ UBYTE ColorSampleCnt [NO_OF_COLORS];
+ UBYTE ColorInitState;
+ UBYTE ReadCnt;
+} VARSCOLOR;
+
+
+typedef struct
+{
+ UWORD InvalidTimer [NO_OF_INPUTS];
+ UBYTE InputDebounce [NO_OF_INPUTS];
+ UBYTE EdgeCnt [NO_OF_INPUTS];
+ UBYTE LastAngle [NO_OF_INPUTS];
+ UBYTE OldSensorType [NO_OF_INPUTS];
+ UBYTE SampleCnt [NO_OF_INPUTS];
+ VARSCOLOR VarsColor [NO_OF_INPUTS];
+ UBYTE ColorCnt;
+ UBYTE ColorStatus;
}VARSINPUT;
void cInputInit(void* pHeader);
diff --git a/AT91SAM7S256/Source/c_input.iom b/AT91SAM7S256/Source/c_input.iom
index 8d651b8..dee1309 100644
--- a/AT91SAM7S256/Source/c_input.iom
+++ b/AT91SAM7S256/Source/c_input.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:06 $
+// Revision date $Date:: 24-09-08 15:23 $
//
// Filename $Workfile:: c_input.iom $
//
-// Version $Revision:: 15 $
+// Version $Revision:: 16 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_input.io $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_inpu $
//
// Platform C
//
@@ -22,20 +22,26 @@
/* Constants related to sensor type */
enum
{
- NO_SENSOR = 0,
- SWITCH = 1,
- TEMPERATURE = 2,
- REFLECTION = 3,
- ANGLE = 4,
- LIGHT_ACTIVE = 5,
- LIGHT_INACTIVE = 6,
- SOUND_DB = 7,
- SOUND_DBA = 8,
- CUSTOM = 9,
+ NO_SENSOR = 0,
+ SWITCH = 1,
+ TEMPERATURE = 2,
+ REFLECTION = 3,
+ ANGLE = 4,
+ LIGHT_ACTIVE = 5,
+ LIGHT_INACTIVE = 6,
+ SOUND_DB = 7,
+ SOUND_DBA = 8,
+ CUSTOM = 9,
LOWSPEED = 10,
LOWSPEED_9V = 11,
HIGHSPEED = 12,
- NO_OF_SENSOR_TYPES = 13
+ COLORFULL = 13,
+ COLORRED = 14,
+ COLORGREEN = 15,
+ COLORBLUE = 16,
+ COLORNONE = 17,
+ COLOREXIT = 18, /* For internal use when going from color or Lamp to no_sensor*/
+ NO_OF_SENSOR_TYPES = 18
};
/* Constants related to sensor mode */
@@ -69,12 +75,57 @@ enum
enum
{
- INVALID_DATA = 0x01
+ INVALID_DATA = 0x01
};
+/* Constants related to Colorstruct */
+enum
+{
+ RED,
+ GREEN,
+ BLUE,
+ BLANK,
+ NO_OF_COLORS
+};
+
+
+/* Constants related to color sensor value using */
+/* Color sensor as color detector */
+enum
+{
+ BLACKCOLOR = 1,
+ BLUECOLOR = 2,
+ GREENCOLOR = 3,
+ YELLOWCOLOR = 4,
+ REDCOLOR = 5,
+ WHITECOLOR = 6
+};
+
+
+/* Constants related to Color CalibrationState */
+/* When STARTCAL is TRUE then calibration is */
+/* in progress */
+enum
+{
+ SENSORCAL = 0x01,
+ SENSOROFF = 0x02,
+ RUNNINGCAL = 0x20,
+ STARTCAL = 0x40,
+ RESETCAL = 0x80,
+};
+
+enum
+{
+ CAL_POINT_0,
+ CAL_POINT_1,
+ CAL_POINT_2,
+ NO_OF_POINTS
+};
+
+
typedef struct
{
- UWORD CustomZeroOffset; /* Set the offset of the custom sensor */
+ UWORD CustomZeroOffset; /* Set the offset of the custom sensor */
UWORD ADRaw;
UWORD SensorRaw;
SWORD SensorValue;
@@ -90,17 +141,32 @@ typedef struct
UBYTE CustomActiveStatus; /* Sets the active or inactive state of the custom sensor */
UBYTE InvalidData; /* Indicates wether data is invalid (1) or valid (0) */
-
+
UBYTE Spare1;
UBYTE Spare2;
UBYTE Spare3;
-}INPUT;
+}INPUTSTRUCT;
+
+typedef struct
+{
+ ULONG Calibration[NO_OF_POINTS][NO_OF_COLORS];
+ UWORD CalLimits[NO_OF_POINTS - 1];
+ UWORD ADRaw[NO_OF_COLORS];
+ UWORD SensorRaw[NO_OF_COLORS];
+ SWORD SensorValue[NO_OF_COLORS];
+ UBYTE Boolean[NO_OF_COLORS];
+ UBYTE CalibrationState;
+ UBYTE Free1;
+ UBYTE Free2;
+ UBYTE Free3;
+}COLORSTRUCT;
typedef struct
{
- INPUT Inputs[NO_OF_INPUTS];
+ INPUTSTRUCT Inputs[NO_OF_INPUTS];
+ COLORSTRUCT Colors[NO_OF_INPUTS];
}IOMAPINPUT;
#endif
diff --git a/AT91SAM7S256/Source/c_ioctrl.c b/AT91SAM7S256/Source/c_ioctrl.c
index 2964f33..daab322 100644
--- a/AT91SAM7S256/Source/c_ioctrl.c
+++ b/AT91SAM7S256/Source/c_ioctrl.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:50 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_ioctrl.c $
//
-// Version $Revision:: 13 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_ioctrl.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_ioct $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_ioctrl.h b/AT91SAM7S256/Source/c_ioctrl.h
index a2bd892..5ad4c8f 100644
--- a/AT91SAM7S256/Source/c_ioctrl.h
+++ b/AT91SAM7S256/Source/c_ioctrl.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:50 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_ioctrl.h $
//
-// Version $Revision:: 4 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_ioctrl.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_ioct $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_ioctrl.iom b/AT91SAM7S256/Source/c_ioctrl.iom
index 3385caa..9742d04 100644
--- a/AT91SAM7S256/Source/c_ioctrl.iom
+++ b/AT91SAM7S256/Source/c_ioctrl.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:50 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_ioctrl.iom $
//
-// Version $Revision:: 8 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_ioctrl.i $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_ioct $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_loader.c b/AT91SAM7S256/Source/c_loader.c
index 8b43bd8..995c920 100644
--- a/AT91SAM7S256/Source/c_loader.c
+++ b/AT91SAM7S256/Source/c_loader.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 8:27 $
+// Revision date $Date:: 12-03-08 15:28 $
//
// Filename $Workfile:: c_loader.c $
//
-// Version $Revision:: 79 $
+// Version $Revision:: 5 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_loader.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_load $
//
// Platform C
//
@@ -116,7 +116,7 @@ UWORD cLoaderFileRq(UBYTE Cmd, UBYTE *pFileName, UBYTE *pBuffer, ULONG *pLen
case OPENWRITEDATA:
{
- ReturnState = dLoaderCreateFileHeader(*pLength, pFileName, (UBYTE) LINEAR, DATAFILE);
+ ReturnState = dLoaderCreateFileHeader(*pLength, pFileName, (UBYTE) NONLINEAR, DATAFILE);
if (0x8000 <= ReturnState)
{
dLoaderCloseHandle(ReturnState);
@@ -141,6 +141,12 @@ UWORD cLoaderFileRq(UBYTE Cmd, UBYTE *pFileName, UBYTE *pBuffer, ULONG *pLen
ReturnState = dLoaderCloseHandle(*pFileName);
}
break;
+ case CROPDATAFILE:
+ {
+ ReturnState = dLoaderCropDatafile(*pFileName);
+ IOMapLoader.FreeUserFlash = dLoaderReturnFreeUserFlash();
+ }
+ break;
case READ:
{
ReturnState = dLoaderRead(*pFileName, pBuffer, pLength);
diff --git a/AT91SAM7S256/Source/c_loader.h b/AT91SAM7S256/Source/c_loader.h
index a720c37..03f8062 100644
--- a/AT91SAM7S256/Source/c_loader.h
+++ b/AT91SAM7S256/Source/c_loader.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 8:27 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_loader.h $
//
-// Version $Revision:: 8 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_loader.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_load $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_loader.iom b/AT91SAM7S256/Source/c_loader.iom
index 8a86e2d..dde8b6a 100644
--- a/AT91SAM7S256/Source/c_loader.iom
+++ b/AT91SAM7S256/Source/c_loader.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 28-03-07 14:54 $
+// Revision date $Date:: 24-06-09 8:53 $
//
// Filename $Workfile:: c_loader.iom $
//
-// Version $Revision:: 45 $
+// Version $Revision:: 15 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_loader.i $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_load $
//
// Platform C
//
@@ -21,7 +21,7 @@
//For example, version 1.5 would be 0x0105
//If these switch to little-endian, be sure to update
//definition and usages of VM_OLDEST_COMPATIBLE_VERSION, too!
-#define FIRMWAREVERSION 0x0105 //1.05
+#define FIRMWAREVERSION 0x011D //1.28
#define PROTOCOLVERSION 0x017C //1.124
enum
@@ -39,6 +39,7 @@ enum
OPENREADLINEAR = 0x8A,
OPENWRITEDATA = 0x8B,
OPENAPPENDDATA = 0x8C,
+ CROPDATAFILE = 0x8D, /* New cmd for datalogging */
FINDFIRSTMODULE = 0x90,
FINDNEXTMODULE = 0x91,
CLOSEMODHANDLE = 0x92,
diff --git a/AT91SAM7S256/Source/c_lowspeed.c b/AT91SAM7S256/Source/c_lowspeed.c
index a43ba7d..26851db 100644
--- a/AT91SAM7S256/Source/c_lowspeed.c
+++ b/AT91SAM7S256/Source/c_lowspeed.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_lowspeed.c $
//
-// Version $Revision:: 23 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_lowspeed $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_lows $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_lowspeed.h b/AT91SAM7S256/Source/c_lowspeed.h
index 7930acc..1595158 100644
--- a/AT91SAM7S256/Source/c_lowspeed.h
+++ b/AT91SAM7S256/Source/c_lowspeed.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_lowspeed.h $
//
-// Version $Revision:: 11 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_lowspeed $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_lows $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_lowspeed.iom b/AT91SAM7S256/Source/c_lowspeed.iom
index a8e42a4..290ed35 100644
--- a/AT91SAM7S256/Source/c_lowspeed.iom
+++ b/AT91SAM7S256/Source/c_lowspeed.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_lowspeed.iom $
//
-// Version $Revision:: 18 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_lowspeed $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_lows $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_output.c b/AT91SAM7S256/Source/c_output.c
index c91eb07..9566938 100644
--- a/AT91SAM7S256/Source/c_output.c
+++ b/AT91SAM7S256/Source/c_output.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_output.c $
//
-// Version $Revision:: 45 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_output.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_outp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_output.h b/AT91SAM7S256/Source/c_output.h
index e3d7c43..14faa2c 100644
--- a/AT91SAM7S256/Source/c_output.h
+++ b/AT91SAM7S256/Source/c_output.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_output.h $
//
-// Version $Revision:: 6 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_output.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_outp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_output.iom b/AT91SAM7S256/Source/c_output.iom
index e13f0f8..80e35de 100644
--- a/AT91SAM7S256/Source/c_output.iom
+++ b/AT91SAM7S256/Source/c_output.iom
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_output.iom $
//
-// Version $Revision:: 25 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_output.i $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_outp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_sound.c b/AT91SAM7S256/Source/c_sound.c
index 8e34d32..9d0a81d 100644
--- a/AT91SAM7S256/Source/c_sound.c
+++ b/AT91SAM7S256/Source/c_sound.c
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkflebun $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 5-02-07 13:36 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_sound.c $
//
-// Version $Revision:: 33 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_sound.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_soun $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_sound.h b/AT91SAM7S256/Source/c_sound.h
index 93e3221..ebdbb9a 100644
--- a/AT91SAM7S256/Source/c_sound.h
+++ b/AT91SAM7S256/Source/c_sound.h
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 26-08-05 8:37 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_sound.h $
//
-// Version $Revision:: 10 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_sound.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_soun $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_sound.iom b/AT91SAM7S256/Source/c_sound.iom
index 8baeb72..ec12076 100644
--- a/AT91SAM7S256/Source/c_sound.iom
+++ b/AT91SAM7S256/Source/c_sound.iom
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 24-01-06 11:47 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: c_sound.iom $
//
-// Version $Revision:: 18 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_sound.io $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_soun $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/c_ui.c b/AT91SAM7S256/Source/c_ui.c
index dd7e351..c79dca9 100644
--- a/AT91SAM7S256/Source/c_ui.c
+++ b/AT91SAM7S256/Source/c_ui.c
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 2-03-06 13:03 $
+// Revision date $Date:: 10-06-08 9:26 $
//
// Filename $Workfile:: c_ui.c $
//
-// Version $Revision:: 135 $
+// Version $Revision:: 7 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_ui.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_ui.c $
//
// Platform C
//
@@ -157,14 +157,6 @@ enum STATUS_NO // Index in status icon collection file
#include "Devices.txt" // Icon collection used for Blue tooth devices
-enum
-{
- DEVICETYPE_UNKNOWN,
- DEVICETYPE_NXT,
- DEVICETYPE_PHONE,
- DEVICETYPE_PC
-};
-
// ****** BT CONNECTIONS GRAPHIC RESOURCES ***********************************
#include "Connections.txt" // Icon collection used for Blue tooth connections
@@ -209,6 +201,11 @@ enum // String index in text string file
TXT_FB_OBP_FILE_EXIST_FAIL, // "File exist"
TXT_FB_OBP_OVERWRITE_FAIL, // "overwrite!"
+ // Datalogging
+ TXT_FB_DL_FILE_SAVED_INFO, // "File saved"
+ TXT_FB_DL_FILE_EXIST_FAIL, // "File exist"
+ TXT_FB_DL_OVERWRITE_FAIL, // "overwrite!"
+
// File delete
TXT_FB_FD_FILE_DELETED_INFO, // "File deleted"
@@ -226,6 +223,13 @@ enum // String index in text string file
TXT_FILESDELETE_DELETING_ALL, // "Deleting all"
TXT_FILESDELETE_S_FILES, // "%s files!"
+ // Datalogging
+ TXT_DATALOGGING_PRESS_EXIT_TO, // "Press exit to"
+ TXT_DATALOGGING_STOP_DATALOGGING, // "stop datalogging"
+ TXT_DATALOGGING_PORT_OCCUPIED, // "Port occupied!"
+ TXT_DATALOGGING_RATE, // "H:MM:SS:00
+ TXT_DATALOGGING_TIME, // "HH:MM:SS"
+
// File types
TXT_FILETYPE_SOUND, // "Sound"
TXT_FILETYPE_LMS, // "Software"
@@ -256,12 +260,16 @@ enum // String index in text string file
// Bluetooth list errors
TXT_FB_BT_ERROR_LR_COULD_NOT_SAVE_1, // BT save data error!
- TXT_FB_BT_ERROR_LR_COULD_NOT_SAVE_2, //
+ TXT_FB_BT_ERROR_LR_COULD_NOT_SAVE_2, //
TXT_FB_BT_ERROR_LR_STORE_IS_FULL_1, // BT store is full error!
TXT_FB_BT_ERROR_LR_STORE_IS_FULL_2, //
TXT_FB_BT_ERROR_LR_UNKOWN_ADDR_1, // BT unknown addr. error!
TXT_FB_BT_ERROR_LR_UNKOWN_ADDR_2, //
-
+
+ // Datalog errors
+ TXT_FB_DL_ERROR_MEMORY_FULL_1, // Memory is full!
+ TXT_FB_DL_ERROR_MEMORY_FULL_2, //
+
// Power of time
TXT_POWEROFFTIME_NEVER // "Never"
@@ -272,7 +280,7 @@ enum // String index in text string file
#define ALLFILES 0x1A // Icon collection offset
enum // File type id's
-{
+{
FILETYPE_ALL, // 0 = All
FILETYPE_SOUND, // 1 = Sound
FILETYPE_LMS, // 2 = LMS
@@ -296,7 +304,7 @@ const UBYTE TXT_FILETYPE[FILETYPES] =
{
0, // NA
TXT_FILETYPE_SOUND, // 1 = Sound
- TXT_FILETYPE_LMS, // 2 = LM
+ TXT_FILETYPE_LMS, // 2 = LMS
TXT_FILETYPE_NXT, // 3 = NXT
TXT_FILETYPE_TRY_ME,// 4 = Try me
TXT_FILETYPE_DATA // 5 = Datalog
@@ -315,7 +323,7 @@ const UBYTE PowerOffTimeSteps[POWER_OFF_TIME_STEPS] = { 0,2,5,10,30,60 }; //
#define BATTERYLIMITHYST 100 // [mV]
#define RECHARGEABLELIMITHYST 50 // [mV]
-const UWORD BatteryLimits[BATTERYLIMITS] =
+const UWORD BatteryLimits[BATTERYLIMITS] =
{
6100,6500,7000,7500 // [mV]
};
@@ -330,70 +338,31 @@ const UWORD RechargeableLimits[BATTERYLIMITS] =
#include "Mainmenu.rms"
#include "Submenu01.rms"
#include "Submenu02.rms"
+#include "Submenu03.rms"
#include "Submenu04.rms"
#include "Submenu05.rms"
#include "Submenu06.rms"
#include "Submenu07.rms"
-
-SWORD cUiMenuFile(UBYTE Cmd,UBYTE *pFile,UBYTE *pData,ULONG *pLng)
+const UBYTE *MenuPointers[] =
{
- SWORD Result;
- UBYTE *pFilePointer;
-
- Result = -1;
- switch (Cmd)
- {
- case OPENREADLINEAR :
- {
- if (strcmp((char*)pFile,"Mainmenu.rms") == 0)
- {
- pFilePointer = (UBYTE*)MAINMENU;
- Result = 0;
- }
- if (strcmp((char*)pFile,"Submenu01.rms") == 0)
- {
- pFilePointer = (UBYTE*)SUBMENU01;
- Result = 0;
- }
- if (strcmp((char*)pFile,"Submenu02.rms") == 0)
- {
- pFilePointer = (UBYTE*)SUBMENU02;
- Result = 0;
- }
- if (strcmp((char*)pFile,"Submenu04.rms") == 0)
- {
- pFilePointer = (UBYTE*)SUBMENU04;
- Result = 0;
- }
- if (strcmp((char*)pFile,"Submenu05.rms") == 0)
- {
- pFilePointer = (UBYTE*)SUBMENU05;
- Result = 0;
- }
- if (strcmp((char*)pFile,"Submenu06.rms") == 0)
- {
- pFilePointer = (UBYTE*)SUBMENU06;
- Result = 0;
- }
- if (strcmp((char*)pFile,"Submenu07.rms") == 0)
- {
- pFilePointer = (UBYTE*)SUBMENU07;
- Result = 0;
- }
- if (Result == 0)
- {
- *pLng = ((UWORD)pFilePointer[2] << 8) + (UWORD)pFilePointer[3] + FILEHEADER_LENGTH;
- *((ULONG*)pData) = (ULONG)pFilePointer;
- }
- }
- break;
+ (UBYTE*)MAINMENU,
+ (UBYTE*)SUBMENU01,
+ (UBYTE*)SUBMENU02,
+ (UBYTE*)SUBMENU03,
+ (UBYTE*)SUBMENU04,
+ (UBYTE*)SUBMENU05,
+ (UBYTE*)SUBMENU06,
+ (UBYTE*)SUBMENU07
+};
- }
- return (Result);
+UBYTE* cUiGetMenuPointer(UBYTE FileNo)
+{
+ return ((UBYTE*)MenuPointers[FileNo]);
}
+
//******************************************************************************************************
UBYTE* cUiGetString(UBYTE No) // Get string in text string file
@@ -484,7 +453,7 @@ UBYTE cUiReadButtons(void) // Read buttons
if (Result != BUTTON_NONE)
{
// If key - play key sound file
- sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_KEYCLICK_SOUND,(char*)TXT_SOUND_EXT);
+ sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_KEYCLICK_SOUND,(char*)TXT_FILE_EXT[FILETYPE_SOUND]);
pMapSound->Volume = IOMapUi.Volume;
pMapSound->Mode = SOUND_ONCE;
pMapSound->Flags |= SOUND_UPDATE;
@@ -577,37 +546,27 @@ void cUiListCalc(UBYTE Limit,UBYTE *Center,UBYTE *Left,UBYTE *Right)
}
}
break;
-
+
}
}
-UBYTE* cUiGetMenuPointer(UBYTE FileNo)
+UBYTE cUiMenuSearchSensorIcon(UBYTE Sensor)
{
- ULONG Lng;
- UWORD Handle;
- UBYTE TmpBuffer[FILENAME_LENGTH + 1];
- UBYTE *pPointer;
+ UBYTE Result = 0;
+ MENUITEM *MenuItem;
+ UBYTE Index;
- if (FileNo)
- {
- sprintf((char*)TmpBuffer,"Submenu%02X.rms",(UWORD)FileNo);
- }
- else
+ for (Index = 0;(Index < IOMapUi.pMenu->Items) && (Result == NULL);Index++)
{
- sprintf((char*)TmpBuffer,"Mainmenu.rms");
- }
- Handle = cUiMenuFile(OPENREADLINEAR,TmpBuffer,(UBYTE*)&pPointer,&Lng);
- if ((Handle & 0x8000))
- {
- pPointer = NULL;
- }
- else
- {
- cUiMenuFile(CLOSE,(UBYTE*)&Handle,NULL,NULL);
+ MenuItem = &IOMapUi.pMenu->Data[Index];
+ if (MenuItem->FunctionParameter == Sensor)
+ {
+ Result = MenuItem->IconImageNo;
+ }
}
- return (pPointer);
+ return (Result);
}
@@ -697,7 +656,6 @@ UBYTE cUiMenuIdValid(MENUFILE *pMenuFile,ULONG Id)
}
else
{
- Id >>= (Level * 4);
if ((Id & 0x0000000F) && (!(Id & 0xFFFFFFF0)))
{
Result = TRUE;
@@ -735,7 +693,7 @@ UBYTE cUiMenuGetNoOfMenus(MENU *pMenu,MENUFILE *pMenuFile)
if ((cUiMenuGetSpecialMask(&pMenu->Data[Index]) & MENU_ONLY_DATALOG_ENABLED))
{
// Datalog menu must be enabled
- if (!(VarsUi.NVData & 0x80))
+ if (VarsUi.NVData.DatalogEnabled)
{
// Yes
NoOfMenus++;
@@ -783,7 +741,7 @@ UBYTE cUiGetMenuItemIndex(MENU *pMenu,MENUFILE *pMenuFile,UBYTE No)
if ((cUiMenuGetSpecialMask(&pMenu->Data[Index]) & MENU_ONLY_DATALOG_ENABLED))
{
// Datalog menu must be enabled
- if (!(VarsUi.NVData & 0x80))
+ if (VarsUi.NVData.DatalogEnabled)
{
// Yes
TmpIndex = Index;
@@ -1235,7 +1193,7 @@ void cUiLoadLevel(UBYTE FileLevel,UBYTE MenuLevel,UBYTE MenuIndex)
{
// if items > 0 -> prepare allways center icon
Tmp = cUiGetMenuItemIndex(IOMapUi.pMenu,VarsUi.pMenuFile,VarsUi.pMenuLevel->ItemIndex);
-
+
if (VarsUi.pMenuItem != &IOMapUi.pMenu->Data[Tmp - 1])
{
VarsUi.pMenuItem = &IOMapUi.pMenu->Data[Tmp - 1];
@@ -1251,7 +1209,7 @@ void cUiLoadLevel(UBYTE FileLevel,UBYTE MenuLevel,UBYTE MenuIndex)
VarsUi.pMenuLevel->Parameter = VarsUi.pMenuItem->FunctionParameter;
VarsUi.pMenuLevel->NextFileNo = VarsUi.pMenuItem->FileLoadNo;
VarsUi.pMenuLevel->NextMenuNo = VarsUi.pMenuItem->NextMenu;
- }
+ }
}
#include "Functions.inl"
@@ -1336,6 +1294,8 @@ void cUiCtrl(void)
{
case INIT_DISPLAY : // Load font and icons
{
+// pMapLoader->pFunc(DELETEUSERFLASH,NULL,NULL,NULL);
+
VarsUi.Initialized = FALSE;
IOMapUi.Flags = UI_BUSY;
@@ -1363,18 +1323,18 @@ void cUiCtrl(void)
VarsUi.BatteryToggle = 0;
VarsUi.GUSState = 0;
-
+
IOMapUi.pMenu = (MENU*)cUiGetMenuPointer(0);
IOMapUi.State = INIT_INTRO;
pMapDisplay->EraseMask = SCREEN_BIT(SCREEN_BACKGROUND);
pMapDisplay->pBitmaps[BITMAP_1] = (BMPMAP*)Intro[VarsUi.Pointer];
pMapDisplay->UpdateMask = BITMAP_BIT(BITMAP_1);
- pMapDisplay->Flags |= DISPLAY_ON;
+ pMapDisplay->Flags |= DISPLAY_ON;
- cUiNVReadByte();
- IOMapUi.Volume = cUiNVReadVolumeCount();
- IOMapUi.SleepTimeout = PowerOffTimeSteps[cUiNVReadPowerOnTimeCount()];
+ cUiNVRead();
+ IOMapUi.Volume = VarsUi.NVData.VolumeStep;
+ IOMapUi.SleepTimeout = PowerOffTimeSteps[VarsUi.NVData.PowerdownCode];
}
break;
@@ -1438,7 +1398,7 @@ void cUiCtrl(void)
pMapDisplay->UpdateMask = BITMAP_BIT(BITMAP_1);
if (VarsUi.Pointer == 11)
{
- sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_STARTUP_SOUND,(char*)TXT_SOUND_EXT);
+ sprintf((char*)pMapSound->SoundFilename,"%s.%s",(char*)UI_STARTUP_SOUND,(char*)TXT_FILE_EXT[FILETYPE_SOUND]);
pMapSound->Volume = IOMapUi.Volume;
pMapSound->Mode = SOUND_ONCE;
pMapSound->Flags |= SOUND_UPDATE;
@@ -1485,7 +1445,7 @@ void cUiCtrl(void)
case INIT_MENU :
{
// Restart menu system
- VarsUi.Function = 0;
+ VarsUi.Function = 0;
VarsUi.MenuFileLevel = 0;
cUiLoadLevel(0,0,1);
@@ -1516,7 +1476,7 @@ void cUiCtrl(void)
// Prepare center icon
pMapDisplay->pMenuIcons[MENUICON_CENTER] = cUiMenuGetIconImage(VarsUi.pMenuLevel->IconImageNo);
pMapDisplay->pMenuText = VarsUi.pMenuLevel->IconText;
-
+
if (VarsUi.pMenuLevel->Items == 2)
{
// if 2 menues -> prepare left or right icon
diff --git a/AT91SAM7S256/Source/c_ui.h b/AT91SAM7S256/Source/c_ui.h
index 07a4237..e74dcbe 100644
--- a/AT91SAM7S256/Source/c_ui.h
+++ b/AT91SAM7S256/Source/c_ui.h
@@ -5,13 +5,13 @@
//
// Reviser $Author:: Dktochpe $
//
-// Revision date $Date:: 3-02-06 12:50 $
+// Revision date $Date:: 10/21/08 12:08p $
//
// Filename $Workfile:: c_ui.h $
//
-// Version $Revision:: 75 $
+// Version $Revision:: 10 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_ui.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_ui.h $
//
// Platform C
//
@@ -19,6 +19,8 @@
#ifndef C_UI
#define C_UI
+#define DATALOGENABLED 1 // 1 == Datalog enable
+
#define NO_OF_FEEDBACK_CHARS 12 // Chars left when bitmap also showed
#define SIZE_OF_CURSOR 16 // Bitmap size of cursor (header + 8x8 pixels)
#define SIZE_OF_PORTBITMAP 11 // Bitmap size of port no (header + 3x8 pixels)
@@ -32,6 +34,8 @@
#define MAX_VOLUME 4 // Max volume in UI [cnt]
+#define CHECKBYTE 0x78 // Used to validate NVData
+
#define BATTERY_COUNT_TO_MV 13.848 // Battery count to mV factor [mV/cnt]
#define LOW_BATT_THRESHOLD 6 // Low batt conunts before warning
@@ -43,12 +47,15 @@
#define DISPLAY_SHOW_ERROR_TIME 2500 // Error string show time [mS]
#define DISPLAY_SHOW_TIME 1500 // Min. response display time [mS]
-#define DISPLAY_VIEW_UPDATE 250 // Display update time [mS]
+#define DISPLAY_VIEW_UPDATE 200 // Display update time [mS]
#define MIN_DISPLAY_UPDATE_TIME 50 // OBP min graphics update time [mS]
-#define MIN_SENSOR_READ_TIME 25 // Time between sensor reads [mS]
+#define MIN_SENSOR_READ_TIME 100 // Time between sensor reads [mS]
#define ARM_WAIT_FOR_POWER_OFF 250 // Time for off command to execute [mS]
+#define DISPLAY_SHOW_FILENAME_TIME 3000 // Datalog show saves as time [mS]
+#define DATALOG_DEFAULT_SAMPLE_TIME 100L // Default time between samples [mS]
+
// Menu special flags
#define MENU_SKIP_THIS_MOTHER_ID 0x00000001L // Used to seek next common menu (i0000000)
@@ -83,18 +90,17 @@
#define MENU_SENSOR_SOUND_DBA 0x03 // Sound sensor dBA
#define MENU_SENSOR_LIGHT 0x04 // Light sensor with flood light
#define MENU_SENSOR_LIGHT_AMB 0x05 // Light sensor without flood light
-#define MENU_SENSOR_LIGHT_OLD 0x06 // Light sensor old with flood light
-#define MENU_SENSOR_TOUCH 0x07 // Touch sensor
-#define MENU_SENSOR_MOTOR_DEG 0x08 // Motor sensor degrees
-#define MENU_SENSOR_MOTOR_ROT 0x09 // Motor sensor rotations
-#define MENU_SENSOR_ROTATION 0x0A // Rotation sensor ticks
-#define MENU_SENSOR_ULTRASONIC_IN 0x0B // Ultrasonic sensor inch
-#define MENU_SENSOR_ULTRASONIC_CM 0x0C // Ultrasonic sensor cm
-#define MENU_SENSOR_TEMP_C 0x0D // Temp sensor celcius
-#define MENU_SENSOR_TEMP_F 0x0E // Temp sensor fahrenheit
-#define MENU_SENSOR_INVALID 0x0F // Invalid
-
-#define MENU_PORT_EMPTY 0x11 // NA
+#define MENU_SENSOR_TOUCH 0x06 // Touch sensor
+#define MENU_SENSOR_MOTOR_DEG 0x07 // Motor sensor degrees
+#define MENU_SENSOR_MOTOR_ROT 0x08 // Motor sensor rotations
+#define MENU_SENSOR_ULTRASONIC_IN 0x09 // Ultrasonic sensor inch
+#define MENU_SENSOR_ULTRASONIC_CM 0x0A // Ultrasonic sensor cm
+#define MENU_SENSOR_IIC_TEMP_C 0x0B // IIC temp sensor celcius
+#define MENU_SENSOR_IIC_TEMP_F 0x0C // IIC temp sensor fahrenheit
+#define MENU_SENSOR_COLOR 0x0D // Color sensor
+#define MENU_SENSOR_INVALID 0x0E // Invalid
+
+#define MENU_PORT_EMPTY 0x11 // Port empty
#define MENU_PORT_1 0x12 // Port 1
#define MENU_PORT_2 0x13 // Port 2
#define MENU_PORT_3 0x14 // Port 3
@@ -158,6 +164,10 @@
#define MENU_RIGHT 0xFE // Right
#define MENU_EXIT 0xFF // Exit
+#define DATALOGPORTS (MENU_PORT_INVALID - MENU_PORT_EMPTY - 1)
+#define MAX_DATALOGS 9999 // Highest datalog file number
+#define DATALOGBUFFERSIZE 25 // Largest number of characters buffered before flash write
+
#define MENULEVELS 10 // Max no of levels in one file (8 + 2 virtual)
#define MENUFILELEVELS 3 // Max deept in menu file pool
@@ -187,6 +197,16 @@ MENUFILE;
typedef struct
{
+ UBYTE CheckByte; // Check byte (CHECKBYTE)
+ UBYTE DatalogEnabled; // Datalog enabled flag (0 = no)
+ UBYTE VolumeStep; // Volume step (0 - MAX_VOLUME)
+ UBYTE PowerdownCode; // Power down code
+ UWORD DatalogNumber; // Datalog file number (0 - MAX_DATALOGS)
+}
+NVDATA;
+
+typedef struct
+{
UBYTE StatusText[STATUSTEXT_SIZE + 1]; // RCX name
UBYTE Initialized; // Ui init done
UWORD SleepTimer; // Sleep timer
@@ -235,6 +255,9 @@ typedef struct
UBYTE Cursor; // General cursor
UBYTE SelectedSensor; // General used for selected sensor
UBYTE SelectedPort; // General used for selected port
+ UBYTE SensorReset;
+ UBYTE SensorState; // Sensor state (reset, ask, read)
+ SWORD SensorTimer; // Timer used to time sensor states
UBYTE NextState;
UBYTE SelectedFilename[FILENAME_LENGTH + 1]; // Selected file name
@@ -314,11 +337,23 @@ typedef struct
SLONG ViewSampleValue; // Latch for sensor values
UBYTE ViewSampleValid; // Latch for sensor valid
+ // Datalog
+ ULONG DatalogOldTick;
+ ULONG DatalogRTC; // Real time in mS
+ ULONG DatalogTimer; // Logging main timer
+ ULONG DatalogSampleTime; // Logging sample time
+ ULONG DatalogSampleTimer; // Logging sample timer
+ SLONG DatalogSampleValue[DATALOGPORTS]; // Latch for sensor values
+ UBYTE DatalogSampleValid[DATALOGPORTS]; // Latch for sensor valid
+ UWORD DatalogError; // Error code
+ UBYTE DatalogPort[DATALOGPORTS]; // Logging sensor
+ UBYTE Update; // Update icons flag
+
// NV storage
ULONG NVTmpLength; // Non volatile filelength
SWORD NVTmpHandle; // Non volatile filehandle
UBYTE NVFilename[FILENAME_LENGTH + 1]; // Non volatile file name
- UBYTE NVData; // Non volatile data
+ NVDATA NVData; // Non volatile data
// Feedback
UBYTE *FBText; // Seperate text pointer for feedback
diff --git a/AT91SAM7S256/Source/c_ui.iom b/AT91SAM7S256/Source/c_ui.iom
index 6159a4f..770b682 100644
--- a/AT91SAM7S256/Source/c_ui.iom
+++ b/AT91SAM7S256/Source/c_ui.iom
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 28-02-06 14:07 $
+// Revision date $Date:: 10-06-08 9:26 $
//
// Filename $Workfile:: c_ui.iom $
//
-// Version $Revision:: 45 $
+// Version $Revision:: 4 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_ui.iom $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_ui.i $
//
// Platform C
//
@@ -21,14 +21,25 @@
#define pMapUi ((IOMAPUI*)(pHeaders[ENTRY_UI]->pIOMap))
+enum
+{
+ DEVICETYPE_UNKNOWN,
+ DEVICETYPE_NXT,
+ DEVICETYPE_PHONE,
+ DEVICETYPE_PC
+};
+
// Various filenames without extension
#define UI_NONVOLATILE "NVConfig" // Ui non volatile config filename
#define UI_PROGRAM_DEFAULT "Untitled" // On brick programming default filename
#define UI_PROGRAM_TEMP "Program" // On brick programming tmp filename
#define UI_PROGRAM_READER "RPGReader" // On brick programming script reader filename
+#define UI_DATALOG_FILENAME "OBD_" // On brick datalog filename
+#define UI_DATALOG_DEFAULT "Untitled" // On brick datalog default name
+#define UI_DATALOG_TEMP "Tmp" // On brick datalog tmp filename
#define UI_STARTUP_SOUND "! Startup" // Sound file activated when the menu system starts up
#define UI_KEYCLICK_SOUND "! Click" // Sound file activated when key pressed in the menu system
-#define UI_ATTENTION_SOUND "! Attention" // Sound file activated when incomming BT requests attention
+#define UI_ATTENTION_SOUND "! Attention" // Sound file activated when incomming BT requests attention
// Various text strings
#define UI_NAME_DEFAULT "NXT" // Default blue tooth name
diff --git a/AT91SAM7S256/Source/d_bt.c b/AT91SAM7S256/Source/d_bt.c
index 55b81f7..6e3e47d 100644
--- a/AT91SAM7S256/Source/d_bt.c
+++ b/AT91SAM7S256/Source/d_bt.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:42 $
+// Revision date $Date:: 24-04-08 14:33 $
//
// Filename $Workfile:: d_bt.c $
//
-// Version $Revision:: 21 $
+// Version $Revision:: 3 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_bt.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_bt.c $
//
// Platform C
//
@@ -39,7 +39,6 @@ void dBtInit(void)
SETTimeout(0);
BTInit;
BTInitPIOPins;
- BTInitADC;
}
void dBtSetBcResetPinLow(void)
diff --git a/AT91SAM7S256/Source/d_bt.h b/AT91SAM7S256/Source/d_bt.h
index 2e41ded..baf3ab6 100644
--- a/AT91SAM7S256/Source/d_bt.h
+++ b/AT91SAM7S256/Source/d_bt.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:41 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_bt.h $
//
-// Version $Revision:: 16 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_bt.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_bt.h $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_bt.r b/AT91SAM7S256/Source/d_bt.r
index f5c6a7d..8c9558f 100644
--- a/AT91SAM7S256/Source/d_bt.r
+++ b/AT91SAM7S256/Source/d_bt.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:42 $
+// Revision date $Date:: 24-04-08 14:33 $
//
// Filename $Workfile:: d_bt.r $
//
-// Version $Revision:: 28 $
+// Version $Revision:: 3 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_bt.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_bt.r $
//
// Platform C
//
@@ -121,16 +121,13 @@ static UWORD RemainingLength;
*AT91C_PIOA_OER = BT_ARM7_CMD_PIN; /* PA27 set to output */\
}
-#define BTInitADC {\
- *AT91C_ADC_MR = 0; /* Reset register plus setting only software trigger */\
- *AT91C_ADC_MR |= 0x00003F00; /* ADC-clock set to approximatly 375 kHz */\
- *AT91C_ADC_MR |= 0x00020000; /* Startup set to approximatly 84uS */\
- *AT91C_ADC_MR |= 0x09000000; /* Sample & Hold set to approximatly 20uS */\
- *AT91C_ADC_CHER = AT91C_ADC_CH6 | AT91C_ADC_CH4; /* Enable channel 6 and 4*/\
+#define BTStartADConverter {\
+ *AT91C_ADC_CHER = AT91C_ADC_CH6 | AT91C_ADC_CH4; \
+ ADStart; \
+ while(!((*AT91C_ADC_SR) & AT91C_ADC_CH6)); \
+ *AT91C_ADC_CHDR = AT91C_ADC_CH6 | AT91C_ADC_CH4; \
}
-#define BTStartADConverter *AT91C_ADC_CR = AT91C_ADC_START; /* Start the ADC converter */\
-
#define BTReadADCValue(ADValue) ADValue = *AT91C_ADC_CDR6;
#define BTSetResetHigh {\
diff --git a/AT91SAM7S256/Source/d_button.c b/AT91SAM7S256/Source/d_button.c
index a74c166..2691e8c 100644
--- a/AT91SAM7S256/Source/d_button.c
+++ b/AT91SAM7S256/Source/d_button.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:58 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_button.c $
//
-// Version $Revision:: 4 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_button.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_butt $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_button.h b/AT91SAM7S256/Source/d_button.h
index 2826c3f..10dacac 100644
--- a/AT91SAM7S256/Source/d_button.h
+++ b/AT91SAM7S256/Source/d_button.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:58 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_button.h $
//
-// Version $Revision:: 4 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_button.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_butt $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_button.r b/AT91SAM7S256/Source/d_button.r
index 3e5e359..c478394 100644
--- a/AT91SAM7S256/Source/d_button.r
+++ b/AT91SAM7S256/Source/d_button.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:58 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_button.r $
//
-// Version $Revision:: 14 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_button.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_butt $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_display.c b/AT91SAM7S256/Source/d_display.c
index 7181913..99f16c6 100644
--- a/AT91SAM7S256/Source/d_display.c
+++ b/AT91SAM7S256/Source/d_display.c
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 29-08-05 11:26 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_display.c $
//
-// Version $Revision:: 4 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_display. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_disp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_display.h b/AT91SAM7S256/Source/d_display.h
index c205619..a894685 100644
--- a/AT91SAM7S256/Source/d_display.h
+++ b/AT91SAM7S256/Source/d_display.h
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 29-08-05 11:26 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_display.h $
//
-// Version $Revision:: 5 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_display. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_disp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_display.r b/AT91SAM7S256/Source/d_display.r
index d4328b7..e38bb45 100644
--- a/AT91SAM7S256/Source/d_display.r
+++ b/AT91SAM7S256/Source/d_display.r
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dktochpe $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 20-12-05 12:28 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_display.r $
//
-// Version $Revision:: 18 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_display. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_disp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_hispeed.c b/AT91SAM7S256/Source/d_hispeed.c
index cdb79b7..01f2d07 100644
--- a/AT91SAM7S256/Source/d_hispeed.c
+++ b/AT91SAM7S256/Source/d_hispeed.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_hispeed.c $
//
-// Version $Revision:: 8 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_hispeed. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_hisp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_hispeed.h b/AT91SAM7S256/Source/d_hispeed.h
index 2ebda66..669a5d1 100644
--- a/AT91SAM7S256/Source/d_hispeed.h
+++ b/AT91SAM7S256/Source/d_hispeed.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_hispeed.h $
//
-// Version $Revision:: 5 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_hispeed. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_hisp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_hispeed.r b/AT91SAM7S256/Source/d_hispeed.r
index 0f4a455..52d5e14 100644
--- a/AT91SAM7S256/Source/d_hispeed.r
+++ b/AT91SAM7S256/Source/d_hispeed.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_hispeed.r $
//
-// Version $Revision:: 11 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_hispeed. $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_hisp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_input.c b/AT91SAM7S256/Source/d_input.c
index 272f35e..771eb3e 100644
--- a/AT91SAM7S256/Source/d_input.c
+++ b/AT91SAM7S256/Source/d_input.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:06 $
+// Revision date $Date:: 14-01-09 10:34 $
//
// Filename $Workfile:: d_input.c $
//
-// Version $Revision:: 14 $
+// Version $Revision:: 12 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_input.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_inpu $
//
// Platform C
//
@@ -24,13 +24,21 @@ void dInputInit(void)
INPUTInit;
}
+void dInputSetColorClkInput(void)
+{
+ COLORClkInput;
+}
+
+void dInputGetAllColors(COLORSTRUCT *pRaw, UBYTE Status)
+{
+ UPDATEAllColors(pRaw, Status);
+}
void dInputGetRawAd(UWORD *pValues, UBYTE No)
{
INPUTGetVal(pValues, No);
}
-
void dInputSetDirOutDigi0(UBYTE Port)
{
INPUTSetOutDigi0(Port);
@@ -54,21 +62,25 @@ void dInputSetDirInDigi1(UBYTE Port)
void dInputClearDigi0(UBYTE Port)
{
INPUTClearDigi0(Port);
+ INPUTSetOutDigi0(Port);
}
void dInputClearDigi1(UBYTE Port)
{
INPUTClearDigi1(Port);
+ INPUTSetOutDigi1(Port);
}
void dInputSetDigi0(UBYTE Port)
{
INPUTSetDigi0(Port);
+ INPUTSetOutDigi0(Port);
}
void dInputSetDigi1(UBYTE Port)
{
INPUTSetDigi1(Port);
+ INPUTSetOutDigi1(Port);
}
void dInputRead0(UBYTE Port, UBYTE *pData)
@@ -96,6 +108,42 @@ void dInputSetInactive(UBYTE Port)
INPUTSetInactive(Port);
}
+UBYTE dInputGetColor(UBYTE No, UWORD *pCol)
+{
+ UBYTE Status;
+ UPDATELed(No, pCol, Status);
+ return(Status);
+}
+
+void dInputColorTx(UBYTE Port, UBYTE Data)
+{
+ COLORTx(Port, Data);
+}
+
+void dInputReadCal(UBYTE Port, UBYTE *pData)
+{
+ CALDataRead(Port, pData);
+}
+
+UBYTE dInputCheckColorStatus(UBYTE Port)
+{
+ UBYTE Status;
+
+ CHECKColorState(Port,Status);
+ return(Status);
+}
+
+void dInputClearColor100msTimer(UBYTE No)
+{
+ CLEARColor100msTimer(No);
+}
+
+UBYTE dInputChkColor100msTimer(UBYTE No)
+{
+ UBYTE State;
+ COLOR100msStatus(No, State);
+ return(State);
+}
void dInputExit(void)
{
diff --git a/AT91SAM7S256/Source/d_input.h b/AT91SAM7S256/Source/d_input.h
index 8a7d4ef..d365dd1 100644
--- a/AT91SAM7S256/Source/d_input.h
+++ b/AT91SAM7S256/Source/d_input.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:06 $
+// Revision date $Date:: 14-01-09 10:33 $
//
// Filename $Workfile:: d_input.h $
//
-// Version $Revision:: 6 $
+// Version $Revision:: 12 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_input.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_inpu $
//
// Platform C
//
@@ -34,4 +34,15 @@ void dInputSetDigi1(UBYTE Port);
void dInputRead0(UBYTE Port, UBYTE *pData);
void dInputRead1(UBYTE Port, UBYTE *pData);
+UBYTE dInputGetColor(UBYTE No, UWORD *pCol);
+
+void dInputColorTx(UBYTE Port, UBYTE Data);
+void dInputReadCal(UBYTE Port, UBYTE *pData);
+UBYTE dInputCheckColorStatus(UBYTE Port);
+void dInputGetAllColors(COLORSTRUCT *pRaw, UBYTE Status);
+void dInputSetColorClkInput(void);
+void dInputClearColor100msTimer(UBYTE No);
+UBYTE dInputChkColor100msTimer(UBYTE No);
+
+
#endif
diff --git a/AT91SAM7S256/Source/d_input.r b/AT91SAM7S256/Source/d_input.r
index 6e3d989..3dc567e 100644
--- a/AT91SAM7S256/Source/d_input.r
+++ b/AT91SAM7S256/Source/d_input.r
@@ -1,60 +1,78 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:06 $
+// Revision date $Date:: 14-01-09 10:33 $
//
// Filename $Workfile:: d_input.r $
//
-// Version $Revision:: 10 $
+// Version $Revision:: 24 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_input.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_inpu $
//
// Platform C
//
+
#ifdef SAM7S256
+void rInputWait2uS(void);
+void rInputWait20uS(void);
+void rInputWait30uS(void);
+void rInputSingleADC(UBYTE Port, UWORD *Val);
+
+const ULONG Digi0Alloc[] = {AT91C_PIO_PA23, AT91C_PIO_PA28, AT91C_PIO_PA29, AT91C_PIO_PA30};
+const ULONG Digi1Alloc[] = {AT91C_PIO_PA18, AT91C_PIO_PA19, AT91C_PIO_PA20, AT91C_PIO_PA2};
+const ULONG ADPinDef[NO_OF_INPUTS] = {AT91C_ADC_CH1, AT91C_ADC_CH2, AT91C_ADC_CH3, AT91C_ADC_CH7};
+unsigned int volatile* ADValRegs[NO_OF_INPUTS] = {AT91C_ADC_CDR1, AT91C_ADC_CDR2, AT91C_ADC_CDR3, AT91C_ADC_CDR7};
+
+static UBYTE ColorReset[NO_OF_INPUTS];
+static ULONG ColorClkDef;
+static ULONG ColorTimer[NO_OF_INPUTS];
+
+#define TIME2US ((OSC/16)/500000L)
+#define TIME20US ((OSC/16)/50000L)
+#define TIME30US ((OSC/16)/33333L)
+#define TIME100MS ((OSC/16)/10L)
+
#define MAX_AD_VALUE 0x3FF
#define INPUTInit {\
- UBYTE Tmp;\
+ UBYTE Tmp; \
for (Tmp = 0; Tmp < NOS_OF_AVR_INPUTS; Tmp++)\
- {\
- IoFromAvr.AdValue[Tmp] = MAX_AD_VALUE;\
- }\
- IoToAvr.InputPower = 0;\
- for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)\
- {\
- *AT91C_PIOA_PPUDR = Digi0Alloc[Tmp];\
- *AT91C_PIOA_PPUDR = Digi1Alloc[Tmp];\
- INPUTSetInDigi0(Tmp);\
- INPUTSetInDigi1(Tmp);\
- }\
+ { \
+ IoFromAvr.AdValue[Tmp] = MAX_AD_VALUE; \
+ } \
+ IoToAvr.InputPower = 0; \
+ for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++) \
+ { \
+ *AT91C_PIOA_PPUDR = Digi0Alloc[Tmp]; \
+ *AT91C_PIOA_PPUDR = Digi1Alloc[Tmp]; \
+ INPUTSetInDigi0(Tmp); \
+ INPUTSetInDigi1(Tmp); \
+ ColorReset[Tmp] = FALSE; \
+ } \
+ ColorClkDef = 0; \
}
-#define INPUTGetVal(pValues, No) *pValues = (UWORD)IoFromAvr.AdValue[No];\
+#define INPUTGetVal(pValues, No) *pValues = (UWORD)IoFromAvr.AdValue[No]; \
*pValues &= 0x03FF
-#define INPUTSetActive(Input) IoToAvr.InputPower |= (0x01 << Input);\
+#define INPUTSetActive(Input) IoToAvr.InputPower |= (0x01 << Input); \
IoToAvr.InputPower &= ~(0x10 << Input)
-#define INPUTSet9v(Input) IoToAvr.InputPower |= (0x10 << Input);\
+#define INPUTSet9v(Input) IoToAvr.InputPower |= (0x10 << Input); \
IoToAvr.InputPower &= ~(0x01 << Input)
#define INPUTSetInactive(Input) IoToAvr.InputPower &= ~(0x11 << Input)
-const ULONG Digi0Alloc[] = {AT91C_PIO_PA23, AT91C_PIO_PA28, AT91C_PIO_PA29, AT91C_PIO_PA30};
-const ULONG Digi1Alloc[] = {AT91C_PIO_PA18, AT91C_PIO_PA19, AT91C_PIO_PA20, AT91C_PIO_PA2};
-
-#define INPUTSetOutDigi0(Input) *AT91C_PIOA_PER = Digi0Alloc[Input];\
+#define INPUTSetOutDigi0(Input) *AT91C_PIOA_PER = Digi0Alloc[Input]; \
*AT91C_PIOA_OER = Digi0Alloc[Input]
-#define INPUTSetOutDigi1(Input) *AT91C_PIOA_PER = Digi1Alloc[Input];\
+#define INPUTSetOutDigi1(Input) *AT91C_PIOA_PER = Digi1Alloc[Input]; \
*AT91C_PIOA_OER = Digi1Alloc[Input]
-
-#define INPUTSetInDigi0(Input) *AT91C_PIOA_PER = Digi0Alloc[Input];\
+#define INPUTSetInDigi0(Input) *AT91C_PIOA_PER = Digi0Alloc[Input]; \
*AT91C_PIOA_ODR = Digi0Alloc[Input]
-#define INPUTSetInDigi1(Input) *AT91C_PIOA_PER = Digi1Alloc[Input];\
+#define INPUTSetInDigi1(Input) *AT91C_PIOA_PER = Digi1Alloc[Input]; \
*AT91C_PIOA_ODR = Digi1Alloc[Input]
#define INPUTSetDigi0(Input) *AT91C_PIOA_SODR = Digi0Alloc[Input]
@@ -65,32 +83,227 @@ const ULONG Digi1Alloc[] = {AT91C_PIO_PA18, AT91C_PIO_PA19, AT91C_P
#define INPUTClearDigi1(Input) *AT91C_PIOA_CODR = Digi1Alloc[Input]
-#define INPUTReadDigi0(Input, Data) if ((*AT91C_PIOA_PDSR) & Digi0Alloc[Input])\
- {\
- *Data |= 0x00000001;\
- }\
- else\
- {\
- *Data &= ~0x00000001;\
+#define INPUTReadDigi0(Input, Data) if ((*AT91C_PIOA_PDSR) & Digi0Alloc[Input]) \
+ { \
+ *Data |= 0x00000001; \
+ } \
+ else \
+ { \
+ *Data &= ~0x00000001; \
}
-#define INPUTReadDigi1(Input, Data) if ((*AT91C_PIOA_PDSR) & Digi1Alloc[Input])\
- {\
- *Data |= 0x00000002;\
- }\
- else\
- {\
- *Data &= ~0x00000002;\
+#define INPUTReadDigi1(Input, Data) if ((*AT91C_PIOA_PDSR) & Digi1Alloc[Input]) \
+ { \
+ *Data |= 0x00000002; \
+ } \
+ else \
+ { \
+ *Data &= ~0x00000002; \
+ }
+
+#define INPUTClkHigh(Port) INPUTSetDigi0(Port); \
+ INPUTSetOutDigi0(Port); \
+ rInputWait2uS()
+
+#define INPUTClkLow(Port) INPUTClearDigi0(Port); \
+ INPUTSetOutDigi0(Port); \
+ rInputWait2uS()
+
+#define COLORClkInput *AT91C_PIOA_ODR = ColorClkDef
+
+#define UPDATEAllColors(Vals, Status){\
+ ULONG ADDef; \
+ ADDef = 0; \
+ ColorClkDef = 0; \
+ if (0x01 & Status) \
+ { \
+ ADDef |= ADPinDef[0]; \
+ ColorClkDef |= Digi0Alloc[0]; \
+ if ((*AT91C_PIOA_PDSR) & Digi0Alloc[0]) \
+ { \
+ ColorReset[0] = TRUE; \
+ } \
+ } \
+ if (0x02 & Status) \
+ { \
+ ADDef |= ADPinDef[1]; \
+ ColorClkDef |= Digi0Alloc[1]; \
+ if ((*AT91C_PIOA_PDSR) & Digi0Alloc[1]) \
+ { \
+ ColorReset[1] = TRUE; \
+ } \
+ } \
+ if (0x04 & Status) \
+ { \
+ ADDef |= ADPinDef[2]; \
+ ColorClkDef |= Digi0Alloc[2]; \
+ if ((*AT91C_PIOA_PDSR) & Digi0Alloc[2]) \
+ { \
+ ColorReset[2] = TRUE; \
+ } \
+ } \
+ if (0x08 & Status) \
+ { \
+ ADDef |= ADPinDef[3]; \
+ ColorClkDef |= Digi0Alloc[3]; \
+ if ((*AT91C_PIOA_PDSR) & Digi0Alloc[3]) \
+ { \
+ ColorReset[3] = TRUE; \
+ } \
+ } \
+ *AT91C_PIOA_OER = ColorClkDef; \
+ *AT91C_ADC_CHER = ADDef; \
+ GetAdVals(Vals, BLANK, Status); \
+ *AT91C_PIOA_SODR = ColorClkDef; \
+ rInputWait20uS(); \
+ GetAdVals(Vals, RED, Status); \
+ *AT91C_PIOA_CODR = ColorClkDef; \
+ rInputWait20uS(); \
+ GetAdVals(Vals, GREEN, Status); \
+ *AT91C_PIOA_SODR = ColorClkDef; \
+ rInputWait20uS(); \
+ GetAdVals(Vals, BLUE, Status); \
+ *AT91C_PIOA_CODR = ColorClkDef; \
+ *AT91C_ADC_CHDR = ADDef; \
+ }
+
+#define UPDATELed(Port, Col, Status) { \
+ rInputSingleADC(Port, Col); \
+ if ((*AT91C_PIOA_PDSR) & Digi0Alloc[Port]) \
+ { \
+ ColorReset[Port] = TRUE; \
+ } \
+ CHECKColorState(Port, Status); \
}
-#define INPUTExit {\
- UBYTE Tmp;\
- for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)\
- {\
- INPUTSetInDigi0(Tmp);\
- INPUTSetInDigi1(Tmp);\
- }\
+#define SETClkHi(Port) INPUTClkHigh(Port) \
+
+#define COLORTx(Port, Data) { \
+ UBYTE BitCnt; \
+ BitCnt = 0; \
+ while(BitCnt++ < 8) \
+ { \
+ INPUTClkHigh(Port); \
+ if (Data & 0x01) \
+ { \
+ INPUTSetDigi1(Port); \
+ } \
+ else \
+ { \
+ INPUTClearDigi1(Port); \
+ } \
+ rInputWait30uS(); \
+ Data >>= 1; \
+ INPUTClkLow(Port); \
+ rInputWait30uS(); \
+ } \
+ }
+
+#define CALDataRead(Port, pData) {\
+ UBYTE BitCnt; \
+ UBYTE Data; \
+ BitCnt = 0; \
+ INPUTClkHigh(Port); \
+ rInputWait2uS(); \
+ while(BitCnt++ < 8) \
+ { \
+ INPUTClkHigh(Port); \
+ rInputWait2uS(); \
+ rInputWait2uS(); \
+ INPUTClkLow(Port); \
+ Data >>= 1; \
+ if ((*AT91C_PIOA_PDSR) & Digi1Alloc[Port])\
+ { \
+ Data |= 0x80; \
+ } \
+ rInputWait2uS(); \
+ } \
+ *pData = Data; \
+ }
+
+#define CHECKColorState(Port, Status) {\
+ Status = TRUE; \
+ if ((IoFromAvr.AdValue[Port] > 50) || (TRUE == ColorReset[Port])) \
+ { \
+ Status = FALSE; \
+ ColorReset[Port] = FALSE; \
+ } \
+ }
+
+
+#define INPUTExit { \
+ UBYTE Tmp; \
+ *AT91C_ADC_CHDR = (AT91C_ADC_CH1 | AT91C_ADC_CH2 | AT91C_ADC_CH3 | AT91C_ADC_CH7);\
+ for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++) \
+ { \
+ INPUTSetInDigi0(Tmp); \
+ INPUTSetInDigi1(Tmp); \
+ } \
}
+
+#define CLEARColor100msTimer(No) ColorTimer[No] = (*AT91C_PITC_PIIR);\
+
+#define COLOR100msStatus(No,V) V = FALSE;\
+ if (((*AT91C_PITC_PIIR) - ColorTimer[No]) > TIME100MS)\
+ {\
+ V = TRUE;\
+ }
+
+
+
+void rInputSingleADC(UBYTE Port, UWORD *Val)
+{
+ *Val = *AT91C_ADC_LCDR;
+ *AT91C_ADC_CHER = ADPinDef[Port];
+ ADStart;
+ while(!((*AT91C_ADC_SR) & AT91C_ADC_DRDY));
+ *Val = *AT91C_ADC_LCDR;
+ *AT91C_ADC_CHDR = ADPinDef[Port];
+}
+
+void GetAdVals(COLORSTRUCT *pColStruct, UBYTE Color, UBYTE Status)
+{
+ UBYTE ChCnt;
+ ADStart;
+ for(ChCnt = 0; ChCnt < NO_OF_INPUTS; ChCnt++)
+ {
+ if (Status & (0x01 << ChCnt))
+ {
+ while(!((*AT91C_ADC_SR) & ADPinDef[ChCnt]));
+ pColStruct[ChCnt].ADRaw[Color] = *ADValRegs[ChCnt];
+ }
+ }
+ ADStart;
+ for(ChCnt = 0; ChCnt < NO_OF_INPUTS; ChCnt++)
+ {
+ if (Status & (0x01 << ChCnt))
+ {
+ while(!((*AT91C_ADC_SR) & ADPinDef[ChCnt]));
+ pColStruct[ChCnt].ADRaw[Color] += *ADValRegs[ChCnt];
+ pColStruct[ChCnt].ADRaw[Color] = (pColStruct[ChCnt].ADRaw[Color])>>1;
+ }
+ }
+}
+
+void rInputWait2uS(void)
+{
+ ULONG PitTmr;
+ PitTmr = (*AT91C_PITC_PIIR);
+ while (((*AT91C_PITC_PIIR) - PitTmr) < TIME2US);
+}
+
+void rInputWait20uS(void)
+{
+ ULONG PitTmr;
+ PitTmr = (*AT91C_PITC_PIIR);
+ while (((*AT91C_PITC_PIIR) - PitTmr) < TIME20US);
+}
+void rInputWait30uS(void)
+{
+ ULONG PitTmr;
+ PitTmr = (*AT91C_PITC_PIIR);
+ while (((*AT91C_PITC_PIIR) - PitTmr) < TIME30US);
+}
#endif
diff --git a/AT91SAM7S256/Source/d_ioctrl.c b/AT91SAM7S256/Source/d_ioctrl.c
index 7c414f6..2506172 100644
--- a/AT91SAM7S256/Source/d_ioctrl.c
+++ b/AT91SAM7S256/Source/d_ioctrl.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:50 $
+// Revision date $Date:: 5-12-07 15:23 $
//
// Filename $Workfile:: d_ioctrl.c $
//
-// Version $Revision:: 11 $
+// Version $Revision:: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_ioctrl.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_ioct $
//
// Platform C
//
@@ -19,22 +19,10 @@
#include "d_ioctrl.h"
#include "d_ioctrl.r"
-/* Enum related to State */
-enum
-{
- RX_I2C = 1,
- TX_I2C = 2,
- UNLOCK_I2C = 3,
- WAIT_I2C = 4
-};
-
-
-static UBYTE volatile State;
void dIOCtrlInit(void)
{
IOCTRLInit;
- State = UNLOCK_I2C;
}
void dIOCtrlSetPower(UBYTE Power)
@@ -49,52 +37,9 @@ void dIOCtrlSetPwm(UBYTE Pwm)
void dIOCtrlTransfer(void)
{
- UBYTE B;
-
- CHECKTime(B);
- if (B)
- {
- switch(State)
- {
- case TX_I2C:
- {
- FULLDataTx;
- State = RX_I2C;
- }
- break;
- case RX_I2C:
- {
- FULLDataRx;
- State = TX_I2C;
- }
- break;
- case UNLOCK_I2C:
- {
- UNLOCKTx;
- State = WAIT_I2C;
- }
- break;
- case WAIT_I2C:
- {
-
- /* Intermediate state as unlock string is 47 */
- /* characters which is a little more than 1mS */
- State = TX_I2C;
- }
- break;
- default:
- {
- UNLOCKTx;
- State = WAIT_I2C;
- }
- break;
- }
- SETTime;
- }
+ I2CTransfer;
}
-
-
void dIOCtrlExit(void)
{
IOCTRLExit;
diff --git a/AT91SAM7S256/Source/d_ioctrl.h b/AT91SAM7S256/Source/d_ioctrl.h
index 4ebedd3..4b7ae4f 100644
--- a/AT91SAM7S256/Source/d_ioctrl.h
+++ b/AT91SAM7S256/Source/d_ioctrl.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:50 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_ioctrl.h $
//
-// Version $Revision:: 7 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_ioctrl.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_ioct $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_ioctrl.r b/AT91SAM7S256/Source/d_ioctrl.r
index 71bf0f4..1071276 100644
--- a/AT91SAM7S256/Source/d_ioctrl.r
+++ b/AT91SAM7S256/Source/d_ioctrl.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 9:50 $
+// Revision date $Date:: 7-12-07 14:09 $
//
// Filename $Workfile:: d_ioctrl.r $
//
-// Version $Revision:: 21 $
+// Version $Revision:: 4 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_ioctrl.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_ioct $
//
// Platform C
//
@@ -15,39 +15,61 @@
#ifdef SAM7S256
+extern void I2cHandler(void);
+
+enum
+{
+ I2C_IDLE = 1,
+ I2C_ERROR = 2,
+ I2C_TX = 3,
+ I2C_RX = 4
+};
+
#define NO_TO_TX BYTES_TO_TX + 1
#define NO_TO_RX BYTES_TO_RX + 1
-#define TIMEOUT 2100
+#define TIMEOUT (((OSC/16)/1000)*30) /* 100 ms timeout on I2C*/
+#define I2CCLK 400000L
+#define TIME400KHZ (((OSC/16L)/(I2CCLK * 2)) + 1)
+#define CLDIV (((OSC/I2CCLK)/2)-3)
+#define DEVICE_ADR 0x01
+static UBYTE *pIrq;
+static UBYTE volatile Cnt;
+static UBYTE I2cStatus;
+static UBYTE I2cLastStatus;
+static UBYTE I2cInBuffer[NO_TO_RX];
+static UBYTE I2cOutBuffer[COPYRIGHTSTRINGLENGTH + 1];
+static UBYTE RxSum;
+static ULONG I2CTimerValue;
-extern void I2cHandler(void);
-static UBYTE *pIrq;
-static UBYTE Cnt;
-static UBYTE NoToTx;
-static UBYTE I2cStatus;
-static UBYTE I2cInBuffer[NO_TO_RX];
-static UBYTE I2cOutBuffer[NO_TO_TX];
-static UBYTE RxSum;
+#define DISABLEI2cIrqs *AT91C_TWI_IDR = 0x000001C7
+#define ISSUEStopCond *AT91C_TWI_CR = AT91C_TWI_STOP
+#define INSERTPower(Power) IoToAvr.Power = Power
+#define INSERTPwm(Pwm) IoToAvr.PwmFreq = Pwm
+#define SETTime I2CTimerValue = ((*AT91C_PITC_PIIR) & AT91C_PITC_CPIV)
-#define I2C_IDLE 1
-#define I2C_ERROR 2
-#define I2C_TX 3
-#define I2C_RX 4
-#define I2CClk 400000L
-#define TIME400KHz (((OSC/16L)/(I2CClk * 2)) + 1)
-#define CLDIV (((OSC/I2CClk)/2)-3)
+#define DISABLETwi *AT91C_PIOA_PPUDR = (AT91C_PA4_TWCK | AT91C_PA3_TWD);/* no pull up */\
+ *AT91C_PIOA_MDER = (AT91C_PA4_TWCK | AT91C_PA3_TWD);/* SCL + SDA is open drain*/\
+ *AT91C_PIOA_SODR = (AT91C_PA4_TWCK | AT91C_PA3_TWD);/* SCL + SDA is high */\
+ *AT91C_PIOA_OER = (AT91C_PA4_TWCK | AT91C_PA3_TWD);/* SCL + SDA is output */\
+ *AT91C_PIOA_PER = (AT91C_PA4_TWCK | AT91C_PA3_TWD);/* Disable peripheal */\
-#define DEVICE_ADR 0x01
-#define DISABLEI2cIrqs *AT91C_TWI_IDR = 0x000001C7
-#define ISSUEStopCond *AT91C_TWI_CR = AT91C_TWI_STOP
+
+#define STARTIrqTx I2cStatus = I2C_TX;\
+ I2cLastStatus = I2C_TX;\
+ pIrq = I2cOutBuffer;\
+ *AT91C_TWI_CR = AT91C_TWI_MSEN;\
+ *AT91C_TWI_MMR = (AT91C_TWI_IADRSZ_NO | (DEVICE_ADR << 16)); /* no int. adr, write dir */\
+ *AT91C_TWI_IER = 0x00000104; /* Enable TX related irq */\
+ *AT91C_TWI_THR = *pIrq
#define WAITClk {\
ULONG PitTmr;\
- PitTmr = (*AT91C_PITC_PIIR & AT91C_PITC_CPIV) + TIME400KHz;\
+ PitTmr = (*AT91C_PITC_PIIR & AT91C_PITC_CPIV) + TIME400KHZ;\
if (PitTmr >= (*AT91C_PITC_PIMR & AT91C_PITC_CPIV))\
{\
PitTmr -= (*AT91C_PITC_PIMR & AT91C_PITC_CPIV);\
@@ -56,247 +78,152 @@ static UBYTE RxSum;
}
-
#define RESETI2c {\
UBYTE Tmp;\
- *AT91C_PMC_PCER = (1L<<AT91C_ID_TWI);/* Enable TWI Clock */\
- *AT91C_PIOA_MDER = AT91C_PA4_TWCK; /* enable open drain on SCL*/\
- *AT91C_PIOA_SODR = AT91C_PA4_TWCK; /* SCL is high */\
- *AT91C_PIOA_OER = AT91C_PA4_TWCK; /* SCL is output */\
- *AT91C_PIOA_ODR = AT91C_PA3_TWD; /* SDA is input */\
- *AT91C_PIOA_PER = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Disable peripheal */\
+ DISABLETwi;\
Tmp = 0;\
/* Clock minimum 9 times and both SCK and SDA should be high */\
- while(((!(*AT91C_PIOA_PDSR & AT91C_PA3_TWD)) || (!(*AT91C_PIOA_PDSR & AT91C_PA4_TWCK))) || (Tmp <= 9))\
+ while((!(*AT91C_PIOA_PDSR & AT91C_PA3_TWD)) || (Tmp <= 9))\
{\
- *AT91C_PIOA_CODR = AT91C_PA4_TWCK; /* SCL is low */\
- WAITClk;\
- *AT91C_PIOA_SODR = AT91C_PA4_TWCK; /* SCL is high */\
- WAITClk;\
- Tmp++;\
+ if ((*AT91C_PIOA_PDSR) & AT91C_PA4_TWCK) /* Clk strectching? */\
+ {\
+ *AT91C_PIOA_CODR = AT91C_PA4_TWCK; /* SCL is low */\
+ WAITClk;\
+ *AT91C_PIOA_SODR = AT91C_PA4_TWCK; /* SCL is high */\
+ WAITClk;\
+ Tmp++;\
+ }\
}\
- *AT91C_TWI_CR = AT91C_TWI_SWRST;\
- I2cStatus = I2C_IDLE;\
+ *AT91C_TWI_CR = AT91C_TWI_MSDIS;\
+ *AT91C_TWI_CR = AT91C_TWI_SWRST;\
+ *AT91C_PIOA_ASR = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Sel. per. A */\
+ *AT91C_PIOA_PDR = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Sel. per on pins*/\
}
-#define IOCTRLInit {\
- memset(I2cInBuffer, 0x00, sizeof(I2cInBuffer));\
- *AT91C_AIC_IDCR = (1L<<AT91C_ID_TWI); /* Disable AIC irq */\
- DISABLEI2cIrqs; /* Disable TWI irq */\
- RESETI2c;\
- IoToAvr.Power = 0;\
- *AT91C_AIC_ICCR = (1L<<AT91C_ID_TWI); /* Clear AIC irq */\
- AT91C_AIC_SVR[AT91C_ID_TWI] = (unsigned int)I2cHandler;\
- AT91C_AIC_SMR[AT91C_ID_TWI] = ((AT91C_AIC_PRIOR_HIGHEST) | (AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED));\
- *AT91C_AIC_IECR = (1L<<AT91C_ID_TWI); /* Enables AIC irq */\
- *AT91C_PIOA_ASR = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Sel. per. A */\
- *AT91C_PIOA_PDR = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Sel. per on pins*/\
- *AT91C_PIOA_MDER = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Open drain */\
- *AT91C_PIOA_PPUDR = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* no pull up */\
- *AT91C_TWI_CWGR = (CLDIV | (CLDIV << 8)); /* 400KHz clock */\
- NoToTx = 0;\
- }
+
+#define IOCTRLInit *AT91C_AIC_IDCR = (1L<<AT91C_ID_TWI); /* Disable AIC irq */\
+ *AT91C_PMC_PCER = (1L<<AT91C_ID_TWI); /* Enable TWI Clock */\
+ DISABLEI2cIrqs; /* Disable TWI irq */\
+ if (((*AT91C_AIC_ISR & 0x1F) == AT91C_ID_TWI))\
+ {\
+ *AT91C_AIC_EOICR = 1;\
+ }\
+ RESETI2c;\
+ IoToAvr.Power = 0;\
+ *AT91C_AIC_ICCR = (1L<<AT91C_ID_TWI); /* Clear AIC irq */\
+ AT91C_AIC_SVR[AT91C_ID_TWI] = (unsigned int)I2cHandler;\
+ AT91C_AIC_SMR[AT91C_ID_TWI] = ((AT91C_AIC_PRIOR_HIGHEST) | (AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED));\
+ *AT91C_AIC_IECR = (1L<<AT91C_ID_TWI); /* Enables AIC irq */\
+ *AT91C_TWI_CWGR = (CLDIV | (CLDIV << 8)); /* 400KHz clock */\
+ UNLOCKTx
#define IOCTRLExit DISABLEI2cIrqs;\
*AT91C_AIC_IDCR = (1L<<AT91C_ID_TWI); /* Disable AIC irq */\
*AT91C_AIC_ICCR = (1L<<AT91C_ID_TWI); /* Clear AIC irq */\
*AT91C_PMC_PCDR = (1L<<AT91C_ID_TWI); /* Disable clock */\
- *AT91C_PIOA_MDER = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Open drain */\
- *AT91C_PIOA_PPUDR = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* no pull up */\
- *AT91C_PIOA_PER = (AT91C_PA4_TWCK | AT91C_PA3_TWD); /* Disable peripheal*/
-
-#define INSERTPower(Power) IoToAvr.Power = Power
-#define INSERTPwm(Pwm) IoToAvr.PwmFreq = Pwm
-
-const UBYTE CopyrightStr[] = {"\xCC"COPYRIGHTSTRING};
+ DISABLETwi
-
-#define UNLOCKTx if (I2cStatus == I2C_IDLE)\
- {\
- I2cStatus = I2C_TX;\
- DISABLEI2cIrqs;\
- pIrq = (UBYTE*)CopyrightStr;\
- Cnt = 0;\
- NoToTx = COPYRIGHTSTRINGLENGTH + 1; /* +1 is the 0xCC command */\
- *AT91C_AIC_ICCR = (1L<<AT91C_ID_TWI);\
- *AT91C_TWI_MMR = (AT91C_TWI_IADRSZ_NO | (DEVICE_ADR << 16)); /* no internal adr, write dir */\
- *AT91C_TWI_CR = AT91C_TWI_MSEN | AT91C_TWI_START;\
- *AT91C_TWI_IER = 0x000001C4; /* Enable TX related irq */\
- }\
- else\
- {\
- if ((I2cStatus == I2C_ERROR) || ((I2cStatus == I2C_TX)))\
- {\
- IOCTRLInit;\
- }\
- }
+#define UNLOCKTx I2cOutBuffer[0] = 0xCC; /* CC is the Unlock cmd */\
+ memcpy(&I2cOutBuffer[1], (UBYTE*)COPYRIGHTSTRING, COPYRIGHTSTRINGLENGTH);\
+ Cnt = COPYRIGHTSTRINGLENGTH + 1; /* +1 is the 0xCC command*/\
+ STARTIrqTx;\
+ SETTime
-#define FULLDataTx if (I2cStatus == I2C_IDLE)\
+#define I2CTransfer if ((I2cStatus == I2C_IDLE) && (*AT91C_TWI_SR & AT91C_TWI_TXCOMP))\
{\
- UBYTE I2cTmp, Sum;\
- pIrq = (UBYTE*)&IoToAvr;\
- for(I2cTmp = 0, Sum = 0; I2cTmp < BYTES_TO_TX; I2cTmp++, pIrq++)\
- {\
- I2cOutBuffer[I2cTmp] = *pIrq;\
- Sum += *pIrq;\
- }\
- I2cOutBuffer[I2cTmp] = ~Sum;\
- I2cStatus = I2C_TX;\
DISABLEI2cIrqs;\
- pIrq = I2cOutBuffer;\
- Cnt = 0;\
- NoToTx = NO_TO_TX;\
- *AT91C_AIC_ICCR = (1L<<AT91C_ID_TWI);\
- *AT91C_TWI_MMR = (AT91C_TWI_IADRSZ_NO | (DEVICE_ADR << 16)); /* no internal adr, write dir */\
- *AT91C_TWI_CR = AT91C_TWI_MSEN | AT91C_TWI_START;\
- *AT91C_TWI_IER = 0x000001C4; /* Enable TX related irq */\
- }\
- else\
- {\
- if ((I2cStatus == I2C_ERROR) || ((I2cStatus == I2C_TX)))\
+ if (I2cLastStatus == I2C_TX)\
{\
- IOCTRLInit;\
- }\
- }
-
-
-#define FULLDataRx {\
- if (I2cStatus == I2C_IDLE)\
- {\
- ULONG Tmp;\
- RxSum = 0;\
- I2cStatus = I2C_RX;\
- DISABLEI2cIrqs;\
- pIrq = I2cInBuffer;\
- Cnt = 0;\
- /* Reset error flags */\
- Tmp = *AT91C_TWI_SR;\
- Tmp = *AT91C_TWI_RHR;\
- Tmp = Tmp; /* Suppress warning */\
- *AT91C_TWI_MMR = (AT91C_TWI_MREAD | AT91C_TWI_IADRSZ_NO | (DEVICE_ADR << 16));\
- *AT91C_TWI_CR = AT91C_TWI_START | AT91C_TWI_MSEN;\
- Tmp = *AT91C_TWI_SR;\
- *AT91C_TWI_IER = 0x000001C2;\
+ RxSum = 0;\
+ I2cStatus = I2C_RX;\
+ I2cLastStatus = I2C_RX;\
+ pIrq = I2cInBuffer;\
+ Cnt = NO_TO_RX;\
+ *AT91C_TWI_CR = AT91C_TWI_MSEN;\
+ *AT91C_TWI_MMR = (AT91C_TWI_MREAD | AT91C_TWI_IADRSZ_NO | (DEVICE_ADR << 16));\
+ *AT91C_TWI_CR = AT91C_TWI_START;\
+ *AT91C_TWI_IER = 0x00000102;\
}\
else\
{\
- if ((I2cStatus == I2C_ERROR) || (I2cStatus == I2C_RX))\
+ /* Now TX (last time was RX) */\
+ UBYTE I2cTmp, Sum;\
+ /* Copy rx'ed data bytes so they can be read by controllers */\
+ if (RxSum == 0xFF)\
+ {\
+ memcpy((UBYTE*)&IoFromAvr,I2cInBuffer,BYTES_TO_RX);\
+ }\
+ pIrq = (UBYTE*)&IoToAvr;\
+ for(I2cTmp = 0, Sum = 0; I2cTmp < BYTES_TO_TX; I2cTmp++, pIrq++)\
{\
- IOCTRLInit;\
+ I2cOutBuffer[I2cTmp] = *pIrq;\
+ Sum += *pIrq;\
}\
+ I2cOutBuffer[I2cTmp] = ~Sum;\
+ Cnt = NO_TO_TX;\
+ STARTIrqTx;\
}\
- }
-
-static ULONG I2CTimerValue;
-#define CHECKTime(B) if (TIMEOUT < ((((*AT91C_PITC_PIIR) & AT91C_PITC_CPIV) - I2CTimerValue) & AT91C_PITC_CPIV))\
- {\
- B = TRUE;\
+ SETTime;\
}\
else\
{\
- B = FALSE;\
+ if ((I2cStatus == I2C_ERROR) || (TIMEOUT < (((*AT91C_PITC_PIIR) - I2CTimerValue) & AT91C_PITC_CPIV)))\
+ {\
+ IOCTRLInit;\
+ }\
}
-#define SETTime I2CTimerValue = ((*AT91C_PITC_PIIR) & AT91C_PITC_CPIV)
-
__ramfunc void I2cHandler(void)
{
ULONG Tmp;
Tmp = *AT91C_TWI_SR;
-
if (Tmp & AT91C_TWI_RXRDY)
{
- Cnt++;
- if (Cnt < (NO_TO_RX - 1))
+ *pIrq = *AT91C_TWI_RHR;
+ RxSum += *pIrq;
+ if (1 == --Cnt)
{
- *pIrq = *AT91C_TWI_RHR;
- RxSum += *pIrq;
+ ISSUEStopCond;
}
else
{
- if (Cnt == (NO_TO_RX - 1))
+ if (0 == Cnt)
{
-
- /* Issue stop cond. (NACK) to indicate read last byte */
- ISSUEStopCond;
- *pIrq = *AT91C_TWI_RHR;
- RxSum += *pIrq;
- }
- else
- {
- if (Cnt == NO_TO_RX)
- {
-
- /* Now read last byte */
- *pIrq = *AT91C_TWI_RHR;
- I2cStatus = I2C_IDLE;
- RxSum = ~RxSum;
- if (RxSum == *pIrq)
- {
- UBYTE I2cIrqTmp;
- for (I2cIrqTmp = 0, pIrq = (UBYTE*)&IoFromAvr; I2cIrqTmp < BYTES_TO_RX; I2cIrqTmp++, pIrq++)
- {
- *pIrq = I2cInBuffer[I2cIrqTmp];
- }
- }
- }
+ I2cStatus = I2C_IDLE;
}
}
pIrq++;
}
-
- else
+ else
{
if (Tmp & AT91C_TWI_TXRDY)
{
- if (Cnt < NoToTx)
+ if (Cnt--)
{
/* When both shift and THR reg is empty - stop is sent automatically */
- *AT91C_TWI_CR = AT91C_TWI_MSEN | AT91C_TWI_START;
- if (Cnt == (NoToTx - 1))
- {
- *AT91C_TWI_CR = AT91C_TWI_STOP;
- }
*AT91C_TWI_THR = *pIrq;
- Cnt++;
pIrq++;
}
else
{
+
+ /* All bytes TX'ed - TXCOMP checked in I2CTransfer*/
I2cStatus = I2C_IDLE;
- DISABLEI2cIrqs;
}
}
}
- /* Overrun error - byte received while rx buffer is full */
- if (Tmp & AT91C_TWI_OVRE)
- {
- I2cStatus = I2C_ERROR;
- ISSUEStopCond;
- DISABLEI2cIrqs;
- }
-
- /* Underrun error - trying to load invalid data to the shift register */
- if (Tmp & AT91C_TWI_UNRE)
- {
- I2cStatus = I2C_ERROR;
- DISABLEI2cIrqs;
- }
-
/* NACK - Data byte has not been accepted by the reciever */
if (Tmp & AT91C_TWI_NACK)
{
I2cStatus = I2C_ERROR;
- DISABLEI2cIrqs;
- IOCTRLInit;
}
}
diff --git a/AT91SAM7S256/Source/d_loader.c b/AT91SAM7S256/Source/d_loader.c
index 30f6376..a5ceb7d 100644
--- a/AT91SAM7S256/Source/d_loader.c
+++ b/AT91SAM7S256/Source/d_loader.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 17-05-06 8:36 $
+// Revision date $Date:: 24-06-09 8:53 $
//
// Filename $Workfile:: d_loader.c $
//
-// Version $Revision:: 75 $
+// Version $Revision:: 18 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_loader.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_load $
//
// Platform C
//
@@ -20,9 +20,10 @@
#include <string.h>
#include <ctype.h>
-#define FILEVERSION (0x00000106L)
+#define FILEVERSION (0x0000010DL)
-#define MAX_FILES ((SECTORSIZE/4) - 1) /* Last file entry is used for file version*/
+#define MAX_FILES ((FILETABLE_SIZE) - 1) /* Last file entry is used for file version*/
+#define FILEVERSIONINDEX ((FILETABLE_SIZE) - 1) /* Last file entry is used for file version*/
#define MAX_WRITE_BUFFERS 4
#define FLASHOFFSET (0x100000L)
@@ -56,7 +57,6 @@ typedef struct
static HANDLE HandleTable[MAX_HANDLES];
static WRITEBUF WriteBuffer[MAX_WRITE_BUFFERS];
static ULONG SectorTable[NOOFSECTORS>>5];
-static const ULONG *Files;
static FILEHEADER Header;
static ULONG FreeUserFlash;
static UWORD FreeSectors;
@@ -84,8 +84,6 @@ void dLoaderInit(void)
LOADERInit;
- Files = (const ULONG*)STARTOFFILETABLE;
-
/* Clear handle table */
for (Tmp = 0; Tmp < MAX_HANDLES; Tmp++)
{
@@ -101,18 +99,16 @@ void dLoaderInit(void)
dLoaderCheckVersion();
dLoaderUpdateSectorTable();
- FreeUserFlash = dLoaderReturnFreeFlash();
}
+
UWORD dLoaderAvailFileNo(void)
{
UBYTE Tmp, Tmp2;
UWORD ReturnVal;
- const ULONG* FlashPtr;
ReturnVal = NOMOREFILES;
Tmp2 = 0;
- FlashPtr = Files;
for(Tmp = 0; Tmp < MAX_HANDLES; Tmp++)
{
@@ -123,7 +119,7 @@ UWORD dLoaderAvailFileNo(void)
Tmp2++;
}
}
- if ((0xFFFFFFFF == FlashPtr[(MAX_FILES - 1) - Tmp2]) || (0 == FlashPtr[(MAX_FILES - 1) - Tmp2]))
+ if ((0xFFFFFFFF == FILEPTRTABLE[(MAX_FILES - 1) - Tmp2]) || (0 == FILEPTRTABLE[(MAX_FILES - 1) - Tmp2]))
{
ReturnVal = SUCCESS;
}
@@ -131,33 +127,46 @@ UWORD dLoaderAvailFileNo(void)
}
+void dLoaderWriteFilePtrTable(ULONG *RamFilePtrTable)
+{
+ UWORD TmpTableSize;
+
+ /* FILETABLE_SIZE is in LONG */
+ TmpTableSize = (FILETABLE_SIZE * 4);
+ while(TmpTableSize)
+ {
+ TmpTableSize -= SECTORSIZE;
+ dLoaderWritePage((ULONG)FILEPTRTABLE + TmpTableSize, SECTORSIZE, RamFilePtrTable + (TmpTableSize/4));
+ }
+}
+
+
UWORD dLoaderInsertPtrTable(const UBYTE *pAdr, UWORD Handle)
{
UWORD TmpCnt;
UWORD Status;
- ULONG SectorCopy[(SECTORSIZE/4)];
- const ULONG* FlashPtr;
+ ULONG PtrTable[FILETABLE_SIZE];
/* It is possible to add the file as checking for number of files */
/* is done when initiating the file download */
- FlashPtr = Files;
- memset(SectorCopy, 0, sizeof(SectorCopy));
-
+ memset(PtrTable, 0, sizeof(PtrTable));
TmpCnt = MAX_FILES - 1;
while(TmpCnt)
{
/* TmpCnt-- first because you want to copy from index 0 */
TmpCnt--;
- SectorCopy[TmpCnt + 1] = FlashPtr[TmpCnt];
+ PtrTable[TmpCnt + 1] = FILEPTRTABLE[TmpCnt];
}
/* Copy the new file in position 0 */
- SectorCopy[0] = (ULONG)pAdr;
+ PtrTable[0] = (ULONG)pAdr;
/* Add the File version to the top of the file list */
- SectorCopy[MAX_FILES] = FlashPtr[MAX_FILES];
- dLoaderWritePage((ULONG)Files, SECTORSIZE, SectorCopy);
+ PtrTable[FILEVERSIONINDEX] = FILEPTRTABLE[FILEVERSIONINDEX];
+
+ /* Write the file pointer table to flash */
+ dLoaderWriteFilePtrTable(PtrTable);
/* FileIndex in HandleTable should be incremented by one - new file index is 0 */
for (TmpCnt = 0; TmpCnt < MAX_HANDLES; TmpCnt++)
@@ -168,7 +177,6 @@ UWORD dLoaderInsertPtrTable(const UBYTE *pAdr, UWORD Handle)
}
}
HandleTable[Handle].FileIndex = 0;
-
Status = SUCCESS | Handle;
return(Status);
@@ -177,47 +185,43 @@ UWORD dLoaderInsertPtrTable(const UBYTE *pAdr, UWORD Handle)
UWORD dLoaderDeleteFilePtr(UWORD Handle)
{
-
UWORD ErrorCode;
UWORD LongCnt;
- ULONG SectorCopy[(SECTORSIZE>>2)];
- const ULONG *pFlash;
+ ULONG PtrTable[FILETABLE_SIZE];
ErrorCode = SUCCESS;
- if (0xFFFFFFFF != Files[HandleTable[Handle].FileIndex])
+ if (0xFFFFFFFF != FILEPTRTABLE[HandleTable[Handle].FileIndex])
{
ErrorCode = dLoaderCheckFiles(Handle);
if (0x8000 > ErrorCode)
{
- pFlash = Files;
- for (LongCnt = 0; LongCnt < (HandleTable[Handle].FileIndex); LongCnt++, pFlash++)
+ for (LongCnt = 0; LongCnt < (HandleTable[Handle].FileIndex); LongCnt++)
{
- SectorCopy[LongCnt] = *pFlash;
+ PtrTable[LongCnt] = FILEPTRTABLE[LongCnt];
}
- /* Skip the file that has to be deleted */
- pFlash++;
- for ( ; LongCnt < (MAX_FILES - 1); LongCnt++, pFlash++)
+ /* Skip the file that has to be deleted "LongCnt + 1" */
+ for ( ; LongCnt < (MAX_FILES - 1); LongCnt++)
{
- SectorCopy[LongCnt] = *pFlash;
+ PtrTable[LongCnt] = FILEPTRTABLE[LongCnt+1];
}
/* The top file entry is now free */
- SectorCopy[MAX_FILES - 1] = 0xFFFFFFFF;
+ PtrTable[MAX_FILES - 1] = 0xFFFFFFFF;
/* Insert the file version */
- SectorCopy[MAX_FILES] = *pFlash;
+ PtrTable[MAX_FILES] = FILEPTRTABLE[MAX_FILES];
-
- /* Write the sectortable back into flash */
- dLoaderWritePage((ULONG)Files, SECTORSIZE,(ULONG*) &SectorCopy);
+ /* Write the file pointer table back into flash */
+ dLoaderWriteFilePtrTable(PtrTable);
dLoaderUpdateSectorTable();
- FreeUserFlash = dLoaderReturnFreeFlash();
/* Update the HandleTable[].FileIndex */
for (LongCnt = 0; LongCnt < MAX_HANDLES; LongCnt++)
{
- if ((HandleTable[Handle].FileIndex <= HandleTable[LongCnt].FileIndex) && (FREE != HandleTable[LongCnt].Status))
+
+ /* FileIndex must not be decremented for to the file to be deleted (when Handle = LongCnt)*/
+ if ((HandleTable[Handle].FileIndex < HandleTable[LongCnt].FileIndex) && (FREE != HandleTable[LongCnt].Status))
{
(HandleTable[LongCnt].FileIndex)--;
}
@@ -235,7 +239,7 @@ UWORD dLoaderDeleteFilePtr(UWORD Handle)
void dLoaderDeleteAllFiles(void)
{
ULONG Tmp;
- ULONG SectorBuf[SECTORSIZE/4];
+ ULONG PtrTable[FILETABLE_SIZE];
/* Close all handles - all files is to be wiped out */
for (Tmp = 0; Tmp < MAX_HANDLES; Tmp++)
@@ -249,9 +253,11 @@ void dLoaderDeleteAllFiles(void)
}
/* Insert the file version */
- memset(SectorBuf, 0xFF, SECTORSIZE);
- SectorBuf[(SECTORSIZE/4) - 1] = FILEVERSION;
- dLoaderWritePage(STARTOFFILETABLE, SECTORSIZE, SectorBuf);
+ memset(PtrTable, 0xFF, sizeof(PtrTable));
+ PtrTable[FILEVERSIONINDEX] = FILEVERSION;
+
+ /* Write an empty file pointer table to flash */
+ dLoaderWriteFilePtrTable(PtrTable);
/* Update all other parameters */
dLoaderUpdateSectorTable();
@@ -264,7 +270,8 @@ void dLoaderUpdateSectorTable(void)
UWORD Tmp;
UWORD SectorNo;
const FILEHEADER *pFile;
- ULONG FileStart;
+ ULONG FileSize;
+ const UWORD *pSectorTable;
Tmp = 0;
@@ -273,42 +280,46 @@ void dLoaderUpdateSectorTable(void)
/* All file pointer are occupied as default */
while (Tmp < MAX_FILES)
{
- SectorNo = dLoaderGetSectorNumber((ULONG)&Files[Tmp]);
- SectorTable[SectorNo>>5] |= (0x1 << (SectorNo - ((SectorNo>>5)<<5)));
+ SectorNo = dLoaderGetSectorNumber((ULONG)&FILEPTRTABLE[Tmp]);
+ SectorTable[SectorNo>>5] |= (0x1 << (SectorNo & 0x001F));
Tmp += (SECTORSIZE >> 2);
}
for (Tmp = 0; Tmp < MAX_FILES; Tmp++)
{
- if ((0xFFFFFFFF != Files[Tmp]) && (0x00000000 != Files[Tmp]))
+ if ((0xFFFFFFFF != FILEPTRTABLE[Tmp]) && (0x00000000 != FILEPTRTABLE[Tmp]))
{
- pFile = (const FILEHEADER *) Files[Tmp];
- FileStart = pFile->FileStartAdr;
+ pFile = (const FILEHEADER *) FILEPTRTABLE[Tmp];
/* This is necessary if the start address is at the first address in an sector */
SectorNo = dLoaderGetSectorNumber((ULONG)pFile->FileStartAdr);
- SectorTable[SectorNo>>5] |= (0x1 << (SectorNo - ((SectorNo>>5)<<5)));
+ SectorTable[SectorNo>>5] |= (0x1 << (SectorNo & 0x001F));
/* This is necessary as the first sector (where the fileheader is) is not */
/* included in the sector table */
- SectorNo = dLoaderGetSectorNumber((ULONG)Files[Tmp]);
- SectorTable[SectorNo>>5] |= (0x1 << (SectorNo - ((SectorNo>>5)<<5)));
-
- SectorNo = 0;
- while(FileStart > ((ULONG)(&(pFile->FileSectorTable[SectorNo]))) && (NOOFSECTORS > pFile->FileSectorTable[SectorNo]))
+ SectorNo = dLoaderGetSectorNumber((ULONG)FILEPTRTABLE[Tmp]);
+ SectorTable[SectorNo>>5] |= (0x1 << (SectorNo & 0x001F));
+
+ /* First Sector with data has been allocated add this as the initial */
+ /* file size */
+ FileSize = SECTORSIZE - ((pFile->FileStartAdr) & (SECTORSIZE-1)) ;
+ pSectorTable = pFile->FileSectorTable;
+ while((FileSize < (pFile->FileSize)) && (NOOFSECTORS > (*pSectorTable)))
{
- SectorTable[(pFile->FileSectorTable[SectorNo])>>5] |= (0x1 << ((pFile->FileSectorTable[SectorNo]) - (((pFile->FileSectorTable[SectorNo])>>5)<<5)));
- if (0 == ((ULONG)(&(pFile->FileSectorTable[SectorNo+1])) & (SECTORSIZE-1)))
+ SectorTable[(*pSectorTable)>>5] |= (0x1 << ((*pSectorTable) & 0x1F));
+ if (0 == ((ULONG)(pSectorTable + 1) & (SECTORSIZE-1)))
{
- SectorNo += (((pFile->FileSectorTable[SectorNo]) << SECTORSIZESHIFT) - ((ULONG)&(pFile->FileSectorTable[SectorNo]) & ~FLASHOFFSET)>>1);
+ pSectorTable = (UWORD*)(((ULONG)(*pSectorTable) << SECTORSIZESHIFT) | FLASHOFFSET);
}
else
{
- SectorNo++;
+ *pSectorTable++;
+ FileSize += SECTORSIZE;
}
}
}
}
+ FreeUserFlash = dLoaderReturnFreeFlash();
}
@@ -336,6 +347,7 @@ UWORD dLoaderCreateFileHeader(ULONG FileSize, UBYTE *pName, UBYTE LinearStat
}
if (FILENOTFOUND == (ErrorCode & 0xFF00))
{
+
/* Here check for the download buffers for a matching download */
/* in progress */
ErrorCode &= 0x00FF;
@@ -404,7 +416,6 @@ UWORD dLoaderCreateFileHeader(ULONG FileSize, UBYTE *pName, UBYTE LinearStat
if (FileSize <= FreeUserFlash)
{
-
/* Allocate file header */
Tmp = (((CompleteFileByteSize - 1) >> SECTORSIZESHIFT) + 1);
Handle = dLoaderAllocateHeader(Handle, &FileStartAdr, &Header, HeaderByteSize, Tmp);
@@ -548,7 +559,6 @@ UWORD dLoaderCloseHandle(UWORD Handle)
UWORD RtnStatus;
FILEHEADER *TmpFileHeader;
-
RtnStatus = Handle;
/* if it is a normal handle or handle closed due to an error then error must be different */
@@ -602,7 +612,6 @@ UWORD dLoaderCloseHandle(UWORD Handle)
/* an error has occured during download - now clean up the mess... */
dLoaderUpdateSectorTable();
- FreeUserFlash = dLoaderReturnFreeFlash();
}
}
}
@@ -631,7 +640,7 @@ UWORD dLoaderOpenRead(UBYTE *pFileName, ULONG *pLength)
{
if (FileLength)
{
- TmpHeader = (FILEHEADER const *)(Files[HandleTable[Handle].FileIndex]);
+ TmpHeader = (FILEHEADER const *)(FILEPTRTABLE[HandleTable[Handle].FileIndex]);
HandleTable[Handle].pFlash = (const UBYTE *)TmpHeader->FileStartAdr;
HandleTable[Handle].pSectorNo = TmpHeader->FileSectorTable;
HandleTable[Handle].DataLength = TmpHeader->DataSize;
@@ -733,9 +742,9 @@ UWORD dLoaderFindNext(UWORD Handle, UBYTE *pFound, ULONG *pFileLength, ULONG
for (Tmp = ((HandleTable[Handle].FileIndex) + 1); Tmp < MAX_FILES; Tmp++)
{
- if (0xFFFFFFFF != Files[Tmp])
+ if (0xFFFFFFFF != FILEPTRTABLE[Tmp])
{
- if (SUCCESS == dLoaderCheckName((UBYTE*)Files[Tmp], HandleTable[Handle].SearchStr, HandleTable[Handle].SearchType))
+ if (SUCCESS == dLoaderCheckName((UBYTE*)FILEPTRTABLE[Tmp], HandleTable[Handle].SearchStr, HandleTable[Handle].SearchType))
{
HandleTable[Handle].FileIndex = Tmp;
Tmp = MAX_FILES;
@@ -745,7 +754,7 @@ UWORD dLoaderFindNext(UWORD Handle, UBYTE *pFound, ULONG *pFileLength, ULONG
}
if (0x8000 > ReturnVal)
{
- pHeader = (FILEHEADER *)Files[HandleTable[Handle].FileIndex];
+ pHeader = (FILEHEADER *)FILEPTRTABLE[HandleTable[Handle].FileIndex];
if (NULL != pFileLength)
{
*pFileLength = pHeader->FileSize;
@@ -836,7 +845,7 @@ UWORD dLoaderGetFilePtr(UBYTE *pFileName, UBYTE *pPtrToFile, ULONG *pFileLen
if (0x8000 > RtnVal)
{
- File = (FILEHEADER*) Files[HandleTable[RtnVal].FileIndex];
+ File = (FILEHEADER*) FILEPTRTABLE[HandleTable[RtnVal].FileIndex];
if (LINEAR & File->FileType)
{
*((ULONG*)pPtrToFile) = File->FileStartAdr;
@@ -1083,6 +1092,7 @@ UWORD dLoaderFlashFileHeader(UWORD Handle, ULONG FileStartAdr, FILEHEADER *p
return(Handle);
}
+
UWORD dLoaderGetSectorNumber(ULONG Adr)
{
UWORD SectorNo;
@@ -1125,7 +1135,7 @@ UWORD dLoaderCheckFiles(UBYTE Handle)
Index = HandleTable[Handle].FileIndex;
for (Tmp = 0; Tmp < MAX_HANDLES; Tmp++)
{
- if ((BUSY == HandleTable[Tmp].Status) && (Index == HandleTable[Tmp].FileIndex) && (Tmp != Handle))
+ if (((BUSY == HandleTable[Tmp].Status) || (DOWNLOADING == HandleTable[Tmp].Status)) && (Index == HandleTable[Tmp].FileIndex) && (Tmp != Handle))
{
ErrorCode = FILEISBUSY;
}
@@ -1133,6 +1143,7 @@ UWORD dLoaderCheckFiles(UBYTE Handle)
return(Handle | ErrorCode);
}
+
void dLoaderCopyFileName(UBYTE *pDst, UBYTE *pSrc)
{
UBYTE Tmp;
@@ -1151,17 +1162,16 @@ void dLoaderCopyFileName(UBYTE *pDst, UBYTE *pSrc)
}
}
+
void dLoaderCheckVersion(void)
{
- ULONG Version;
-
- Version = *(const ULONG*)(STARTOFFILETABLE + (MAX_FILES * 4));
- if (Version != FILEVERSION)
+ if (FILEPTRTABLE[FILEVERSIONINDEX] != FILEVERSION)
{
dLoaderDeleteAllFiles();
}
}
+
UWORD dLoaderOpenAppend(UBYTE *pFileName, ULONG *pAvailSize)
{
UWORD Handle;
@@ -1180,7 +1190,7 @@ UWORD dLoaderOpenAppend(UBYTE *pFileName, ULONG *pAvailSize)
{
/* File has bee found - check for then correct filetype (Datafile) */
- pHeader = (FILEHEADER *)Files[HandleTable[Handle].FileIndex];
+ pHeader = (FILEHEADER *)FILEPTRTABLE[HandleTable[Handle].FileIndex];
if (DATAFILE & pHeader->FileType)
{
if (FileSize > DataSize)
@@ -1192,7 +1202,7 @@ UWORD dLoaderOpenAppend(UBYTE *pFileName, ULONG *pAvailSize)
dLoaderSetFilePointer(Handle, DataSize, &(HandleTable[Handle].pFlash));
WriteBuffer[HandleTable[Handle].WriteBufNo].BufIndex = (ULONG)(HandleTable[Handle].pFlash) & (SECTORSIZE - 1);
memcpy(WriteBuffer[HandleTable[Handle].WriteBufNo].Buf, (const UBYTE *)((ULONG)(HandleTable[Handle].pFlash) & ~(SECTORSIZE - 1)), WriteBuffer[HandleTable[Handle].WriteBufNo].BufIndex );
- HandleTable[Handle].FileDlPtr = Files[HandleTable[Handle].FileIndex];
+ HandleTable[Handle].FileDlPtr = FILEPTRTABLE[HandleTable[Handle].FileIndex];
HandleTable[Handle].Status = (UBYTE)DOWNLOADING;
*pAvailSize = FileSize - DataSize;
HandleTable[Handle].DataLength = *pAvailSize;
@@ -1229,7 +1239,7 @@ UWORD dLoaderSetFilePointer(UWORD Handle, ULONG BytePtr, const UBYTE **pData
pData = pData;
- pHeader = (FILEHEADER*)Files[HandleTable[Handle].FileIndex];
+ pHeader = (FILEHEADER*)FILEPTRTABLE[HandleTable[Handle].FileIndex];
HandleTable[Handle].pSectorNo = pHeader->FileSectorTable;
/* Get the sector offset */
@@ -1397,7 +1407,7 @@ UWORD dLoaderRenameFile(UBYTE Handle, UBYTE *pNewName)
UBYTE Tmp;
FILEHEADER *pHeader;
- pFile = (ULONG *)Files[HandleTable[Handle].FileIndex];
+ pFile = (ULONG *)FILEPTRTABLE[HandleTable[Handle].FileIndex];
for (Tmp = 0; Tmp < (SECTORSIZE/4); Tmp++)
{
SectorBuf[Tmp] = pFile[Tmp];
@@ -1432,6 +1442,39 @@ UWORD dLoaderCheckDownload(UBYTE *pName)
}
+
+
+UWORD dLoaderCropDatafile(UBYTE Handle)
+{
+ UWORD ReturnVal;
+ ULONG SectorBuffer[SECTORSIZE];
+ UBYTE FileIndex;
+
+ /* Save the fileindex for use after the handle has been closed */
+ FileIndex = HandleTable[Handle].FileIndex;
+
+ ReturnVal = dLoaderCloseHandle(Handle);
+ if (0x8000 > ReturnVal)
+ {
+
+ /* Successful close handle now try to crop the file if filesize and datasize differs */
+ /* and File exists */
+ if (((FILEPTRTABLE[FileIndex]) != 0x00000000) && ((FILEPTRTABLE[FileIndex]) != 0xFFFFFFFF))
+ {
+ if (((FILEHEADER const *)(FILEPTRTABLE[FileIndex]))->FileSize != ((FILEHEADER const *)(FILEPTRTABLE[FileIndex]))->DataSize)
+ {
+ memcpy(SectorBuffer, (void const*)(FILEPTRTABLE[FileIndex]), SECTORSIZE);
+ ((FILEHEADER*)SectorBuffer)->FileSize = ((FILEHEADER const *)(FILEPTRTABLE[FileIndex]))->DataSize;
+ dLoaderWritePage((ULONG)(FILEPTRTABLE[HandleTable[Handle].FileIndex]), SECTORSIZE, SectorBuffer);
+
+ /* Update sectortable and available flash size */
+ dLoaderUpdateSectorTable();
+ }
+ }
+ }
+ return(ReturnVal);
+}
+
void dLoaderExit(void)
{
}
diff --git a/AT91SAM7S256/Source/d_loader.h b/AT91SAM7S256/Source/d_loader.h
index 0279631..4a12f12 100644
--- a/AT91SAM7S256/Source/d_loader.h
+++ b/AT91SAM7S256/Source/d_loader.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 28-03-07 14:54 $
+// Revision date $Date:: 24-06-09 12:15 $
//
// Filename $Workfile:: d_loader.h $
//
-// Version $Revision:: 40 $
+// Version $Revision:: 18 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_loader.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_load $
//
// Platform C
//
@@ -15,9 +15,11 @@
#ifndef D_LOADER
#define D_LOADER
-#define STARTOFFILETABLE (0x13FF00L)
-#define STARTOFUSERFLASH (0x121400L)//(0x11F000L)
-#define SIZEOFUSERFLASH (STARTOFFILETABLE - STARTOFUSERFLASH)
+#define FILETABLE_SIZE ((2 * SECTORSIZE)/4)
+#define STARTOFFILETABLE (0x140000L - (FILETABLE_SIZE*4))
+#define FILEPTRTABLE ((const ULONG*)(0x140000L - (FILETABLE_SIZE*4)))
+#define STARTOFUSERFLASH (0x122100L)
+#define SIZEOFUSERFLASH ((ULONG)STARTOFFILETABLE - STARTOFUSERFLASH)
#define SIZEOFFLASH 262144L
#define SECTORSIZE 256L
@@ -65,7 +67,7 @@ typedef struct
ULONG DataSize;
UWORD CheckSum;
UWORD FileType;
- UWORD FileSectorTable[SIZEOFUSERFLASH/SECTORSIZE];
+ UWORD FileSectorTable[(SIZEOFUSERFLASH/SECTORSIZE)];
}FILEHEADER;
void dLoaderInit(void);
@@ -91,6 +93,7 @@ ULONG dLoaderReturnFreeUserFlash(void);
UWORD dLoaderRenameFile(UBYTE Handle, UBYTE *pNewName);
UWORD dLoaderCheckFiles(UBYTE Handle);
+UWORD dLoaderCropDatafile(UBYTE Handle);
diff --git a/AT91SAM7S256/Source/d_loader.r b/AT91SAM7S256/Source/d_loader.r
index bec0c90..3fb2556 100644
--- a/AT91SAM7S256/Source/d_loader.r
+++ b/AT91SAM7S256/Source/d_loader.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 8:27 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_loader.r $
//
-// Version $Revision:: 8 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_loader.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_load $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_lowspeed.c b/AT91SAM7S256/Source/d_lowspeed.c
index e3b5ba8..91c1341 100644
--- a/AT91SAM7S256/Source/d_lowspeed.c
+++ b/AT91SAM7S256/Source/d_lowspeed.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_lowspeed.c $
//
-// Version $Revision:: 14 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_lowspeed $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_lows $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_lowspeed.h b/AT91SAM7S256/Source/d_lowspeed.h
index 9a680f0..6ec62fd 100644
--- a/AT91SAM7S256/Source/d_lowspeed.h
+++ b/AT91SAM7S256/Source/d_lowspeed.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_lowspeed.h $
//
-// Version $Revision:: 7 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_lowspeed $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_lows $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_lowspeed.r b/AT91SAM7S256/Source/d_lowspeed.r
index f811193..4b3b8ba 100644
--- a/AT91SAM7S256/Source/d_lowspeed.r
+++ b/AT91SAM7S256/Source/d_lowspeed.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 19-09-06 15:05 $
+// Revision date $Date:: 19-02-09 18:51 $
//
// Filename $Workfile:: d_lowspeed.r $
//
-// Version $Revision:: 24 $
+// Version $Revision:: 4 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_lowspeed $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_lows $
//
// Platform C
//
@@ -51,6 +51,7 @@ typedef struct
UBYTE ReStartBit;
UBYTE ComDeviceAddress;
UBYTE RxWaitCnt;
+ UBYTE ClkStatus;
}LOWSPEEDPARAMETERS;
static LOWSPEEDPARAMETERS LowSpeedData[4];
@@ -271,9 +272,9 @@ ULONG CLK_PINS[4] = {CHANNEL_ONE_CLK, CHANNEL_TWO_CLK, CHANNEL_THREE_CLK, CHANNE
}\
}\
}\
+ LowSpeedData[ChannelNr].ClkStatus = 0;\
}
-
#define SETClkHigh(ChannelNr) {\
if (ChannelNr == 0)\
{\
@@ -300,6 +301,7 @@ ULONG CLK_PINS[4] = {CHANNEL_ONE_CLK, CHANNEL_TWO_CLK, CHANNEL_THREE_CLK, CHANNE
}\
}\
}\
+ LowSpeedData[ChannelNr].ClkStatus = 1;\
}
#define SETDataLow(ChannelNr) {\
@@ -444,35 +446,37 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
for (ChannelNr = 0; ChannelNr < NO_OF_LOWSPEED_COM_CHANNEL; ChannelNr++)
{
- switch(LowSpeedData[ChannelNr].ChannelState)
+ if (((LowSpeedData[ChannelNr].ClkStatus == 1) && (PinStatus & CLK_PINS[ChannelNr])) || (((LowSpeedData[ChannelNr].ClkStatus == 0) && (!(PinStatus & CLK_PINS[ChannelNr])))))
{
- case LOWSPEED_IDLE:
+ switch(LowSpeedData[ChannelNr].ChannelState)
{
- }
- break;
+ case LOWSPEED_IDLE:
+ {
+ }
+ break;
- case LOWSPEED_TX_STOP_BIT:
- {
- SETDataHigh(ChannelNr);
- LowSpeedData[ChannelNr].ChannelState = LOWSPEED_IDLE; //Now we have send a STOP sequence, disable this channel
- }
- break;
+ case LOWSPEED_TX_STOP_BIT:
+ {
+ SETDataHigh(ChannelNr);
+ LowSpeedData[ChannelNr].ChannelState = LOWSPEED_IDLE; //Now we have send a STOP sequence, disable this channel
+ }
+ break;
- case LOWSPEED_TRANSMITTING:
- {
- switch(LowSpeedData[ChannelNr].TxState)
+ case LOWSPEED_TRANSMITTING:
{
- case TX_DATA_MORE_DATA:
+ switch(LowSpeedData[ChannelNr].TxState)
{
- PinStatus |= CLK_PINS[ChannelNr];
- LowSpeedData[ChannelNr].TxState = TX_DATA_CLK_HIGH;
- }
- break;
+ case TX_DATA_MORE_DATA:
+ {
+ PinStatus |= CLK_PINS[ChannelNr];
+ LowSpeedData[ChannelNr].TxState = TX_DATA_CLK_HIGH;
+ }
+ break;
- case TX_DATA_CLK_HIGH:
- {
- SETClkLow(ChannelNr);
- if (LowSpeedData[ChannelNr].MaskBit == 0) //Is Byte Done, then we need a ack from receiver
+ case TX_DATA_CLK_HIGH:
+ {
+ SETClkLow(ChannelNr);
+ if (LowSpeedData[ChannelNr].MaskBit == 0) //Is Byte Done, then we need a ack from receiver
{
SETDataToInput(ChannelNr); //Set datapin to input
LowSpeedData[ChannelNr].TxState = TX_DATA_READ_ACK_CLK_LOW;
@@ -723,6 +727,18 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
default:
break;
+ }
+ }
+ else
+ {
+
+ if (LOWSPEED_IDLE != LowSpeedData[ChannelNr].ChannelState)
+ {
+ //Data communication error !
+ LowSpeedData[ChannelNr].TxByteCnt = 0;
+ SETClkHigh(ChannelNr);
+ LowSpeedData[ChannelNr].ChannelState = LOWSPEED_TX_STOP_BIT;
+ }
}
}
}
@@ -758,20 +774,21 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
#define TxData(ChannelNumber, Status, DataOutBuffer, NumberOfByte) {\
if (ChannelNumber == LOWSPEED_CHANNEL1)\
{\
- if (GetDataComOnePinLevel && GetClkComOnePinLevel)\
+ if ((GetDataComOnePinLevel && GetClkComOnePinLevel) && (LowSpeedData[LOWSPEED_CHANNEL1].ChannelState == LOWSPEED_IDLE))\
{\
*AT91C_PIOA_PER = CHANNEL_ONE_CLK | CHANNEL_ONE_DATA; /* Enable PIO on PA20 & PA28 */\
*AT91C_PIOA_OER = CHANNEL_ONE_CLK | CHANNEL_ONE_DATA; /* PA20 & PA28 set to Output */\
*AT91C_PIOA_PPUDR = CHANNEL_ONE_CLK | CHANNEL_ONE_DATA; /* Disable Pull-up resistor */\
SETClkComOneHigh;\
- LowSpeedData[LOWSPEED_CHANNEL1].pComOutBuffer = DataOutBuffer;\
+ SETDataComOneLow;\
+ LowSpeedData[LOWSPEED_CHANNEL1].ClkStatus = 1;\
+ LowSpeedData[LOWSPEED_CHANNEL1].pComOutBuffer = DataOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL1].ComDeviceAddress = *LowSpeedData[LOWSPEED_CHANNEL1].pComOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL1].MaskBit = MASK_BIT_8;\
LowSpeedData[LOWSPEED_CHANNEL1].TxByteCnt = NumberOfByte;\
- LowSpeedData[LOWSPEED_CHANNEL1].ChannelState = LOWSPEED_TRANSMITTING;\
LowSpeedData[LOWSPEED_CHANNEL1].TxState = TX_DATA_CLK_HIGH;\
- SETDataComOneLow;\
LowSpeedData[LOWSPEED_CHANNEL1].AckStatus = 0;\
+ LowSpeedData[LOWSPEED_CHANNEL1].ChannelState = LOWSPEED_TRANSMITTING;\
Status = 1;\
}\
else\
@@ -781,20 +798,21 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
}\
if (ChannelNumber == LOWSPEED_CHANNEL2)\
{\
- if (GetDataComTwoPinLevel && GetClkComTwoPinLevel)\
+ if ((GetDataComTwoPinLevel && GetClkComTwoPinLevel) && (LowSpeedData[LOWSPEED_CHANNEL2].ChannelState == LOWSPEED_IDLE))\
{\
*AT91C_PIOA_PER = CHANNEL_TWO_CLK | CHANNEL_TWO_DATA; /* Enable PIO on PA20 & PA28 */\
*AT91C_PIOA_OER = CHANNEL_TWO_CLK | CHANNEL_TWO_DATA; /* PA20 & PA28 set to Output */\
*AT91C_PIOA_PPUDR = CHANNEL_TWO_CLK | CHANNEL_TWO_DATA; /* Disable Pull-up resistor */\
SETClkComTwoHigh;\
+ SETDataComTwoLow;\
+ LowSpeedData[LOWSPEED_CHANNEL2].ClkStatus = 1;\
LowSpeedData[LOWSPEED_CHANNEL2].pComOutBuffer = DataOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL2].ComDeviceAddress = *LowSpeedData[LOWSPEED_CHANNEL2].pComOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL2].MaskBit = MASK_BIT_8;\
LowSpeedData[LOWSPEED_CHANNEL2].TxByteCnt = NumberOfByte;\
- LowSpeedData[LOWSPEED_CHANNEL2].ChannelState = LOWSPEED_TRANSMITTING;\
LowSpeedData[LOWSPEED_CHANNEL2].TxState = TX_DATA_CLK_HIGH;\
- SETDataComTwoLow;\
LowSpeedData[LOWSPEED_CHANNEL2].AckStatus = 0;\
+ LowSpeedData[LOWSPEED_CHANNEL2].ChannelState = LOWSPEED_TRANSMITTING;\
Status = 1;\
}\
else\
@@ -804,20 +822,21 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
}\
if (ChannelNumber == LOWSPEED_CHANNEL3)\
{\
- if (GetDataComThreePinLevel && GetClkComThreePinLevel)\
+ if ((GetDataComThreePinLevel && GetClkComThreePinLevel) && (LowSpeedData[LOWSPEED_CHANNEL3].ChannelState == LOWSPEED_IDLE))\
{\
*AT91C_PIOA_PER = CHANNEL_THREE_CLK | CHANNEL_THREE_DATA; /* */\
*AT91C_PIOA_OER = CHANNEL_THREE_CLK | CHANNEL_THREE_DATA; /* */\
*AT91C_PIOA_PPUDR = CHANNEL_THREE_CLK | CHANNEL_THREE_DATA; /* */\
SETClkComThreeHigh;\
+ SETDataComThreeLow;\
+ LowSpeedData[LOWSPEED_CHANNEL3].ClkStatus = 1;\
LowSpeedData[LOWSPEED_CHANNEL3].pComOutBuffer = DataOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL3].ComDeviceAddress = *LowSpeedData[LOWSPEED_CHANNEL3].pComOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL3].MaskBit = MASK_BIT_8;\
LowSpeedData[LOWSPEED_CHANNEL3].TxByteCnt = NumberOfByte;\
- LowSpeedData[LOWSPEED_CHANNEL3].ChannelState = LOWSPEED_TRANSMITTING;\
LowSpeedData[LOWSPEED_CHANNEL3].TxState = TX_DATA_CLK_HIGH;\
- SETDataComThreeLow;\
LowSpeedData[LOWSPEED_CHANNEL3].AckStatus = 0;\
+ LowSpeedData[LOWSPEED_CHANNEL3].ChannelState = LOWSPEED_TRANSMITTING;\
Status = 1;\
}\
else\
@@ -827,20 +846,21 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
}\
if (ChannelNumber == LOWSPEED_CHANNEL4)\
{\
- if (GetDataComFourPinLevel && GetClkComFourPinLevel)\
+ if ((GetDataComFourPinLevel && GetClkComFourPinLevel) && (LowSpeedData[LOWSPEED_CHANNEL4].ChannelState == LOWSPEED_IDLE))\
{\
*AT91C_PIOA_PER = CHANNEL_FOUR_CLK | CHANNEL_FOUR_DATA; /* */\
*AT91C_PIOA_OER = CHANNEL_FOUR_CLK | CHANNEL_FOUR_DATA; /* */\
*AT91C_PIOA_PPUDR = CHANNEL_FOUR_CLK | CHANNEL_FOUR_DATA; /* */\
SETClkComFourHigh;\
+ SETDataComFourLow;\
+ LowSpeedData[LOWSPEED_CHANNEL4].ClkStatus = 1;\
LowSpeedData[LOWSPEED_CHANNEL4].pComOutBuffer = DataOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL4].ComDeviceAddress = *LowSpeedData[LOWSPEED_CHANNEL4].pComOutBuffer;\
LowSpeedData[LOWSPEED_CHANNEL4].MaskBit = MASK_BIT_8;\
LowSpeedData[LOWSPEED_CHANNEL4].TxByteCnt = NumberOfByte;\
- LowSpeedData[LOWSPEED_CHANNEL4].ChannelState = LOWSPEED_TRANSMITTING;\
LowSpeedData[LOWSPEED_CHANNEL4].TxState = TX_DATA_CLK_HIGH;\
- SETDataComFourLow;\
LowSpeedData[LOWSPEED_CHANNEL4].AckStatus = 0;\
+ LowSpeedData[LOWSPEED_CHANNEL4].ChannelState = LOWSPEED_TRANSMITTING;\
Status = 1;\
}\
else\
@@ -863,7 +883,7 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
#define STATUSTxCom(ChannelNumber, Status) {\
if (LowSpeedData[ChannelNumber].ChannelState != 0)\
{\
- if (LowSpeedData[ChannelNumber].TxByteCnt == 0)\
+ if ((LowSpeedData[ChannelNumber].TxByteCnt == 0) && (LowSpeedData[ChannelNumber].ChannelState != LOWSPEED_RESTART_CONDITION))\
{\
if (LowSpeedData[ChannelNumber].MaskBit == 0)\
{\
@@ -873,7 +893,7 @@ __ramfunc void LowSpeedPwmIrqHandler(void)
}\
else\
{\
- Status = 0xFF; /* TX ERROR */\
+ Status = 0xFF; /* TX ERROR */\
}\
}\
else\
diff --git a/AT91SAM7S256/Source/d_output.c b/AT91SAM7S256/Source/d_output.c
index e542cf6..d953b84 100644
--- a/AT91SAM7S256/Source/d_output.c
+++ b/AT91SAM7S256/Source/d_output.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 5-02-07 13:48 $
+// Revision date $Date:: 3-02-09 14:46 $
//
// Filename $Workfile:: d_output.c $
//
-// Version $Revision:: 118 $
+// Version $Revision:: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_output.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_outp $
//
// Platform C
//
@@ -906,6 +906,16 @@ void dOutputSyncMotorPosition(UBYTE MotorOne, UBYTE MotorTwo)
SyncData.SyncTachoDif += SyncData.SyncTurnParameter;
+ if (SyncData.SyncTachoDif > 500)
+ {
+ SyncData.SyncTachoDif = 500;
+ }
+ if (SyncData.SyncTachoDif < -500)
+ {
+ SyncData.SyncTachoDif = -500;
+ }
+
+ /*
if ((SWORD)SyncData.SyncTachoDif > 500)
{
SyncData.SyncTachoDif = 500;
@@ -914,6 +924,7 @@ void dOutputSyncMotorPosition(UBYTE MotorOne, UBYTE MotorTwo)
{
SyncData.SyncTachoDif = -500;
}
+ */
PValue = (SWORD)SyncData.SyncTachoDif * (SWORD)(MotorData[MotorOne].RegPParameter/REG_CONST_DIV);
diff --git a/AT91SAM7S256/Source/d_output.h b/AT91SAM7S256/Source/d_output.h
index cb0de5e..7369b34 100644
--- a/AT91SAM7S256/Source/d_output.h
+++ b/AT91SAM7S256/Source/d_output.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_output.h $
//
-// Version $Revision:: 48 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_output.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_outp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_output.r b/AT91SAM7S256/Source/d_output.r
index 0ed35ff..1a30c5f 100644
--- a/AT91SAM7S256/Source/d_output.r
+++ b/AT91SAM7S256/Source/d_output.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 12:13 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_output.r $
//
-// Version $Revision:: 36 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_output.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_outp $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_sound.c b/AT91SAM7S256/Source/d_sound.c
index 66745d3..72dfb60 100644
--- a/AT91SAM7S256/Source/d_sound.c
+++ b/AT91SAM7S256/Source/d_sound.c
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkflebun $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 5-02-07 13:36 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_sound.c $
//
-// Version $Revision:: 11 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_sound.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_soun $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_sound.h b/AT91SAM7S256/Source/d_sound.h
index 8cef028..c580342 100644
--- a/AT91SAM7S256/Source/d_sound.h
+++ b/AT91SAM7S256/Source/d_sound.h
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkflebun $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 5-02-07 13:36 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_sound.h $
//
-// Version $Revision:: 10 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_sound.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_soun $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_sound.r b/AT91SAM7S256/Source/d_sound.r
index 00c7511..01a3353 100644
--- a/AT91SAM7S256/Source/d_sound.r
+++ b/AT91SAM7S256/Source/d_sound.r
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkflebun $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 5-02-07 13:36 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_sound.r $
//
-// Version $Revision:: 34 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_sound.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_soun $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_sound_adpcm.r b/AT91SAM7S256/Source/d_sound_adpcm.r
index 03e16b7..2feff3b 100644
--- a/AT91SAM7S256/Source/d_sound_adpcm.r
+++ b/AT91SAM7S256/Source/d_sound_adpcm.r
@@ -32,15 +32,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkflebun $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 5-02-07 13:36 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_sound_adpcm.r $
//
// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_sound_adpcm.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_sound_adpc $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_timer.c b/AT91SAM7S256/Source/d_timer.c
index 7c38aed..cba73d0 100644
--- a/AT91SAM7S256/Source/d_timer.c
+++ b/AT91SAM7S256/Source/d_timer.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:18 $
+// Revision date $Date: 23-04-08 11:15 $
//
// Filename $Workfile:: d_timer.c $
//
-// Version $Revision:: 3 $
+// Version $Revision: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_timer.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_time $
//
// Platform C
//
@@ -27,13 +27,33 @@ void dTimerInit(void)
ULONG dTimerRead(void)
{
- ULONG Tmp;
+ ULONG V;
- TIMERRead(Tmp);
+ TIMERReadAlt(V)
+ return (V);
+}
- return (Tmp);
+ULONG dTimerReadNoPoll(void)
+{
+ return (Timer1mS);
}
+ULONG dTimerReadHiRes(void)
+{
+
+// return ((*AT91C_PITC_PIIR)/3); following code is equivalent and about five times faster, see Hacker's Delight or exact division
+ ULONG tmp= ((*AT91C_PITC_PIIR)*2863311531);
+ if(tmp > 2863311531)
+ return tmp - 2863311531;
+ else if(tmp > 1431655766)
+ return tmp - 1431655766;
+ else
+ return tmp;
+}
+
+ULONG dTimerGetNextMSTickCnt(void) {
+ return NextTimerValue;
+}
void dTimerExit(void)
{
diff --git a/AT91SAM7S256/Source/d_timer.h b/AT91SAM7S256/Source/d_timer.h
index bf01b25..9d7eadb 100644
--- a/AT91SAM7S256/Source/d_timer.h
+++ b/AT91SAM7S256/Source/d_timer.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:18 $
+// Revision date $Date: 23-04-08 11:15 $
//
// Filename $Workfile:: d_timer.h $
//
-// Version $Revision:: 2 $
+// Version $Revision: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_timer.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_time $
//
// Platform C
//
@@ -18,6 +18,12 @@
void dTimerInit(void);
ULONG dTimerRead(void);
+ULONG dTimerReadNoPoll(void);
+ULONG dTimerReadHiRes(void);
+
+ULONG dTimerGetNextMSTickCnt(void);
+#define dTimerReadTicks() (*AT91C_PITC_PIIR)
+
void dTimerExit(void);
#endif
diff --git a/AT91SAM7S256/Source/d_timer.r b/AT91SAM7S256/Source/d_timer.r
index 91e9f7b..93c3a3b 100644
--- a/AT91SAM7S256/Source/d_timer.r
+++ b/AT91SAM7S256/Source/d_timer.r
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:18 $
+// Revision date $Date:: 23-04-08 11:15 $
//
// Filename $Workfile:: d_timer.r $
//
-// Version $Revision:: 11 $
+// Version $Revision:: 2 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_timer.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_time $
//
// Platform C
//
@@ -19,11 +19,13 @@
#define MS_1_TIME ((OSC/16)/1000)
static ULONG TimerValue;
+static ULONG NextTimerValue;
static ULONG Timer1mS;
/* PIT timer is used as main timer - timer interval is 1mS */
#define TIMERInit TimerValue = ((*AT91C_PITC_PIIR) & AT91C_PITC_CPIV);\
+ NextTimerValue = (((*AT91C_PITC_PIIR) + MS_1_TIME) & AT91C_PITC_CPIV);\
Timer1mS = 0
#define TIMERRead(V) if (MS_1_TIME < ((((*AT91C_PITC_PIIR) & AT91C_PITC_CPIV) - TimerValue) & AT91C_PITC_CPIV))\
@@ -34,6 +36,24 @@ static ULONG Timer1mS;
}\
V = Timer1mS
+#define TIMERReadAlt(V) if((SLONG)((*AT91C_PITC_PIIR) - NextTimerValue) >= 0)\
+ {\
+ Timer1mS ++;\
+ NextTimerValue += MS_1_TIME;\
+ }\
+ V = Timer1mS;\
+
+#define TIMERReadSkip(V) diff= (((*AT91C_PITC_PIIR)) - NextTimerValue);\
+ if (diff >= 0)\
+ {\
+ diff /= MS_1_TIME;\
+ diff += 1;\
+ Timer1mS += diff;\
+ diff *= MS_1_TIME;\
+ NextTimerValue += diff;\
+ }\
+ V = Timer1mS;\
+
#define TIMERExit
diff --git a/AT91SAM7S256/Source/d_usb.c b/AT91SAM7S256/Source/d_usb.c
index b4b92f4..0caf317 100644
--- a/AT91SAM7S256/Source/d_usb.c
+++ b/AT91SAM7S256/Source/d_usb.c
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkpechri $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 19-07-06 10:02 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_usb.c $
//
-// Version $Revision:: 32 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_usb.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_usb. $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_usb.h b/AT91SAM7S256/Source/d_usb.h
index 3a176b3..b8e78c4 100644
--- a/AT91SAM7S256/Source/d_usb.h
+++ b/AT91SAM7S256/Source/d_usb.h
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkpechri $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 19-07-06 10:02 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_usb.h $
//
-// Version $Revision:: 10 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_usb.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_usb. $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/d_usb.r b/AT91SAM7S256/Source/d_usb.r
index a3c3284..6c7a0c3 100644
--- a/AT91SAM7S256/Source/d_usb.r
+++ b/AT91SAM7S256/Source/d_usb.r
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkpechri $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 19-07-06 10:02 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: d_usb.r $
//
-// Version $Revision:: 9 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/d_usb.r $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_usb. $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/m_sched.c b/AT91SAM7S256/Source/m_sched.c
index bc394a5..7c69551 100644
--- a/AT91SAM7S256/Source/m_sched.c
+++ b/AT91SAM7S256/Source/m_sched.c
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:15 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: m_sched.c $
//
-// Version $Revision:: 14 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/m_sched.c $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/m_sche $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/m_sched.h b/AT91SAM7S256/Source/m_sched.h
index 6bf5a07..bd05a26 100644
--- a/AT91SAM7S256/Source/m_sched.h
+++ b/AT91SAM7S256/Source/m_sched.h
@@ -1,13 +1,13 @@
//
// Date init 14.12.2004
//
-// Revision date $Date:: 16-05-06 10:15 $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: m_sched.h $
//
-// Version $Revision:: 20 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/m_sched.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/m_sche $
//
// Platform C
//
diff --git a/AT91SAM7S256/Source/modules.h b/AT91SAM7S256/Source/modules.h
index 6060800..a5f3bb1 100644
--- a/AT91SAM7S256/Source/modules.h
+++ b/AT91SAM7S256/Source/modules.h
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Dkflebun $
+// Reviser $Author:: Dktochpe $
//
-// Revision date $Date:: 5-02-07 13:36 $
+// Revision date $Date:: 19-02-08 8:15 $
//
// Filename $Workfile:: modules.h $
//
-// Version $Revision:: 49 $
+// Version $Revision:: 4 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/modules.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/module $
//
// Platform C
//
@@ -29,8 +29,7 @@
#define TXT_LMS_EXT "rxe" // Mindstorms program filename extension
#define TXT_NXT_EXT "rpg" // Program filename extension
#define TXT_TRYME_EXT "rtm" // Try me program filename extension
-#define TXT_DATA_EXT "rdt" // Datalog filename extension
-#define TXT_MENU_EXT "rms" // Menu system filename extension (hidden)
+#define TXT_DATA_EXT "log" // Datalog filename extension
#define TXT_SYS_EXT "sys" // System filename extension (hidden)
#define TXT_TMP_EXT "tmp" // Temporary filename extension (hidden)
@@ -295,10 +294,6 @@ typedef struct
}
DATALOG;
-#define DATALOG_FILE_LENGTH 64000L// Max datalog file size
-#define DATALOG_HEADER_LENGTH 9 // Datalog sensor header length [Bytes]
-#define DATALOG_DATA_LENGTH 5 // Datalog sensor data length [Bytes]
-
#define ICON_TEXTLNG 15 // 15 characters
#define ICON_IMAGESIZE 72 // 24 x 24 pixels
#define MAX_MENUITEMS 256
diff --git a/AT91SAM7S256/Source/stdconst.h b/AT91SAM7S256/Source/stdconst.h
index 81bf972..fa1c59e 100644
--- a/AT91SAM7S256/Source/stdconst.h
+++ b/AT91SAM7S256/Source/stdconst.h
@@ -3,15 +3,15 @@
//
// Date init 14.12.2004
//
-// Reviser $Author:: Us8jamlo $
+// Reviser $Author:: Dkandlun $
//
-// Revision date $Date:: 3/04/05 2:59p $
+// Revision date $Date:: 14-11-07 12:40 $
//
// Filename $Workfile:: stdconst.h $
//
-// Version $Revision:: 3 $
+// Version $Revision:: 1 $
//
-// Archive $Archive:: /LMS2006/Sys01/Main/Firmware/Source/stdconst.h $
+// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/stdcon $
//
// Platform C
//