static void
mwa_scan_in_addr (urj_bus_t *bus, unsigned int slave, uint32_t addr, int mode)
{
urj_tap_register_t *r = bus->part->active_instruction->data_register->in;
int i;
DBG (DBG_BASIC, _("%s: slave=%01x, addr=%08lx, %s\n"),
__FUNCTION__, slave,
(long unsigned) addr,
(mode == ACCESS_MODE_READ) ? "READ" : "WRITE");
/* set slave bits */
for (i = 0; i < 4; i++)
register_set_bit (r, 31 + i, slave & (1 << i));
/* set address bits */
addr >>= 2;
for (i = 0; i < 30; i++)
register_set_bit (r, 1 + i, addr & (1 << i));
/* set access mode */
register_set_bit (r, 0, mode);
shift_data (bus, 32);
}
// the ctbot class
void native_ctbot_bot_invoke(u08_t mref) {
// JAVA: boolean getError()
if(mref == NATIVE_METHOD_getError) {
nvm_int_t val = get_input_bit(IO_SENS_ERROR)?1:0;
stack_push(val);
}
// JAVA: void setExtension1Enabled()
else if(mref == NATIVE_METHOD_setExtension1Enabled) {
if (stack_pop_int())
shift_reg_ena &= ~(uint8_t)ENA_ERW1;
else
shift_reg_ena |= ENA_ERW1;
shift_data(shift_reg_ena, SHIFT_REGISTER_ENA);
}
// JAVA: int getExtension1Enabled()
else if(mref == NATIVE_METHOD_getExtension1Enabled) {
nvm_int_t val = (shift_reg_ena & ENA_ERW1)?1:0;
stack_push(val);
}
// JAVA: int setExtension2Enabled()
else if(mref == NATIVE_METHOD_setExtension2Enabled) {
if (stack_pop_int())
shift_reg_ena &= ~(uint8_t)ENA_ERW2;
else
shift_reg_ena |= ENA_ERW2;
shift_data(shift_reg_ena, SHIFT_REGISTER_ENA);
}
// JAVA: int getExtension2Enabled()
else if(mref == NATIVE_METHOD_getExtension2Enabled) {
nvm_int_t val = (shift_reg_ena & ENA_ERW2)?1:0;
stack_push(val);
}
}
// the ctbot class
void native_ctbot_wheelencoder_invoke(u08_t mref) {
// JAVA: int getLeftInc()
if(mref == NATIVE_METHOD_getLeftInc) {
cli();
nvm_int_t val = (int16_t)wheelencoder_l;
wheelencoder_l = 0;
sei();
stack_push(val);
}
// JAVA: int getRightInc()
else if(mref == NATIVE_METHOD_getRightInc) {
cli();
nvm_int_t val = (int16_t)wheelencoder_r;
wheelencoder_r = 0;
sei();
stack_push(val);
}
// JAVA: void setEnabled(boolean enabled)
else if(mref == NATIVE_METHOD_setEnabled) {
if (stack_pop_int())
shift_reg_ena &= ~(uint8_t)ENA_RADLED;
else
shift_reg_ena |= ENA_RADLED;
shift_data(shift_reg_ena, SHIFT_REGISTER_ENA);
}
// JAVA: boolean getEnabled()
else if(mref == NATIVE_METHOD_getEnabled) {
stack_push((shift_reg_ena & ENA_RADLED)?1:0);
}
// JAVA: int getLeftSpeed()
else if(mref == NATIVE_METHOD_getLeftSpeed) {
cli();
nvm_int_t val = pid_left_speed;
sei();
stack_push(val);
}
// JAVA: int getRightSpeed()
else if(mref == NATIVE_METHOD_getRightSpeed) {
cli();
nvm_int_t val = pid_right_speed;
sei();
stack_push(val);
}
}
static void
nexus_access_write_data (urj_bus_t *bus, uint32_t data)
{
urj_tap_register_t *r = bus->part->active_instruction->data_register->in;
int i;
DBG (DBG_BASIC, _("%s: data=%08lx\n"), __FUNCTION__,
(long unsigned) data);
register_set_bit (r, 0, 0);
register_set_bit (r, 1, 0);
for (i = 0; i < 32; i++)
register_set_bit (r, 2 + i, data & (1 << i));
shift_data (bus, 0);
}
static void
nexus_access_read_data (urj_bus_t *bus, uint32_t *pdata)
{
urj_tap_register_t *r = bus->part->active_instruction->data_register->out;
uint32_t data;
int i;
shift_data (bus, 32);
data = 0;
for (i = 0; i < 32; i++)
data |= register_get_bit (r, i) << i;
DBG (DBG_BASIC, _("%s: data=%08lx\n"), __FUNCTION__,
(long unsigned) data);
*pdata = data;
}
static void
nexus_access_set_addr (urj_bus_t *bus, uint32_t addr, int mode)
{
urj_tap_register_t *r = bus->part->active_instruction->data_register->in;
int i;
DBG (DBG_BASIC, _("%s: addr=%08lx, mode=%s\n"), __FUNCTION__,
(long unsigned) addr,
(mode == ACCESS_MODE_READ) ? "READ" : "WRITE");
urj_tap_register_fill (r, 0);
/* set address bits */
addr >>= 2;
for (i = 0; i < 7; i++)
register_set_bit (r, 27 + i, addr & (1 << i));
/* set access mode */
register_set_bit (r, 26, mode);
shift_data (bus, 32);
}
// the ctbot class
void native_ctbot_edgedetector_invoke(u08_t mref) {
// JAVA: void updateLeft()
if(mref == NATIVE_METHOD_updateLeft) {
value_l = adc_read(SENS_KANTE_L);
}
// JAVA: void updateRight()
else if(mref == NATIVE_METHOD_updateRight) {
value_r = adc_read(SENS_KANTE_R);
}
// JAVA: int getLeft()
else if(mref == NATIVE_METHOD_getLeft) {
nvm_int_t val = value_l;
stack_push(val);
}
// JAVA: int getRight()
else if(mref == NATIVE_METHOD_getRight) {
nvm_int_t val = value_r;
stack_push(val);
}
// JAVA: void setEnabled(boolean enabled)
else if(mref == NATIVE_METHOD_setEnabled) {
if (stack_pop_int())
shift_reg_ena &= ~(uint8_t)ENA_KANTLED;
else
shift_reg_ena |= ENA_KANTLED;
shift_data(shift_reg_ena, SHIFT_REGISTER_ENA);
}
// JAVA: boolean getEnabled()
else if(mref == NATIVE_METHOD_getEnabled) {
stack_push((shift_reg_ena & ENA_KANTLED)?1:0);
}
}
// the ctbot class
void native_ctbot_lightbarrier_invoke(u08_t mref) {
// JAVA: void getState()
if(mref == NATIVE_METHOD_getState) {
nvm_int_t val = get_input_bit(IO_SENS_SCHRANKE)?1:0;
stack_push(val);
}
// JAVA: void setEnabled()
else if(mref == NATIVE_METHOD_setEnabled) {
if (stack_pop_int())
shift_reg_ena &= ~(uint8_t)ENA_SCHRANKE;
else
shift_reg_ena |= ENA_SCHRANKE;
shift_data(shift_reg_ena, SHIFT_REGISTER_ENA);
}
// JAVA: boolean getEnabled()
else if(mref == NATIVE_METHOD_getEnabled) {
nvm_int_t val = (shift_reg_ena & ENA_SCHRANKE)?1:0;
stack_push(val);
}
}
/*!
* Zeigt eine 8-Bit Variable mit den LEDs an
* @param LED Wert der gezeigt werden soll
*/
void LED_set(uint8 LED){
led=LED;
shift_data(led,SHIFT_REGISTER_LED);
}
/**
* Schaltet die Enable-Transistoren
* Achtung, die Treiber-Transistoren sind Low-Aktiv!!!
* ENA_set bezieht sich auf die Transistoren
* Daher zieht es die entsprechende ENA_XXX-Leitung auf ~enable
* @param enable ENA-Wert, der gesetzt werden soll
*/
void ENA_set(uint8_t enable) {
ena = enable;
shift_data((uint8_t) (~enable), SHIFT_REGISTER_ENA);
}
void update_score(uint8_t score_p1, uint8_t score_p2)
{
shift_data((score_p2 & 0x0F) | ((score_p1 & 0x0F) << 4));
}
static int flv_write_trailer(AVFormatContext *s)
{
int64_t file_size;
AVIOContext *pb = s->pb;
FLVContext *flv = s->priv_data;
int build_keyframes_idx = flv->flags & FLV_ADD_KEYFRAME_INDEX;
int i, res;
int64_t cur_pos = avio_tell(s->pb);
if (build_keyframes_idx) {
FLVFileposition *newflv_posinfo, *p;
avio_seek(pb, flv->videosize_offset, SEEK_SET);
put_amf_double(pb, flv->videosize);
avio_seek(pb, flv->audiosize_offset, SEEK_SET);
put_amf_double(pb, flv->audiosize);
avio_seek(pb, flv->lasttimestamp_offset, SEEK_SET);
put_amf_double(pb, flv->lasttimestamp);
avio_seek(pb, flv->lastkeyframetimestamp_offset, SEEK_SET);
put_amf_double(pb, flv->lastkeyframetimestamp);
avio_seek(pb, flv->lastkeyframelocation_offset, SEEK_SET);
put_amf_double(pb, flv->lastkeyframelocation + flv->keyframe_index_size);
avio_seek(pb, cur_pos, SEEK_SET);
res = shift_data(s);
if (res < 0) {
goto end;
}
avio_seek(pb, flv->keyframes_info_offset, SEEK_SET);
put_amf_string(pb, "filepositions");
put_amf_dword_array(pb, flv->filepositions_count);
for (newflv_posinfo = flv->head_filepositions; newflv_posinfo; newflv_posinfo = newflv_posinfo->next) {
put_amf_double(pb, newflv_posinfo->keyframe_position + flv->keyframe_index_size);
}
put_amf_string(pb, "times");
put_amf_dword_array(pb, flv->filepositions_count);
for (newflv_posinfo = flv->head_filepositions; newflv_posinfo; newflv_posinfo = newflv_posinfo->next) {
put_amf_double(pb, newflv_posinfo->keyframe_timestamp);
}
newflv_posinfo = flv->head_filepositions;
while (newflv_posinfo) {
p = newflv_posinfo->next;
if (p) {
newflv_posinfo->next = p->next;
av_free(p);
p = NULL;
} else {
av_free(newflv_posinfo);
newflv_posinfo = NULL;
}
}
put_amf_string(pb, "");
avio_w8(pb, AMF_END_OF_OBJECT);
avio_seek(pb, cur_pos + flv->keyframe_index_size, SEEK_SET);
}
end:
if (flv->flags & FLV_NO_SEQUENCE_END) {
av_log(s, AV_LOG_DEBUG, "FLV no sequence end mode open\n");
} else {
/* Add EOS tag */
for (i = 0; i < s->nb_streams; i++) {
AVCodecParameters *par = s->streams[i]->codecpar;
FLVStreamContext *sc = s->streams[i]->priv_data;
if (par->codec_type == AVMEDIA_TYPE_VIDEO &&
(par->codec_id == AV_CODEC_ID_H264 || par->codec_id == AV_CODEC_ID_MPEG4))
put_avc_eos_tag(pb, sc->last_ts);
}
}
file_size = avio_tell(pb);
if (build_keyframes_idx) {
flv->datasize = file_size - flv->datastart_offset;
avio_seek(pb, flv->datasize_offset, SEEK_SET);
put_amf_double(pb, flv->datasize);
}
if (!(flv->flags & FLV_NO_DURATION_FILESIZE)) {
/* update information */
if (avio_seek(pb, flv->duration_offset, SEEK_SET) < 0) {
av_log(s, AV_LOG_WARNING, "Failed to update header with correct duration.\n");
} else {
put_amf_double(pb, flv->duration / (double)1000);
}
if (avio_seek(pb, flv->filesize_offset, SEEK_SET) < 0) {
av_log(s, AV_LOG_WARNING, "Failed to update header with correct filesize.\n");
} else {
put_amf_double(pb, file_size);
}
}
avio_seek(pb, file_size, SEEK_SET);
return 0;
}
