// python function toggle_debug()
static PyObject *py_toggle_debug(PyObject *self, PyObject *args)
{
// toggle debug printing
toggle_debug();
Py_RETURN_NONE;
}
void CamaraLucida::keyPressed(ofKeyEventArgs &args)
{
pressed[args.key] = true;
if (args.key == key.debug)
{
toggle_debug();
}
else if (args.key == key.help)
{
_render_help = !_render_help;
}
if (!_debug)
return;
if (args.key == key.view_next)
{
renderer->next_view();
}
else if (args.key == key.view_prev)
{
renderer->prev_view();
}
else if (args.key == key.scene_reset)
{
renderer->reset_scene();
}
else if (args.key == key.xoff_inc)
{
depth->change_xoff( 1 );
}
else if (args.key == key.xoff_dec)
{
depth->change_xoff( -1 );
}
};
void process_received_command() {
if (receivedBytes[0] == 0)
return;
// parse command and arg here
const char cmd = receivedBytes[0];
char* data = receivedBytes+2;
if(debugMode == 1){
//Serial.print("DEBUG Handling this command: ");
//Serial.println(receivedBytes);
}
// d - toggle debugging output
// h - take a hold on the bus so the cpu doesn't get confused
// l - release bus and reset the cpu
// m - set rom size
// o - set rom offset
// p - ping
// r - read address
// w - write data to address
// z - zero out memory
switch(cmd) {
case 'p':
Serial.println("OK");
break;
case 'z':
zero_rom();
Serial.println("OK");
break;
case 'o':
set_rom_offset(cmd, data);
Serial.println("OK");
break;
case 'm':
set_rom_size(cmd, data);
Serial.println("OK");
break;
case 'r':
dump_memory_contents(cmd, data);
Serial.println("OK");
break;
case 'd':
toggle_debug();
Serial.println("OK");
break;
case 'w':
parse_hex_and_write_to_mem(cmd, data);
Serial.println("OK");
break;
case 'h':
hold_and_commandeer_bus();
Serial.println("OK");
break;
case 'l':
release_bus();
reset_cpu();
release_hold();
Serial.println("OK");
break;
default:
Serial.println("NOT OK");
break;
};
clearReceivedCommand();
}
void main_loop(void *) {
toggle_debug();
if (uart_available()) {
PORTD |= LED_YELLOW;
unsigned char ch = (unsigned char)uart_getch();
if (recv_ptr == 0) {
if (ch != 0xed) {
// not a sync byte
}
else {
buf[0] = ch;
recv_ptr = 1;
}
}
else if (recv_ptr == 1) {
if (ch > sizeof(buf) - 2) {
// not a proper packet
recv_ptr = 0;
recv_end = 0;
}
else {
buf[1] = ch;
recv_end = 2 + ch;
recv_ptr = 2;
}
}
else {
buf[recv_ptr] = ch;
++recv_ptr;
if (recv_ptr == recv_end) {
decode_packet();
recv_ptr = 0;
recv_end = 0;
}
}
PORTD &= ~LED_YELLOW;
}
unsigned short now = uread_timer();
unsigned short delta = now - prev;
prev = now;
// if this loop takes 10 milliseconds, we're already in trouble...
if (delta > 10000) {
delta = 10000;
}
//uart_force_out(((unsigned char *)&delta)[0]);
//uart_force_out(((unsigned char *)&delta)[1]);
unsigned char mask = 1;
bool change = false;
for (unsigned char i = 0; i != 6; ++i) {
if (targets[i] != counts[i]) {
stepphases[i] += delta;
if ((steps & mask) || (stepphases[i] >= steprates[i])) {
change = true;
if (!(steps & mask)) {
stepphases[i] -= steprates[i];
}
// avoid too much accumulation of phase -- this
// means a limit on slew rate
if (stepphases[i] > 40000) {
stepphases[i] = 40000;
}
steps = steps ^ mask;
if ((short)(targets[i] - counts[i]) > 0) {
directions |= mask;
if (!(steps & mask)) {
counts[i]++;
}
}
else {
directions &= ~mask;
if (!(steps & mask)) {
counts[i]--;
}
}
}
}
mask = mask << 1;
}
DIR_PORT = directions;
if (change) {
PORTD |= LED_RED;
}
else {
PORTD &= ~LED_RED;
}
blue_timeout += delta;
if (blue_timeout > 2000000) {
PORTD |= LED_BLUE;
first = true;
}
after(0, main_loop, 0);
STEP_PORT = steps;
}
