Example #1
0
static void
rangeaccess(void *addr, uintptr size, uintptr step, uintptr callpc, uintptr pc, bool write)
{
	uintptr racectx;

	if(!onstack((uintptr)addr)) {
		m->racecall = true;
		racectx = g->racectx;
		if(callpc) {
			if(callpc == (uintptr)runtime·lessstack)
				runtime·callers(3, &callpc, 1);
			runtime∕race·FuncEnter(racectx, (void*)callpc);
		}
		if(write)
			runtime∕race·WriteRange(racectx, addr, size, step, (void*)pc);
		else
			runtime∕race·ReadRange(racectx, addr, size, step, (void*)pc);
		if(callpc)
			runtime∕race·FuncExit(racectx);
		m->racecall = false;
	}
}
Example #2
0
bool SetMovement(uint8_t key[])
{
    // Set Movement Flags
    bool down = (key[1] == uint8_t('d'));
    bool down_only = false;
    // only down keys
    if(down)
    {
        switch(char(key[0]))
        {
            //speed (1 2 3 on keyboard Oo)
            case 'a': speed = 50;  break;
            case 'b': speed = 100; break;
            case 'c': speed = 127; break; 
            case 'R':   // reset encoders
                re.clear();
                le.clear();
                break;
            case 'Q':   // on/off correction
                rs232.send("Engine correction is ");
                if(state & STATE_CORRECTION)
                {
                    state &= ~(STATE_CORRECTION);
                    rs232.send("disabled \r\n");
                }
                else
                {
                  state |= STATE_CORRECTION;
                    rs232.send("enabled \r\n");
                }
                break;
            case 'C':
                rs232.wait();
                setMotorPower(0, 0);
                le_cor.stop();
                re_cor.stop();
                moveflags = MOVE_NONE;
                if(!(state & STATE_RECORD))
                {
                    state |= STATE_RECORD;
                    recordIter = 0;
                    rs232.send("Erasing EEPROM...");
                    state |= STATE_ERASING;
                    erase_eeprom();
                    state &= ~(STATE_ERASING);
                    rs232.send("done\r\n");
                    lastAdress = 0;
                }
                else
                {
                    lastRec.end_event = EVENT_TIME;
                    lastRec.setBigNum(recordTime.getTime()/10000);
                    write_mem(&lastRec, lastAdress);                   
                    recordTime.stop();
                    recordTime.clear();
                    recordIter = 0;
                    state &= ~(STATE_RECORD);
                }
                rs232.send("Trace recording is ");
                if(state & STATE_RECORD){ rs232.send("enabled \r\n");}
                else {rs232.send("disabled \r\n");}
                break;
            case 'P':
                le_cor.stop();
                re_cor.stop();
                moveflags = MOVE_NONE;
                setMotorPower(0, 0);

                if(!(state & STATE_PLAY))
                {  
                    recordTime.stop();
                    recordTime.clear();
                    rs232.send("Playing..\r\n");   
                    recordIter = 0; 
                    lastAdress = 0;              
                    state |= STATE_PLAY;
                    state &= ~(STATE_RECORD);
                }
                else
                {
                    rs232.send("Playback stopped\r\n");
                    state &= ~(STATE_PLAY);
                }
                break;
            case 'O':
                if(state & STATE_RECORD)
                   break;
                rs232.send("Playback ");
                if(state & STATE_PLAY)
                {
                    rs232.send("unpaused\r\n");
                    state &= ~(STATE_PLAY);
                }
                else
                {
                    setMotorPower(0, 0);
                    le_cor.stop();
                    re_cor.stop();
                    moveflags = MOVE_NONE;
                    rs232.send("paused\r\n");
                    state |= STATE_PLAY;
                }
                break;
       }
    }
    // Movement
    switch(char(key[0]))
    {
        case 'W':
            if(!(moveflags & MOVE_BACKWARD))
            {
                if(down) moveflags |= MOVE_FORWARD;
                else moveflags &= ~(MOVE_FORWARD);	
            }
            break;
        case 'S':
            if(!(moveflags & MOVE_FORWARD))
            {
                if(down) moveflags |= MOVE_BACKWARD;
                else moveflags &= ~(MOVE_BACKWARD);	
            }
            break;
        case 'A':
            if(!(moveflags & MOVE_RIGHT))
            {
                if(down) moveflags |= MOVE_LEFT;
                else moveflags &= ~(MOVE_LEFT);
            } 
            break;
        case 'D':
            if(!(moveflags & MOVE_LEFT))
            {
                if(down) moveflags |= MOVE_RIGHT;
                else moveflags &= ~(MOVE_RIGHT);
            }
            break;
        default:
            down_only = true;
            break;
    }
    // Sensors
    if(char(key[0]) == ' ' && down) // Space
    {
		rs232.wait();
		rs232.send("\r\nSensors: ");
		rs232.dumpNumber(getSensorValue(6));
        rs232.sendNumber(getSensorValue(7)); // proud
        /*rs232.send("\r\nSensors: \r\n");
        rs232.send("  ");
        rs232.sendNumber(getSensorValue(5));
        rs232.send("  ");
        rs232.sendNumber(getSensorValue(1));
        rs232.wait();
        rs232.send("\r\n");
        rs232.sendNumber(getSensorValue(2));
        rs232.send("                    ");
        rs232.sendNumber(getSensorValue(3));
        rs232.wait(); */
        rs232.send("\r\nEncoders: \r\n L: ");
        rs232.sendNumber(le.get());
        rs232.send(" R: "); 
        rs232.sendNumber(re.get()); 
        rs232.send("\r\nRange \r\nL: "); 
        rs232.wait();
        rs232.sendNumber(ReadRange(FINDER_LEFT));
        rs232.send("cm M: ");
        rs232.sendNumber(ReadRange(FINDER_MIDDLE));
        rs232.send("cm R: ");
        rs232.sendNumber(ReadRange(FINDER_RIGHT));
        rs232.send("cm\r\n"); 
    }

    //Set motors
    if(moveflags & MOVE_FORWARD)
    {
        if(moveflags & MOVE_LEFT)
            setMotorPower(speed-TURN_VALUE, speed);
        else if(moveflags & MOVE_RIGHT)
            setMotorPower(speed, speed-TURN_VALUE);
        else
        {
            le_cor.start();
            re_cor.start();
            le_cor.clear();
            re_cor.clear();
            setMotorPower(speed, speed);
            state &= ~(STATE_CORRECTION2);
        }
		startTime = getTickCount();
    }
    else if(moveflags & MOVE_BACKWARD)
    {
        if(moveflags & MOVE_LEFT)
            setMotorPower(-(speed-TURN_VALUE), -speed);
        else if(moveflags & MOVE_RIGHT)
            setMotorPower(-speed, -(speed-TURN_VALUE));
        else
        {
            state &= ~(STATE_CORRECTION2);
            le_cor.start();
            re_cor.start();
            le_cor.clear();
            re_cor.clear();
            setMotorPower(-speed, -speed);
        }
		startTime = getTickCount();
    }
    else if(moveflags & MOVE_LEFT)
	{
        setMotorPower(-speed, speed);
		startTime = getTickCount();
	}
    else if(moveflags & MOVE_RIGHT)
	{
        setMotorPower(speed, -speed);
		startTime = getTickCount();
	}
    else
    {
		startTime = getTickCount();
        setMotorPower(0, 0);
        le_cor.stop();
        re_cor.stop();
        state &= ~(STATE_CORRECTION2);
    }
    return down_only;
}