unsigned int eeWriteByte(char wByte, unsigned long wAddr)
{
char RetVal;
eestart();
eewrite(BP_EEPROM_ID_W);
//test1=eegetack();
eewrite((wAddr >> 8)); //Sent write Address high bits first
eewrite(wAddr); //Send write address low bits section
//eegetack();
eewrite(wByte); //Write the single bit.
RetVal = eegetack();
eestop();
return RetVal;
}
// erase string at addy. return addy of byte past end.
int erasestr(int addr) {
for (;;) {
byte c = eeread(addr);
if (c == EMPTY) return addr;
eewrite(addr++, EMPTY);
if (!c) return addr;
}
}
void nukeeeprom(void) {
initTaskList(); // stop any currently running background tasks
int addr = STARTDB;
while (addr <= ENDDB) {
if (eeread(addr) != EMPTY) eewrite(addr, EMPTY);
addr++;
}
}
void IMU::deleteCalib(){
int addr = ADDR;
eewrite(addr, (short)0); // magic
accOfs.x=accOfs.y=accOfs.z=0;
accScale.x=accScale.y=accScale.z=2;
comOfs.x=comOfs.y=comOfs.z=0;
comScale.x=comScale.y=comScale.z=2;
Console.println("IMU calibration deleted");
}
void nukeeeprom(void) {
initTaskList(); // stop any currently running background tasks
int addr;
for (addr = STARTDB; addr < ENDDB; addr++) {
if (eeread(addr) != EMPTY) {
eewrite(addr, EMPTY);
}
}
}
unsigned char eeReadByte(unsigned long wAddr)
{
char RetVal;
eestart();
eewrite(BP_EEPROM_ID_W);
eewrite((wAddr >> 8)); //Sent write Address high bits first
eewrite(wAddr); //Send write address low bits section
eestart();
eewrite(BP_EEPROM_ID_R);
RetVal = eeread(); //Write the single bit.
eesendack(1); //send nak?
eestop();
return RetVal;
}
// Parse and store a function definition
//
void cmd_function(void) {
char id[IDLEN+1]; // buffer for id
getsym(); // eat "function", get putative id
if ((sym != s_undef) && (sym != s_script_eeprom) &&
(sym != s_script_progmem) && (sym != s_script_file)) unexpected(M_id);
strncpy(id, idbuf, IDLEN+1); // save id string through value parse
eraseentry(id);
getsym(); // eat the id, move on to '{'
if (sym != s_lcurly) expected(s_lcurly);
// measure the macro text using skipstatement
// fetchptr is on the character after '{'
//
// BUG: This is broken for file scripts
char *startmark = (char *) fetchptr; // mark first char of macro text
void skipstatement(void);
skipstatement(); // gobble it up without executing it
char *endmark = (char *) fetchptr; // and note the char past '}'
// endmark is past the closing '}' - back up and find it
do {
--endmark;
} while ((endmark > startmark) && (*endmark != '}'));
int idlen = strlen(id);
int addr = findhole(idlen + (endmark-startmark) + 2); // longjmps on fail
if (addr >= 0) {
saveString(addr, id); // write the id and its terminator
addr += idlen + 1; // advance to payload offset
while (startmark < endmark) eewrite(addr++, *startmark++);
eewrite(addr, 0);
}
msgpl(M_saved);
}
void SetDefaultConfigurations(){
st_Arduino p;
memset(&p, 0, sizeof(p));
strncpy(p.User, DEFAULT_USER, sizeof(p.User));
strncpy(p.Pass, DEFAULT_PASS, sizeof(p.Pass));
memcpy_P(&p.Ip[0], &DEFAULT_IP[0], sizeof(p.Ip));
memcpy_P(&p.Gateway[0], &DEFAULT_GATEWAY[0], sizeof(p.Gateway));
memcpy_P(&p.SubNetwork[0], &DEFAULT_SUBNETWORK[0], sizeof(p.SubNetwork));
memcpy_P(&p.Mac[0], &DEFAULT_MAC[0], sizeof(p.Mac));
memset(&p.PatchPanel, 0, sizeof p.PatchPanel);
eewrite(0, p);
}
void wree()
{
int i,e;
printf("\nconnecting...%s", ((i = penable()) == 1) ? "Ok" : "Error");
if(!i) {
err = 1;
return;
}
err = 0;
printf("\n");
for(i=0; i < sz; i++) {
printf("\ree writing ... %4x",i);
eewrite(i,buf[i]);
delay(50);
if((e = eeread(i)) != buf[i]) {
printf("\nerror at %x ee %x buf %x\n",i,e & 0xff,buf[i] & 0xff);
err = 1;
}
if(err) break;
}
if(!err) printf("\ree writing Ok \n");
}
// Get a statement
void getstatement(void) {
#if !defined(TINY85)
chkbreak();
#endif
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
char *fetchmark = fetchptr;
for (;;) {
fetchptr = fetchmark; // restore to mark
primec(); // set up for mr. getsym()
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof; // we're finished here. move along.
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
}
else if (sym == s_if) {
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof;
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
#if SKETCH
// The switch statement: call one of N macros based on a selector value
// switch <numval>: macroid1, macroid2,.., macroidN
// numval < 0: numval = 0
// numval > N: numval = N
else if (sym == s_switch) {
getsym(); // eat "switch"
numvar selector = getnum(); // evaluate the switch value
if (selector < 0) selector = 0;
if (sym != s_colon) expectedchar(':');
// we sit before the first macroid
// scan and discard the <selector>'s worth of macro ids
// that sit before the one we want
for (;;) {
getsym(); // get an id, sets symval to its eeprom addr as a side effect
if (sym != s_macro) expected (6); // TODO: define M_macro instead of 6
getsym(); // eat id, get separator; assume symval is untouched
if ((sym == s_semi) || (sym == s_eof)) break; // last case is default so we exit always
if (sym != s_comma) expectedchar(',');
if (!selector) break; // ok, this is the one we want to execute
selector--; // one down...
}
// call the macro whose addr is squirreled in symval all this time
// on return, the parser is ready to pick up where we left off
doMacroCall(symval);
// scan past the rest of the unused switch options, if any
// TODO: syntax checking for non-chosen options could be made much tighter at the cost of some space
while ((sym != s_semi) && (sym != s_eof)) getsym(); // scan to end of statement without executing
}
#endif
else if ((sym == s_macro) || (sym == s_undef)) { // macro def or ref
getsym(); // scan past macro name to next symbol: ; or :=
if (sym == s_define) { // macro definition: macroid := strvalue
// to define the macro, we need to copy the id somewhere on the stack
// to avoid having this local buffer in every getstatement stack frame,
// we break out defineMacro here to a separate function that only eats that
// stack in the case that a macro is being defined
#ifdef TINY85
unexpected(M_defmacro);
#else
defineMacro();
#endif
}
else if ((sym == s_semi) || (sym == s_eof)) { // valid macro reference: let's call it
#if SKETCH
doMacroCall(symval); // parseid stashes the macro address in symval
#else
char op = sym; // save sym for restore
expval = findKey(idbuf); // assumes id in idbuf isn't clobbered since getsym() above
if (expval >= 0) {
char *fetchmark = fetchptr; // save the current parse pointer
// call the macro
calleeprommacro(findend(expval)); // register the macro into the parser stream
getsym();
getstatementlist(); // parse and execute the macro code here
if (sym != s_eof) expected(M_eof);
// restore parsing context so we can resume cleanly
fetchptr = fetchmark; // restore pointer
primec(); // and inchar
sym = op; // restore saved sym: s_semi or s_eof
} else unexpected(M_id);
#endif
}
else expectedchar(';');
//else getexpression(); // assume it was macro1+32+macro2...
}
else if (sym == s_run) { // run macroname
getsym();
if (sym != s_macro) unexpected(M_id);
#if 0
// address of macroid is in symval via parseid
startTask(kludge(symval));
getsym();
#else
// address of macroid is in symval via parseid
// check for [,snoozeintervalms]
getsym(); // eat macroid to check for comma; symval untouched
if (sym == s_comma) {
vpush(symval);
getsym(); // eat the comma
getnum(); // get a number or else
startTask(kludge(vpop()), expval);
}
else startTask(kludge(symval), 0);
#endif
}
else if (sym == s_stop) {
getsym();
if (sym == s_mul) { // stop * stops all tasks
initTaskList();
getsym();
}
else if ((sym == s_semi) || (sym == s_eof)) {
if (background) stopTask(curtask); // stop with no args stops the current task IF we're in back
else initTaskList(); // in foreground, stop all
}
else stopTask(getnum());
}
else if (sym == s_boot) reboot();
#if !defined(TINY85)
else if (sym == s_rm) { // rm "sym" or rm *
getsym();
if (sym == s_macro) {
eraseentry(idbuf);
}
else if (sym == s_mul) nukeeeprom();
else expected(M_id);
getsym();
}
else if (sym == s_ps) showTaskList();
else if (sym == s_peep) { getsym(); cmd_peep(); }
else if (sym == s_ls) { getsym(); cmd_ls(); }
else if (sym == s_help) { getsym(); cmd_help(); }
else if (sym == s_print) { getsym(); cmd_print(); }
#endif
#ifdef HEX_UPLOAD
// a line beginning with a colon is treated as a hex record
// containing data to upload to eeprom
//
// TODO: verify checksum
//
else if (sym == s_colon) {
// fetchptr points at the byte count
byte byteCount = gethex(2); // 2 bytes byte count
int addr = gethex(4); // 4 bytes address
byte recordType = gethex(2); // 2 bytes record type; now fetchptr -> data
if (recordType == 1) reboot(); // reboot on EOF record (01)
if (recordType != 0) return; // we only handle the data record (00)
if (addr == 0) nukeeeprom(); // auto-clear eeprom on write to 0000
while (byteCount--) eewrite(addr++, gethex(2)); // update the eeprom
gethex(2); // discard the checksum
getsym(); // and re-prime the parser
}
#endif
else {
getexpression();
}
}
// Get a statement
numvar getstatement(void) {
numvar retval = 0;
//char *fetchmark;
numvar fetchmark;
chkbreak();
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
//fetchmark = fetchptr;
fetchmark = markparsepoint();
for (;;) {
//fetchptr = fetchmark; // restore to mark
//primec(); // set up for mr. getsym()
returntoparsepoint(fetchmark, 0);
getsym(); // fetch the start of the conditional
if (getnum()) {
retval = getstatement();
if (sym == s_returning) break; // exit if we caught a return
}
else {
skipstatement();
break;
}
}
}
else if (sym == s_if) {
getsym(); // eat "if"
if (getnum()) {
retval = getstatement();
if (sym == s_else) {
getsym(); // eat "else"
skipstatement();
}
} else {
skipstatement();
if (sym == s_else) {
getsym(); // eat "else"
retval = getstatement();
}
}
}
else if (sym == s_lcurly) {
getsym(); // eat "{"
while ((sym != s_eof) && (sym != s_returning) && (sym != s_rcurly)) retval = getstatement();
if (sym == s_rcurly) getsym(); // eat "}"
}
else if (sym == s_return) {
getsym(); // eat "return"
if ((sym != s_eof) && (sym != s_semi)) retval = getnum();
sym = s_returning; // signal we're returning up the line
}
else if (sym == s_switch) retval = getswitchstatement();
else if (sym == s_function) cmd_function();
else if (sym == s_run) { // run macroname
getsym();
if ((sym != s_script_eeprom) && (sym != s_script_progmem) &&
(sym != s_script_file)) unexpected(M_id);
// address of macroid is in symval via parseid
// check for [,snoozeintervalms]
getsym(); // eat macroid to check for comma; symval untouched
if (sym == s_comma) {
vpush(symval);
getsym(); // eat the comma
getnum(); // get a number or else
startTask(vpop(), expval);
}
else startTask(symval, 0);
}
else if (sym == s_stop) {
getsym();
if (sym == s_mul) { // stop * stops all tasks
initTaskList();
getsym();
}
else if ((sym == s_semi) || (sym == s_eof)) {
if (background) stopTask(curtask); // stop with no args stops the current task IF we're in back
else initTaskList(); // in foreground, stop all
}
else stopTask(getnum());
}
else if (sym == s_boot) reboot();
else if (sym == s_rm) { // rm "sym" or rm *
getsym();
if (sym == s_script_eeprom) {
eraseentry(idbuf);
}
else if (sym == s_mul) nukeeeprom();
else if (sym != s_undef) expected(M_id);
getsym();
}
else if (sym == s_ps) { getsym(); showTaskList(); }
else if (sym == s_peep) { getsym(); cmd_peep(); }
else if (sym == s_ls) { getsym(); cmd_ls(); }
else if (sym == s_help) { getsym(); cmd_help(); }
else if (sym == s_print) { getsym(); cmd_print(); }
else if (sym == s_semi) { ; } // ;)
#ifdef HEX_UPLOAD
// a line beginning with a colon is treated as a hex record
// containing data to upload to eeprom
//
// TODO: verify checksum
//
else if (sym == s_colon) {
// fetchptr points at the byte count
byte byteCount = gethex(2); // 2 bytes byte count
int addr = gethex(4); // 4 bytes address
byte recordType = gethex(2); // 2 bytes record type; now fetchptr -> data
if (recordType == 1) reboot(); // reboot on EOF record (01)
if (recordType != 0) return; // we only handle the data record (00)
if (addr == 0) nukeeeprom(); // auto-clear eeprom on write to 0000
while (byteCount--) eewrite(addr++, gethex(2)); // update the eeprom
gethex(2); // discard the checksum
getsym(); // and re-prime the parser
}
#endif
else getexpression();
if (sym == s_semi) getsym(); // eat trailing ';'
return retval;
}
void WriteConfigurations(){
eewrite(0, Arduino);
}
void saveByte(char c) { eewrite(expval++, c); }
// Save string at str to EEPROM at addr
void saveString(int addr, char *str) {
while (*str) eewrite(addr++, *str++);
eewrite(addr, 0);
}
// Get a statement
numvar getstatement(void) {
numvar retval = 0;
char *fetchmark;
chkbreak();
//#define LINEMODE
#ifdef LINEMODE
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
char *fetchmark = fetchptr;
for (;;) {
fetchptr = fetchmark; // restore to mark
primec(); // set up for mr. getsym()
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof; // we're finished here. move along.
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
}
else if (sym == s_if) {
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof;
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
// The switch statement: call one of N macros based on a selector value
// switch <numval>: macroid1, macroid2,.., macroidN
// numval < 0: numval = 0
// numval > N: numval = N
else if (sym == s_switch) {
getsym(); // eat "switch"
numvar selector = getnum(); // evaluate the switch value
if (selector < 0) selector = 0;
if (sym != s_colon) expectedchar(':');
// we sit before the first macroid
// scan and discard the <selector>'s worth of macro ids
// that sit before the one we want
for (;;) {
getsym(); // get an id, sets symval to its eeprom addr as a side effect
if (sym != s_macro) expected (6); // TODO: define M_macro instead of 6
getsym(); // eat id, get separator; assume symval is untouched
if ((sym == s_semi) || (sym == s_eof)) break; // last case is default so we exit always
if (sym != s_comma) expectedchar(',');
if (!selector) break; // ok, this is the one we want to execute
selector--; // one down...
}
// call the macro whose addr is squirreled in symval all this time
// on return, the parser is ready to pick up where we left off
domacrocall(symval);
// scan past the rest of the unused switch options, if any
// TODO: syntax checking for non-chosen options could be made much tighter at the cost of some space
while ((sym != s_semi) && (sym != s_eof)) getsym(); // scan to end of statement without executing
}
#else
// new statement handling
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
fetchmark = fetchptr;
for (;;) {
fetchptr = fetchmark; // restore to mark
primec(); // set up for mr. getsym()
getsym(); // fetch the start of the conditional
if (getnum()) {
retval = getstatement();
if (sym == s_returning) break; // exit if we caught a return
}
else {
skipstatement();
break;
}
}
}
else if (sym == s_if) {
getsym(); // eat "if"
if (getnum()) {
retval = getstatement();
if (sym == s_else) {
getsym(); // eat "else"
skipstatement();
}
} else {
skipstatement();
if (sym == s_else) {
getsym(); // eat "else"
retval = getstatement();
}
}
}
else if (sym == s_lcurly) {
getsym(); // eat "{"
while ((sym != s_eof) && (sym != s_returning) && (sym != s_rcurly)) retval = getstatement();
if (sym == s_rcurly) getsym(); // eat "}"
}
else if (sym == s_return) {
getsym(); // eat "return"
if ((sym != s_eof) && (sym != s_semi)) retval = getnum();
sym = s_returning; // signal we're returning up the line
}
else if (sym == s_switch) retval = getswitchstatement();
else if (sym == s_function) cmd_function();
#endif
else if (sym == s_run) { // run macroname
getsym();
if (sym != s_macro) unexpected(M_id);
// address of macroid is in symval via parseid
// check for [,snoozeintervalms]
getsym(); // eat macroid to check for comma; symval untouched
if (sym == s_comma) {
vpush(symval);
getsym(); // eat the comma
getnum(); // get a number or else
startTask(kludge(vpop()), expval);
}
else startTask(kludge(symval), 0);
}
else if (sym == s_stop) {
getsym();
if (sym == s_mul) { // stop * stops all tasks
initTaskList();
getsym();
}
else if ((sym == s_semi) || (sym == s_eof)) {
if (background) stopTask(curtask); // stop with no args stops the current task IF we're in back
else initTaskList(); // in foreground, stop all
}
else stopTask(getnum());
}
else if (sym == s_boot) reboot();
#if !defined(TINY85)
else if (sym == s_rm) { // rm "sym" or rm *
getsym();
if (sym == s_macro) {
eraseentry(idbuf);
}
else if (sym == s_mul) nukeeeprom();
else if (sym != s_undef) expected(M_id);
getsym();
}
else if (sym == s_ps) { getsym(); showTaskList(); }
else if (sym == s_peep) { getsym(); cmd_peep(); }
else if (sym == s_ls) { getsym(); cmd_ls(); }
else if (sym == s_help) { getsym(); cmd_help(); }
else if (sym == s_print) { getsym(); cmd_print(); }
else if (sym == s_semi) { ; } // ;)
#endif
#ifdef HEX_UPLOAD
// a line beginning with a colon is treated as a hex record
// containing data to upload to eeprom
//
// TODO: verify checksum
//
else if (sym == s_colon) {
// fetchptr points at the byte count
byte byteCount = gethex(2); // 2 bytes byte count
int addr = gethex(4); // 4 bytes address
byte recordType = gethex(2); // 2 bytes record type; now fetchptr -> data
if (recordType == 1) reboot(); // reboot on EOF record (01)
if (recordType != 0) return; // we only handle the data record (00)
if (addr == 0) nukeeeprom(); // auto-clear eeprom on write to 0000
while (byteCount--) eewrite(addr++, gethex(2)); // update the eeprom
gethex(2); // discard the checksum
getsym(); // and re-prime the parser
}
#endif
else getexpression();
if (sym == s_semi) getsym(); // eat trailing ';'
return retval;
}