int8_t i2c_send_and_receive(int8_t slave_addr, int8_t Cmd){
int8_t i2c_answer=0;
uint8_t timeout=0;
I2CHW_1_bWriteBytes(slave_addr,&Cmd,1,I2CHW_1_CompleteXfer);
while (!(I2CHW_1_bReadI2CStatus() & I2CHW_WR_COMPLETE) && timeout<I2C_TIMEOUT){
timeout++;
if(timeout>I2C_TIMEOUT){
UART_CPutString("i2c> write timed out!\r\n");
return 99;
}
}
timeout=0;
I2CHW_1_ClrWrStatus();
I2CHW_1_fReadBytes(slave_addr,&i2c_answer,1,I2CHW_1_CompleteXfer );
while (!(I2CHW_1_bReadI2CStatus() & I2CHW_RD_COMPLETE) && timeout<I2C_TIMEOUT){
timeout++;
}
if(timeout>I2C_TIMEOUT){
UART_CPutString("i2c> read timed out!\r\n");
return 99;
}
I2CHW_1_ClrRdStatus();
return i2c_answer;
}
// Test reading and writing the 23K256 status register:
BYTE SPIRAM_StatusRegisterTest(void)
{
// NOTE: SPIRAM_SEQUENTIAL_MODE|SPIRAM_PAGE_MODE is "Reserved", don't use it
BYTE mode[6] = { SPIRAM_BYTE_MODE,
SPIRAM_BYTE_MODE|SPIRAM_DISABLE_HOLD,
SPIRAM_SEQUENTIAL_MODE,
SPIRAM_SEQUENTIAL_MODE|SPIRAM_DISABLE_HOLD,
SPIRAM_PAGE_MODE,
SPIRAM_PAGE_MODE|SPIRAM_DISABLE_HOLD };
BYTE status;
BYTE b;
UART_CPutString("Status Register W/R Test: 0x ");
for (b=0; b<6 ; b++) {
UART_PutChar(0x08);
UART_PutChar(0x08);
UART_PutSHexByte(mode[b]);
if (SPIRAM_WriteStatusRegister(mode[b])) {
UART_CPutString("\r\nWrite of invalid Status Register value. System halted.\r\n");
M8C_Stop;
}
status = SPIRAM_ReadStatusRegister();
if (status != mode[b]) {
UART_CPutString(" FAIL\r\n");
return(1);
}
}
UART_CPutString("\b\b\b\b\b PASS\r\n");
// Place the SRAM back in Byte Mode
SPIRAM_WriteStatusRegister(SPIRAM_BYTE_MODE|SPIRAM_DISABLE_HOLD);
return(0);
}
void main(void)
{
char opt;
// Make sure nCS is high before doing anything
nCS_HIGH;
// Enable user module interrupts
SleepTimer_EnableInt();
// Enable global interrutps
M8C_EnableGInt;
// Start the user modules
UART_Start(UART_PARITY_NONE);
UART_PutCRLF();
SPIM_Start(SPIM_SPIM_MODE_0 | SPIM_SPIM_MSB_FIRST);
SleepTimer_Start();
DAC8_Start(DAC8_FULLPOWER);
UART_CPutString("Synthesiszing waveforms\r\n");
WriteBlock(0);
WriteBlock(1);
WriteBlock(2);
WriteBlock(3);
while(1)
{
UART_CPutString("Synthetic wave output is on Port0[4]\r\nCowabunga Dude! Time to catch some waves.\r\n\r\n0. Play block 0\r\n1. Play block 1\r\n2. Play block 2\r\n3. Play block 3\r\n4. Test status register\r\n5. Test byte mode\r\n6. Test sequential mode\r\n");
opt = GetNumber(0, 6);
switch (opt)
{
case 4:
while(SPIRAM_StatusRegisterTest())
SleepTimer_SyncWait(4, SleepTimer_WAIT_RELOAD);
break;
case 5:
while(SPIRAM_ByteModeTest())
SleepTimer_SyncWait(4, SleepTimer_WAIT_RELOAD);
break;
case 6:
while(SPIRAM_SequentialModeTest())
SleepTimer_SyncWait(4, SleepTimer_WAIT_RELOAD);
break;
default:
PlayBlock(opt);
break;
}
}
}
void init_robot(struct robot *bot){
rs_init(&bot->rs);
cs_init(&bot->cs_a);
cs_init(&bot->cs_d);
quadramp_init(&bot->qr_a);
quadramp_init(&bot->qr_d);
pid_init(&bot->pid_a);
pid_init(&bot->pid_d);
position_init(&bot->posr); //nous
// bot->EVENT_DO_CS =1;
bot->events = EVENT_DO_CS | EVENT_DO_POS;
quadramp_init(&bot->qr_a);
quadramp_init(&bot->qr_d);
#ifdef UART_VERBOSE
UART_CPutString("\r\n init robot structures : [OK]");
#endif
}
signed char fReadByteLoop(unsigned int blknum)
{
bTargetAddress = 0;
bTargetDataPtr = 0;
while(bTargetDataPtr < TARGET_DATABUFF_LEN)
{
//Send Read Byte vector and then get a byte from Target
SendVector(read_byte_v, 4);
// Set the drive here because SendByte() does not
SetSDATAStrong();
SendByte(bTargetAddress,7);
RunClock(2); // Run two SCLK cycles between writing and reading
SetSDATAHiZ(); // Set to HiZ so Target can drive SDATA
bTargetDataIN = bReceiveByte();
RunClock(1);
SendVector(read_byte_v + 1, 1); // Send the ReadByte Vector End
// Test the Byte that was read from the Target against the original
// value (already in the 128-Byte array "abTargetDataOUT[]"). If it
// matches, then bump the address & pointer,loop-back and continue.
// If it does NOT match abort the loop and return and error.
//if (bTargetDataIN != abTargetDataOUT[bTargetDataPtr])
if (bTargetDataIN != pSocData[blknum*TARGET_DATABUFF_LEN + bTargetDataPtr])
{
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("bTargetDataIN : ");
UART_PutHexByte(bTargetDataIN);
UART_CPutString(" abTargetDataOUT : ");
UART_PutHexByte(pSocData[blknum*TARGET_DATABUFF_LEN + bTargetDataPtr]);
#endif
return(BLOCK_ERROR);
}
bTargetDataPtr++;
// Increment the address by 2 to accomodate 7-Bit addressing
// (puts the 7-bit address into MSBit locations for "SendByte()").
bTargetAddress += 2;
}
return(PASS);
}
void i2c_send_only(int8_t slave_addr,int8_t Cmd){
uint8_t timeout=0;
I2CHW_1_bWriteBytes(slave_addr,&Cmd,1,I2CHW_1_CompleteXfer);
while (!(I2CHW_1_bReadI2CStatus() & I2CHW_WR_COMPLETE) && timeout<I2C_TIMEOUT){
timeout++;
}
if(timeout == I2C_TIMEOUT)
UART_CPutString("i2c> operation timed out :( !\r\n");
I2CHW_1_ClrWrStatus();
}
void init_uart(void){
///UART////
UART_CmdReset();
UART_IntCntl(UART_ENABLE_RX_INT);
UART_Start(UART_PARITY_NONE);
UART_PutChar(12);
#ifdef UART_VERBOSE
UART_CPutString("\r\n\r\n\r\n\r\n\r\n\r\n waking up.......................................");
#endif
}
// This function plays a block of data where opt is the data block 0-3.
void PlayBlock(char id)
{
WORD startAddr = id * 0x2000; // Where the address starts for block
WORD endAddr = startAddr + 0x2000; // Where the address ends for block
WORD addr = startAddr;
SPIRAM_WriteStatusRegister(SPIRAM_BYTE_MODE | SPIRAM_DISABLE_HOLD);
UART_CPutString("Press any key to abort\r\n");
while (!UART_cReadChar())
{
DAC8_WriteStall(SPIRAM_ReadByte(addr));
if (++addr > endAddr) addr = startAddr;
}
}
// Test reading and writing the 23K256 in Sequential Mode:
WORD SPIRAM_SequentialModeTest(void)
{
BYTE status;
BYTE a;
BYTE b;
BYTE in;
WORD addr;
SPIRAM_WriteStatusRegister(SPIRAM_SEQUENTIAL_MODE|SPIRAM_DISABLE_HOLD);
UART_CPutString("Sequential Mode W/R Test: Addr 0x ");
for (addr=0; addr<0x8000 ; addr+=ARRAY_SIZE) {
UART_CPutString("\b\b\b\b");
UART_PutSHexInt(addr);
b = 0;
do {
for (a=0 ; a<ARRAY_SIZE ; a++) {
DataOut[a] = b;
}
SPIRAM_WriteArray(addr, DataOut, ARRAY_SIZE);
SPIRAM_ReadArray(addr, DataIn, ARRAY_SIZE);
for (a=0 ; a<ARRAY_SIZE ; a++) {
if (DataIn[a] != b) {
UART_CPutString("\b\b\b\b");
UART_PutSHexInt(addr+a);
UART_CPutString(" FAIL\r\n");
return(1);
}
}
if (!b)
b = 0x01;
else
b = b << 1;
} while(b);
if (UART_cReadChar()) {
UART_CPutString("\b\b\b\b\b\b\b\b\b\b\b\b ABORTED \r\n");
return(0);
}
}
UART_CPutString("\b\b\b\b\b\b\b\b\b\b\b\b PASS \r\n");
return(0);
}
// Test reading and writing the 23K256 in Byte Mode:
WORD SPIRAM_ByteModeTest(void)
{
BYTE status;
BYTE b;
BYTE in;
WORD addr;
SPIRAM_WriteStatusRegister(SPIRAM_BYTE_MODE|SPIRAM_DISABLE_HOLD);
UART_CPutString(" Byte Mode W/R Test: Addr 0x ");
for (addr=0; addr<0x8000 ; addr++) {
if (((addr-1) & 0x000f) == 0x000f) {
UART_CPutString("\b\b\b\b");
UART_PutSHexInt(addr);
}
b = 0;
do {
SPIRAM_WriteByte(addr, b);
in = SPIRAM_ReadByte(addr);
if (in != b) {
UART_CPutString("\b\b\b\b");
UART_PutSHexInt(addr);
UART_CPutString(" FAIL\r\n");
return(1);
}
if (!b)
b = 0x01;
else
b = b << 1;
} while(b);
if (UART_cReadChar()) {
UART_CPutString("\b\b\b\b\b\b\b\b\b\b\b\b ABORTED \r\n");
return(0);
}
}
UART_CPutString("\b\b\b\b\b\b\b\b\b\b\b\b PASS \r\n");
return(0);
}
void main(void)
{
M8C_EnableGInt ; // Uncomment this line to enable Global Interrupts
// Start the UART(with no parity), and Counter16
UART_Start(UART_PARITY_NONE);
// clock for moving serial
Counter16_Start();
// Start I2CHW
I2CHW_Start();
I2CHW_EnableMstr();
I2CHW_EnableInt();
// This is the command usage string
UART_CPutString("########################## I2C External SRAM ########################\r\n\
# W # XX T [Data]\r\n\
# W - Write command\r\n\
# # - Group Address (0 - 7)\r\n\
# XX - Memory Location in hex (00 - FF)\r\n\
# T - Data Type, either A for ASCII or H for Hexadecimal\r\n\
# Data - Either ASCII string or Hexadecimal separates by spaces\r\n\
#\t\t\tA - Mary had a little lamb\r\n\
#\t\t\tH - 01 FF A0 0F D8 C3\r\n\
#\r\n\
# R # XX T NN\r\n\
# R - Read command\r\n\
# # - Group Address (0 - 7)\r\n\
# XX - Memory Location in hex (00 - FF)\r\n\
# T - Data Type, either A for ASCII or H for Hexadecimal\r\n\
# NN - Number of bytes to read in hexadecimal\r\n\
#####################################################################\r\n");
while (1)
{
char *cmd;
char *params;
char slaveAddress = 0x50; // 010100000 R/W shifted to front
GetLine(buf, 79); // Retrieves a line with a maximum length of 70 characters and put it in buf.
memset(data, 0x00, 256); // Initialize all the set {data} to NULL bytes
cmd = Lowercase(cstrtok(buf, " ")); // Get the first word from the entered string and lowercase it.
if (strlen(cmd) == 1 && cmd[0] == 'w') // If the command is one letter and it is w, then write command
{
int groupAddress; // only 1 and 2 actually go to SRAM
int memLoc;
char dataType;
int len;
params = cstrtok(0x00, " "); // 0x00 indicates it will continue from last cstrtok command and get next word. This gets the next parameter
// csscanf if used to parse the string into values such as hexadecimal or integers
// It returns the number of parameters it parsed which should be one
// If the length of the params is not right or it does not parse the right amount, it returns an error
// %d gets an integer, this is the groupAddress
if (strlen(params) != 1 || csscanf(params, "%d", &groupAddress) != 1) goto error;
// %x gets a hexadecimal value, this can read capital or lowercase letters, this is the memory location
params = cstrtok(0x00, " ");
if (strlen(params) != 2 || csscanf(params, "%x", &memLoc) != 1) goto error;
// %c gets a character, the data type character
params = cstrtok(0x00, " ");
if (strlen(params) != 1 || csscanf(params, "%c", &dataType) != 1) goto error;
// This reads the rest of the string and stores it in params.
// If the length is zero or if cstrtok returns 0, this means that there was no valid string/hex entered
params = cstrtok(0x00, "\0");
if (strlen(params) == 0 || params == 0x00) goto error; // They did all the params but didn't write anything
dataType = tolower(dataType); // Lowercase the data type
if (groupAddress < 0 || groupAddress > 7)
goto error; // groupAddress was not in range
data[0] = memLoc; // First byte needs to be the memory location according to PCF8570 datasheet
slaveAddress |= groupAddress; // ORs the group 2 address to the group 1 address to get slaveAddress
if (dataType == 'a') // If the data type is ASCII
{
strcpy((data + 1), params); // Copy the string from params and put it right after the data[0] byte
len = strlen((data + 1)) + 1; // len is the number of bytes to write, it is the length of the string and then +1 because of the memLoc byte
// Cant just do strlen(data) because data[0] could be 0x00 and it would return 0 as the string length
}
else if (dataType == 'h') // If the data type is hex
{
// Take ASCII encoded hex data params and put it after data[0], returns number of bytes converted
if ((len = HexConversion(params, (data + 1))) == -1)
goto error;
len++; // Add one to the length because of the memLoc byte at data[0]
}
else
goto error;
I2CHW_bWriteBytes(slaveAddress, data, len, I2CHW_CompleteXfer); // Write len bytes from data
while (!(I2CHW_bReadI2CStatus() & I2CHW_WR_COMPLETE)); // Wait while it is writing
I2CHW_ClrWrStatus(); // Clear the write bit
csprintf(data, "%x bytes were written", len); // csprintf takes the string and substitutes %x for len, puts into data str
UART_PutString(data); // Print the string to UART
UART_PutCRLF();
}
else if (strlen(cmd) == 1 && cmd[0] == 'r') // If the command is one letter and it is r, then read command
{
int groupAddress;
int memLoc;
char dataType;
int numBytes;
char hexStr[4];
int i;
// csscanf if used to parse the string into values such as hexadecimal or integers
// It returns the number of parameters it parsed which should be one
// If the length of the params is not right or it does not parse the right amount, it returns an error
// %d gets an integer, this is the groupAddress
params = cstrtok(0x00, " ");
if (strlen(params) != 1 || csscanf(params, "%d", &groupAddress) != 1) goto error;
// %x gets a hexadecimal value, this can read capital or lowercase letters, this is the memory location
params = cstrtok(0x00, " ");
if (strlen(params) != 2 || csscanf(params, "%x", &memLoc) != 1) goto error;
// %c gets a character, the data type character
params = cstrtok(0x00, " ");
if (strlen(params) != 1 || csscanf(params, "%c", &dataType) != 1) goto error;
// %x gets a hexadecimal value, number of bytes to read
params = cstrtok(0x00, " ");
if (strlen(params) != 2 || csscanf(params, "%x", &numBytes) != 1) goto error;
// If there is any data after the number of bytes, then the format is invalid and it should return an error
if (cstrtok(0x00, " ") != 0x00) goto error;
dataType = tolower(dataType); // Lowercase the data type
if (groupAddress < 0 || groupAddress > 7)
goto error; // groupAddress was not in range
data[0] = memLoc; // First byte needs to be the memory location according to PCF8570 datasheet
slaveAddress |= groupAddress; // ORs the group 2 address to the group 1 address to get slaveAddress
I2CHW_bWriteBytes(slaveAddress, data, 1, I2CHW_NoStop); // Write one byte to the RAM, the slaveAddress so it knows who were talking to
while (!(I2CHW_bReadI2CStatus() & I2CHW_WR_COMPLETE)); // Wait while it is writing
I2CHW_ClrWrStatus(); // Clear the write bit
I2CHW_fReadBytes(slaveAddress, data, numBytes, I2CHW_CompleteXfer); // Read numBytes from the RAM, put it in data
while(!(I2CHW_bReadI2CStatus() & I2CHW_RD_COMPLETE)); // Wait while it is reading
I2CHW_ClrRdStatus(); // Clear the read bit
if (dataType == 'a') // If the data type is ASCII
{
for (i = 0; i < numBytes; ++i) // Loop through each byte
UART_PutChar(data[i]); // Put the character in PuTTy
UART_PutCRLF();
}
else if (dataType == 'h') // If the data type is Hex
{
for (i = 0; i < numBytes; ++i) // Loop through each byte
{
csprintf(hexStr, "%X ", data[i]); // csprintf prints into hexStr a hexadecimal with a space
UART_PutString(hexStr); // Print hexStr
}
UART_PutCRLF();
}
else
goto error;
}
else
goto error;
continue; // This is so that the error is skipped when everything goes right
error: // This outputs an invalid format message and continues on to read another line
UART_CPutString("Invalid format entered. Valid formats are:\r\n\tW [GroupAddress] [MemoryLocation] [h|a] Hex/ASCII\r\n\tR [GroupAddress] [MemoryLocation] [h|a] [NumBytes]\r\n");
}
}
void strat_go_get_elts_on_table(struct strategy * strat){
static uint8_t elts_to_store;
static uint24_t starttime;
static uint8_t storage_lock;
switch (Strat_Action) {
case 0:
/*Go p1*/
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR, I2C_TAPIS_BOUFFE);
if(beudabot.color==COLOR_GREEN)
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_G1_X,ON_TABLE_ELT_G1_Y);
else
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_R1_X,ON_TABLE_ELT_R1_Y);
Strat_Action++;
break;
case 1:
/*Go p2*/
if(beudabot.color==COLOR_GREEN)
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_G1_X+60,ON_TABLE_ELT_G1_Y);
else
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_R1_X+60,ON_TABLE_ELT_R1_Y);
Strat_Action++;
break;
case 2:
Strat_Action=0;
Strat_State=STRAT_EMERGENCY_BEHAVIOUR;
break;
/*
case 2:
//before continuing the seq, we check how many elts we got
elts_to_store = i2c_send_and_receive(I2C_TAPIS_ROULEAUX_ADDR,I2C_TAPIS_GET_NB_ELTS_IN);
Strat_Action++;
break;*/
case 3:
if(elts_to_store==2){
if(strat_store_elt(elts_to_store)){
Strat_Action++;
setBit(strat_flags,TWO_ELTS_LOADED);
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR, I2C_TAPIS_BOUFFE); //after storage, it stops bouffing ??
}
}
else //if we don't have 2elts we just continu the seq.
Strat_Action++;
break;
case 4:
/*here, if we got 1 or 2 elements, they're stored, and the pince is well placed*/
quadramp_set_1st_order_vars(&beudabot.qr_d, QR_SPEED_D_POS_SLOW, QR_SPEED_D_NEG_SLOW); // Vitesse
if(beudabot.color==COLOR_GREEN)
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_G1_X+60,ON_TABLE_ELT_G1_Y+25);
else
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_R1_X+60,ON_TABLE_ELT_R1_Y-25);
Strat_Action++;
break;
case 5:
elts_to_store = i2c_send_and_receive(I2C_TAPIS_ROULEAUX_ADDR,I2C_TAPIS_GET_NB_ELTS_IN);
Strat_Action++;
break;
case 6:
if(elts_to_store==2){
if(strat_store_elt(elts_to_store)){
/*Warning: no timeout here, we trust the tapis-roulo at this time...*/
if(strat_flags & TWO_ELTS_LOADED){
//Yes !! we got 4 elts, lets build a real temple!
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR,I2C_TAPIS_PROTECT); //we don't want more for the moment
Strat_Action = 0;
Strat_State++;
setBit(strat_flags,I_CAN_BUILD_A_TEMPLE); //for lint deposit operation...
clearBit(strat_flags,TWO_ELTS_LOADED);
}
}
}
else
Strat_Action++;
break;
case 7:
/*
here the situation is:
- we got 2 elts stored, and we are looking for 2 others...
- we have nothing.. (check strat_flags & TWO_ELTS_LOADED the know the answer...)
*/
if(beudabot.color==COLOR_GREEN)
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_G1_X,ON_TABLE_ELT_G1_Y+25);
else
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_R1_X,ON_TABLE_ELT_R1_Y-25);
Strat_Action++;
break;
case 8:
elts_to_store = i2c_send_and_receive(I2C_TAPIS_ROULEAUX_ADDR,I2C_TAPIS_GET_NB_ELTS_IN);
Strat_Action++;
break;
case 9:
if(elts_to_store==2){ //owkey, we have now 2 elts
if(strat_store_elt(elts_to_store)){
if(strat_flags & TWO_ELTS_LOADED){ //AWESOME, we got 2elts inside, and 2elts stored...
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR,I2C_TAPIS_PROTECT); //we don't want more for the moment
Strat_Action = 0;
Strat_State++; //let's build !!
clearBit(strat_flags,TWO_ELTS_LOADED);
setBit(strat_flags,I_CAN_BUILD_A_TEMPLE); //for lint deposit operation lock...
}
}
}
else
Strat_Action++;
break;
case 10:
if(beudabot.color==COLOR_GREEN)
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_G1_X,ON_TABLE_ELT_G1_Y+50);
else
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_R1_X,ON_TABLE_ELT_R1_Y-50);
Strat_Action++;
break;
case 11:
elts_to_store = i2c_send_and_receive(I2C_TAPIS_ROULEAUX_ADDR,I2C_TAPIS_GET_NB_ELTS_IN);
Strat_Action++;
break;
case 12:
if(elts_to_store==2){
if(strat_store_elt(elts_to_store)){
if(strat_flags & TWO_ELTS_LOADED){ //AWESOME, we got 2elts inside, and 2elts stored...
Strat_Action = 0;
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR,I2C_TAPIS_PROTECT); //we don't want more for the moment
Strat_State++; //next op is building...
setBit(strat_flags,I_CAN_BUILD_A_TEMPLE); //for lint deposit operation...
clearBit(strat_flags,TWO_ELTS_LOADED);
}
}
}
else
Strat_Action++;
break;
case 13:
if(beudabot.color==COLOR_GREEN)
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_G1_X+60,ON_TABLE_ELT_G1_Y+50);
else
trajectory_goto_xy_abs(&beudatraj,ON_TABLE_ELT_R1_X+60,ON_TABLE_ELT_R1_Y-50);
Strat_Action++;
break;
case 14:
/*I still don't have 4 elts :(, let's build with what we have*/
UART_CPutString("Going to build with less than 4elts :( go back and try again ???\r\n");
Strat_Action=0;
Strat_State++;
clearBit(strat_flags,TWO_ELTS_LOADED);
break;
}
}
void strat_manage(struct strategy * strat){
static uint24_t starttime;
if( beudatraj.state==READY){
switch(Strat_State){
case STRAT_GET_ELT_ON_TABLE:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on table\r\n");
#endif
strat_go_get_elts_on_table(strat);
break;
case STRAT_CONSTRUCT_TEMPLE_3:
#ifdef DEBUG_STRAT
UART_CPutString("strat> hav to build a temple 3\r\n");
#endif
strat_construct_temple(strat,3,0); //0 it depends on our color
break;
case STRAT_GET_LINT_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get lint area 1\r\n");
#endif
strat_go_get_lint(strat,LINT_DISP_L1);
break;
case STRAT_GET_LINT_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get lint area 2\r\n");
#endif
strat_go_get_lint(strat,LINT_DISP_L2);
break;
case STRAT_GET_ELT_ON_FIXED_DISP:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on fixed disp\r\n");
#endif
strat_go_get_elts_disp(strat,0);
break;
case STRAT_GET_ELT_ON_RAND_DISP_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on rand 1\r\n");
#endif
strat_go_get_elts_disp(strat,1);
break;
case STRAT_GET_ELT_ON_RAND_DISP_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> get elt on disp 2\r\n");
#endif
strat_go_get_elts_disp(strat,2);
break;
case STRAT_CONSTRUCT_TEMPLE_2_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 2 1\r\n");
#endif
strat_construct_temple(strat,2,1);
break;
case STRAT_CONSTRUCT_TEMPLE_2_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 2 2\r\n");
#endif
strat_construct_temple(strat,2,2);
break;
case STRAT_CONSTRUCT_TEMPLE_1_1:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 1\r\n");
#endif
strat_construct_temple(strat,1,1);
break;
case STRAT_CONSTRUCT_TEMPLE_1_2:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 2\r\n");
#endif
strat_construct_temple(strat,1,2);
break;
case STRAT_CONSTRUCT_TEMPLE_1_3:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 3\r\n");
#endif
strat_construct_temple(strat,1,3);
break;
case STRAT_CONSTRUCT_TEMPLE_1_4:
#ifdef DEBUG_STRAT
UART_CPutString("strat> constr temp 1 4\r\n");
#endif
strat_construct_temple(strat,1,4);
break;
case STRAT_EMERGENCY_BEHAVIOUR:
#ifdef DEBUG_STRAT
UART_CPutString("strat> emergency behaviour on\r\n");
#endif
strat_do_emergency_behaviour();
PRT2DR ^=0x80;
break;
case STRAT_EXIT:
#ifdef DEBUG_STRAT
UART_CPutString("strat> exit\r\n");
#endif
pwm_left(0);
pwm_right(0);
//ordre i2c pour sortir et ouvrir la pince
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR, I2C_TAPIS_EJECT);
i2c_send_only(I2C_LINTO_ADDR,I2C_LINT_DROP);
i2c_send_only(I2C_PINCE_ADDR,I2C_PINCE_DROP);
starttime = gettime();
while(gettime() < (starttime + DELAY_TAPIS_EJECT));
i2c_send_only(I2C_TAPIS_ROULEAUX_ADDR, I2C_TAPIS_STOP);
clearBit(beudabot.events,EVENT_DO_STRAT);
while(1);
break;
}
}
}
void strat_go_get_lint(struct strategy * strat,uint8_t position){
static uint24_t starttime;
if(beudatraj.state==READY){
switch(Strat_Action){
case 0:
quadramp_set_1st_order_vars(&beudabot.qr_d, QR_SPEED_A_POS_SLOW, QR_SPEED_A_NEG_SLOW); // Vitesse
if(position==1){
if(beudabot.color==COLOR_GREEN)
oa_set_target(&beudaoa, G_LINT_DISP_1_X-20,G_LINT_DISP_1_Y);
else
oa_set_target(&beudaoa, R_LINT_DISP_1_X-20,R_LINT_DISP_1_Y);
}
else if(position==2){
if(beudabot.color==COLOR_GREEN)
oa_set_target(&beudaoa, G_LINT_DISP_2_X-20,G_LINT_DISP_2_Y);
else
oa_set_target(&beudaoa, R_LINT_DISP_2_X-20,R_LINT_DISP_2_Y);
}
Strat_Action++;
break;
case 1:
if(beudaoa.state==OA_IN_TARGET){
i2c_send_only(I2C_LINTO_ADDR,I2C_LINT_GET_DOWN);
Strat_Action++;
}
break;
case 2:
quadramp_set_1st_order_vars(&beudabot.qr_d, QR_SPEED_D_POS_VERY_SLOW, QR_SPEED_D_NEG_VERY_SLOW); // Vitesse
trajectory_d_a_rel(&beudatraj, 20, 0);
Strat_Action++;
break;
case 3:
//i2c lint remont
i2c_send_only(I2C_LINTO_ADDR,I2C_LINT_GET_UP);
starttime = gettime();
Strat_Action++;
break;
case 4:
if(gettime() > starttime + DELAY_LINT_UP){
if(i2c_send_and_receive(I2C_LINTO_ADDR, I2C_GOT_SMTG)==1){
//go get another one, somewhere else...
Strat_Action = 0;
Strat_State = STRAT_GET_LINT_2;
}
else{ //2
#ifdef DEBUG_STRAT
UART_CPutString("strat> we got a lint !! \r\n");
#endif
Strat_Action = 0;
Strat_State = STRAT_GET_ELT_ON_FIXED_DISP;
}
}
break;
}
}
}
void strat_construct_temple(struct strategy * strat,uint8_t build_area,uint8_t half){
static uint24_t starttime;
if(beudatraj.state==READY){
switch(Strat_Action){
case 0:
if(build_area==3){
if(beudabot.color==COLOR_GREEN)
oa_set_target(&beudaoa, BUILD_AREA_3b1_X,BUILD_AREA_3b1_Y);
else
oa_set_target(&beudaoa, BUILD_AREA_3b2_X,BUILD_AREA_3b2_Y);
}
else if(build_area==2){
if(half == 1)
oa_set_target(&beudaoa, BUILD_AREA_2b1_X,BUILD_AREA_2b1_Y);
else
oa_set_target(&beudaoa, BUILD_AREA_2b2_X,BUILD_AREA_2b2_Y);
}
else if(build_area==1){
/*here we should check our pos and determinate the closest one*/
if(half == 1)
oa_set_target(&beudaoa, BUILD_AREA_1b1_X,BUILD_AREA_1b1_Y);
else if(half == 2)
oa_set_target(&beudaoa, BUILD_AREA_1b2_X,BUILD_AREA_1b2_Y);
else if(half == 3)
oa_set_target(&beudaoa, BUILD_AREA_1b3_X,BUILD_AREA_1b3_Y);
else if(half == 4)
oa_set_target(&beudaoa, BUILD_AREA_1b4_X,BUILD_AREA_1b4_Y);
}
Strat_Action++;
break;
case 1:
if(beudaoa.state==OA_IN_TARGET){
//trajectory_turnto_xy_behind(&beudatraj, 105, 150);
if(build_area==3){
if(beudabot.color==COLOR_GREEN)
trajectory_a_abs(&beudatraj,-90);
else
trajectory_a_abs(&beudatraj,90);
}
else if(build_area==2 || build_area==1){
trajectory_a_abs(&beudatraj,180);
}
}
Strat_Action++;
break;
case 2:
//here whe sould give the back to the build area x
quadramp_set_1st_order_vars(&beudabot.qr_d, QR_SPEED_D_POS_VERY_SLOW, QR_SPEED_D_NEG_VERY_SLOW); // Vitesse
trajectory_d_a_rel(&beudatraj, -20, 0);
Strat_Action++;
break;
case 3:
//envoi d'ordres i2c à la pinc pour construire
i2c_send_only(I2C_PINCE_ADDR,I2C_PINCE_CONSTRUCT);
starttime = gettime();
Strat_Action++;
break;
case 4:
if((gettime() > starttime + DELAY_PINCE_CONSTRUCTION)){
if(i2c_send_and_receive(I2C_PINCE_ADDR,I2C_PINCE_DID_YOU_BUILD_SMTG)==0){
//we wait more
if(gettime() > (starttime + 2*DELAY_PINCE_CONSTRUCTION)){
//there is a problem here...
//drop the shit and let's continue the sequ...
//pince is maybe just f****d up ...
/*A CHANGER !!!!!*/
Strat_State = STRAT_EMERGENCY_BEHAVIOUR;
#ifdef DEBUG_STRAT
UART_CPutString("Pince is down... !\r\n");
#endif
setBit(strat_flags,PINCE_IS_SHITTY);
}
}
else if (i2c_send_and_receive(I2C_PINCE_ADDR,I2C_PINCE_DID_YOU_BUILD_SMTG)==2){
//Damn it! there is already a construction here... let's move and try somewhere else!..
Strat_Action = 0;
//if(Strat_State <STRAT_CONSTRUCT_TEMPLE_1_2)
strat_go_next_build_area(); //this function will change strat state to build somewhere else...
current_building_area++; //for next call of strat_go_next_build_area();
#ifdef DEBUG_STRAT
UART_CPutString("Playing against RCVA || Microb ???!\r\n");
#endif
}
else if(i2c_send_and_receive(I2C_PINCE_ADDR,I2C_PINCE_DID_YOU_BUILD_SMTG)==1){
//finish building, let's put the lint if flag I_CAN_BUILD_A_TEMPLE is set
Strat_Action++;
}
}
break;
case 5:
if(strat_flags & I_CAN_BUILD_A_TEMPLE){
quadramp_set_1st_order_vars(&beudabot.qr_d, QR_SPEED_D_POS_VERY_SLOW, QR_SPEED_D_NEG_VERY_SLOW); // Vitesse
trajectory_d_a_rel(&beudatraj, -20, 0);
}
Strat_Action++;
break;
case 6:
if(strat_flags & I_CAN_BUILD_A_TEMPLE){
trajectory_d_a_rel(&beudatraj, 0, 180);
}
Strat_Action++;
break;
case 7:
if(strat_flags & I_CAN_BUILD_A_TEMPLE){
trajectory_d_a_rel(&beudatraj, 20, 0);
}
Strat_Action++;
break;
case 8:
if(strat_flags & I_CAN_BUILD_A_TEMPLE){
i2c_send_only(I2C_LINTO_ADDR, I2C_LINT_DEPOSIT_DOWN);
starttime = gettime();
}
Strat_Action++;
break;
case 9:
if(strat_flags & I_CAN_BUILD_A_TEMPLE){
if(gettime() > starttime + DELAY_LINT_DOWN){
Strat_State=STRAT_GET_LINT_1;
}
}
else
Strat_State=STRAT_GET_LINT_1;
//get a lint, then elts, to build another one...
break;
}
}
}
void oa_manage(struct obstacle_avoidance *oa){
xy_position my_pos_xy;
my_pos_xy.x = position_get_x_s16(oa->traj->position);
my_pos_xy.y = position_get_y_s16(oa->traj->position);
uint8_t my_quad = oa_get_quad(my_pos_xy);
if(oa->state==OA_TARGET_SET && oa->traj->state==READY){ //new target where to go !
uint8_t opp_quad = oa_get_quad(oa->opponent_xy);
uint8_t target_quad = oa_get_quad(oa->target_xy);
//oa->state==OA_PROCESSING;
uint8_t tmpquad;
#ifdef DEBUG_OA
UART_CPutString("oa> processing new target\r\n");
#endif
if(oa_get_com_dt(my_pos_xy,oa->target_xy)!=0){ //!=0
#ifdef DEBUG_OA
UART_CPutString("oa> same dt than target\r\n");
#endif
if(oa_get_com_dt(my_pos_xy,oa->opponent_xy)!=0){
#ifdef DEBUG_OA
UART_CPutString("oa> same dt than opp-> sixt\r\n");
#endif
oa_sixt(oa);
}
else{
#ifdef DEBUG_OA
UART_CPutString("oa> not same dt than opp ->xy!\r\n");
#endif
trajectory_goto_xy_abs(oa->traj,oa->target_xy.x,oa->target_xy.y);
oa->state=OA_IN_TARGET;
}
}
else{ //==0
#ifdef DEBUG_OA
UART_CPutString("oa> not in same dt than target\r\n");
#endif
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> quads: me %d opp %d targ %d\r\n",my_quad,opp_quad,target_quad);
UART_PutString(&uart_out_buffer);
#endif
if(oa_is_adj(my_quad,opp_quad)){ //me & opp are adj
#ifdef DEBUG_OA
UART_CPutString("oa> I'm adj to opponent\r\n");
#endif
if(my_quad==target_quad){ //my_quad==target_quad
#ifdef DEBUG_OA
UART_CPutString("oa> my_qd=tg_qd->my_qd center\r\n");
#endif
oa_goto_quad(oa,my_quad);
}
else{ //my_quad!=target_quad
#ifdef DEBUG_OA
UART_CPutString("oa> my_qd!=tg_qd\r\n");
#endif
if(target_quad==opp_quad){ //target_quad==opp_quad
#ifdef DEBUG_OA
UART_CPutString("oa> tg_qd=op_qd->!opp half\r\n");
#endif
tmpquad = oa_get_no_half_quad(oa->opponent_xy,target_quad,my_quad);
oa_goto_quad(oa,tmpquad);
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> !opp half is qd %d\r\n",tmpquad);
UART_PutString(&uart_out_buffer);
#endif
}
else{//target_quad!=opp_quad
#ifdef DEBUG_OA
UART_CPutString("oa> tg_qd!=op_qd->sym opp quad (but first, my quad)\r\n");
#endif
//
/*last modified stuff: before: oa_goto_quad(oa,oa_get_sym_quad(opp_quad)); only..*/
if(!(oa->flags & OA_FLAG_GOSYMQD_PART1_DONE)){
setBit(oa->flags,OA_FLAG_GOSYMQD_PART1_DONE);
#ifdef DEBUG_OA
UART_CPutString("oa> my quad...\r\n");
#endif
oa_goto_quad(oa,my_quad);
}
else {
clearBit(oa->flags,OA_FLAG_GOSYMQD_PART1_DONE);
#ifdef DEBUG_OA
UART_CPutString("oa> opp sym quad...\r\n");
#endif
oa_goto_quad(oa,oa_get_sym_quad(opp_quad));
}
}
}
}
else{ //me & opp aren't adj
#ifdef DEBUG_OA
UART_CPutString("oa> I'm not adj to opponent\r\n");
#endif
if(my_quad==opp_quad){ //my_quad==opp_quad
#ifdef DEBUG_OA
UART_CPutString("oa> my_qd=opp_qd->sixt\r\n");
#endif
oa_sixt(oa); //apply the celebre "Sixt()" algorithm..
}
else{ // !my_quad==opp_quad
#ifdef DEBUG_OA
UART_CPutString("oa> my_qd!=opp_qd\r\n");
#endif
if(target_quad==opp_quad){ //target_quad==opp_quad
#ifdef DEBUG_OA
UART_CPutString("oa> tg_qd=opp_qd->!opp half\r\n");
#endif
//tmpquad = (my_quad-1+oa_get_no_half_quad(oa->opponent_xy,target_quad))%4+1;
tmpquad = oa_get_no_half_quad(oa->opponent_xy,target_quad,my_quad);
//oa_goto_quad(oa,tmpquad);
if(!(oa->flags & OA_FLAG_GOOPPQD_PART1_DONE)){
setBit(oa->flags,OA_FLAG_GOOPPQD_PART1_DONE);
#ifdef DEBUG_OA
UART_CPutString("oa> my quad...\r\n");
#endif
oa_goto_quad(oa,my_quad);
}
else {
clearBit(oa->flags,OA_FLAG_GOOPPQD_PART1_DONE);
#ifdef DEBUG_OA
UART_CPutString("oa> !opp quad...\r\n");
#endif
oa_goto_quad(oa,tmpquad);
}
//-1 because we don't want to go to the same half quad than the opponent
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> !opp half is qd %d\r\n",tmpquad);
UART_PutString(&uart_out_buffer);
#endif
}
else{ // !target_quad==opp_quad
#ifdef DEBUG_OA
UART_CPutString("oa> tg_qd!=opp_qd->tg qd\r\n");
#endif
oa_goto_quad(oa,target_quad); //0 middle, +1 upper half, -1 lower half
}
}
}
}
}
/*
//we calc the dist between me and the opp.
oa->curr_dist_me_opp =(int16_t)(abs(my_pos_xy.x - oa->opponent_xy.x)*abs(my_pos_xy.x - oa->opponent_xy.x)+abs(my_pos_xy.y - oa->opponent_xy.y)*abs(my_pos_xy.y - oa->opponent_xy.y));
//if we are getting closer, and we are tooo close, we just stop, wait,
if((oa->curr_dist_me_opp < oa->prev_dist_me_opp) && (oa->curr_dist_me_opp < MIN_COLLISION_DIST)){
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> opp @ %d(^1/2) cm !!!! \r\n",oa->curr_dist_me_opp);
UART_PutString(&uart_out_buffer);
#endif
trajectory_hardstop(oa->traj);
oa->state=OA_COLLISION_AVOIDED;
oa->timeout=gettime();
}
if(oa->state==OA_COLLISION_AVOIDED && (gettime()-oa->timeout)>COLLISION_AVOIDED_TIMEOUT ){
//hope nothing's broken...
#ifdef DEBUG_OA
UART_CPutString("oa> collision avoided ?\r\n");
#endif
oa->state=OA_TARGET_SET;
oa->traj->state=READY;
oa->timeout = 0;
}
*/
oa->prev_dist_me_opp = oa->curr_dist_me_opp;
oa->prev_quad = my_quad;
}
void oa_sixt(struct obstacle_avoidance * oa){
/*we check different possible "next_area" that are in fact the adj_areas
and try to find the shortest, and the most safe one*/
//we start by computing the possibles next areas
int16_t my_pos_x,my_pos_y;
play_area my_area,next_area,target_area,opp_area;
uint8_t i,j;
int16_t d_nxt_area_opp[3],d_nxt_area_target[3];
float tmp;
uint8_t index0,index1,index2;
xy_position my_pos_xy;
next_area.x=0;
next_area.y=0;
my_pos_x=position_get_x_s16(oa->traj->position);
my_pos_y=position_get_y_s16(oa->traj->position);
my_pos_xy.x = my_pos_x;
my_pos_xy.y = my_pos_y;
my_area = oa_xy_to_area(my_pos_x,my_pos_y);
target_area = oa_xy_to_area(oa->target_xy.x,oa->target_xy.y);
opp_area = oa_xy_to_area(oa->opponent_xy.x,oa->opponent_xy.y);
//::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
char is_opp_adj=oa_is_in_v4(&my_area,&opp_area);
//::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> my area {%d,%d}\r\n",my_area.x,my_area.y);
UART_PutString(&uart_out_buffer);
sprintf(uart_out_buffer,"oa> target area {%d,%d}\r\n",target_area.x,target_area.y);
UART_PutString(&uart_out_buffer);
sprintf(uart_out_buffer,"oa> opp area {%d,%d}\r\n",opp_area.x,opp_area.y);
UART_PutString(&uart_out_buffer);
#endif
/*let's calc adj areas now..*/
oa_find_adj_areas_to_target(oa,&my_area,&target_area);
/*we check if one or more, of the computed adj areas isn't/aren't one of the forbidden areas
or just out of the game_area*/
for(i=0;i<3;i++){
for(j=0;j<NB_FORBIDDEN_AREAS;j++){
xy_position pos1 = oa_area_to_xy(oa->adj_area_tab[i]);
// xy_position pos2 = oa_area_to_xy(target_area);
if( ( (oa->adj_area_tab[i].x == oa->forbidden_area[j].x)
&& (oa->adj_area_tab[i].y == oa->forbidden_area[j].y))
|| oa_is_out_of_table(oa->adj_area_tab[i])
|| !( oa_get_com_dt(pos1,oa->target_xy))
|| !( oa_get_com_dt(my_pos_xy,pos1))
|| ((oa->adj_area_tab[i].x ==opp_area.x)&&(oa->adj_area_tab[i].y==opp_area.y))
){
/*if adj area is target, just forget about the forbidden areas...*/
if((oa->adj_area_tab[i].x == target_area.x) && (oa->adj_area_tab[i].y == target_area.y)){
//not forbidden areas when it's out target!
d_nxt_area_opp[i] = 0;
d_nxt_area_target[i] = 0;
}
else {
//::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
if (is_opp_adj)
{
if (oa_is_in_v4(&oa->adj_area_tab[i],&opp_area))
{
//on a une case en diagonale, on veut la remplacer
if( oa->adj_area_tab[i].x==opp_area.x)
//on remplace par une case du voisinage de my_area qui n'est pas l'adacent
oa->adj_area_tab[i].x=my_area.x;
else
//oa->adj_area_tab[i].y==opp_area.y
oa->adj_area_tab[i].y=my_area.y;
}
else
{
d_nxt_area_opp[i] = MARKED_FORBIDDEN;
d_nxt_area_target[i] = MARKED_FORBIDDEN;
}
}
else
{
d_nxt_area_opp[i] = MARKED_FORBIDDEN;
d_nxt_area_target[i] = MARKED_FORBIDDEN;
}
//::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
}
//if((oa->adj_area_tab[i].x != target_area.x) && (oa->adj_area_tab[i].y != target_area.y)){}
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> area %d is forb. or out of table!\r\n",i);
UART_PutString(&uart_out_buffer);
#endif
//}
}
}
}
/*we calc the dist from opponent and from target for authorized next areas
we'll choose the shortest one from the target AND the most far from the opponent
-(NO YET)distance from target has a coeff of 1/2
-distance from opponent has a coeff 1
we'll choose the smallest result[]
*/
uint16_t dist_target_opp = ABS(target_area.x - opp_area.x)*ABS(target_area.x - opp_area.x) + ABS(target_area.y - opp_area.y)*ABS(target_area.y - opp_area.y);
uint16_t dist_me_opp = ABS(opp_area.x - my_area.x)*ABS(opp_area.x - my_area.x) + ABS(opp_area.y - my_area.y)*ABS(opp_area.y - my_area.y);
if((dist_me_opp > MIN_DIST_BEFORE_IGNORING_OPP) ){ //&& (dist_me_opp > MIN_DIST_BEFORE_IGNORING_OPP)
/*if we, and the target are too far from the opponent, we ignore the opponent for the next_area choice*/
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> opp too far! d:%d(^1/2) check. d aj<->targ.!\r\n",dist_target_opp);
UART_PutString(&uart_out_buffer);
#endif
for(i=0;i<3;i++){
if( d_nxt_area_target[i] != MARKED_FORBIDDEN){
d_nxt_area_target[i] = (int16_t)((oa->adj_area_tab[i].x - target_area.x)*(oa->adj_area_tab[i].x - target_area.x) + (oa->adj_area_tab[i].y - target_area.y)*(oa->adj_area_tab[i].y - target_area.y));
}
}
/*sorting d_my_area_target ascending (0 shortest, 3 longest)*/
uint8_t sorted_d_nxt_area_target[3];
oa_sort_tab3(d_nxt_area_target,sorted_d_nxt_area_target);
index0=sorted_d_nxt_area_target[0];
index1=sorted_d_nxt_area_target[1];
index2=sorted_d_nxt_area_target[2];
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> sorted areas {%d,%d}{%d,%d}{%d,%d}\r\n",
oa->adj_area_tab[index0].x,oa->adj_area_tab[index0].y,
oa->adj_area_tab[index1].x,oa->adj_area_tab[index1].y,
oa->adj_area_tab[index2].x,oa->adj_area_tab[index2].y);
UART_PutString(&uart_out_buffer);
#endif
/*electing next area (we have to choose the shortest)*/
for(i=0;i<3;i++){
j = sorted_d_nxt_area_target[2-i]; //var reuse
if(d_nxt_area_target[j]!=MARKED_FORBIDDEN){
next_area = oa->adj_area_tab[j];
}
}
}
else{
if(dist_target_opp==0){ //really close
if(oa->wait<TIMEOUT_WAIT_IN_PLACE){
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> opp in same place than target! waiting %d \r\n",oa->wait);
UART_PutString(&uart_out_buffer);
#endif
next_area.x = 0;
next_area.y = 0;
oa->wait++;
}
else{
/**/
#ifdef DEBUG_OA
UART_CPutString("oa> waiting for soooo long... going back to prev quad\r\n");
#endif
oa_goto_quad(oa,oa->prev_quad);
}
}
else{
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> opp too close d:%d(^1/2) checking dist op<->adj\r\n",dist_me_opp);
UART_PutString(&uart_out_buffer);
#endif
for(i=0;i<3;i++){
if( d_nxt_area_opp[i] != MARKED_FORBIDDEN)
d_nxt_area_opp[i] = (int16_t)((oa->adj_area_tab[i].x - opp_area.x)*(oa->adj_area_tab[i].x - opp_area.x) + (oa->adj_area_tab[i].y - opp_area.y)*(oa->adj_area_tab[i].y - opp_area.y));
}
uint8_t sorted_d_nxt_area_opp[3];
oa_sort_tab3(d_nxt_area_opp,sorted_d_nxt_area_opp);
index0= sorted_d_nxt_area_opp[0];
index1= sorted_d_nxt_area_opp[1];
index2= sorted_d_nxt_area_opp[2];
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> sorted areas {%d,%d}{%d,%d}{%d,%d}\r\n",
oa->adj_area_tab[index0].x,oa->adj_area_tab[index0].y,
oa->adj_area_tab[index1].x,oa->adj_area_tab[index1].y,
oa->adj_area_tab[index2].x,oa->adj_area_tab[index2].y);
UART_PutString(&uart_out_buffer);
#endif
//electing next area (we have to choose the longest)
for(i=0;i<3;i++){
j = sorted_d_nxt_area_opp[2-i];
if(d_nxt_area_opp[j]!=MARKED_FORBIDDEN){
next_area = oa->adj_area_tab[j];
}
}
}
}
/*
We have to take the farest from the opp, and the shortest from target
if opp is too far(), we have to ignore it
*/
//UART_CPutString("oa>election done..\r\n");
if((next_area.x == target_area.x) && (next_area.y == target_area.y)){
trajectory_goto_xy_abs(oa->traj,(double)oa->target_xy.x,(double)oa->target_xy.y);
oa->state=OA_IN_TARGET;
}
else{
if(next_area.x==0 && next_area.y==0){
//no one has been elected, stay in place for the moment
#ifdef DEBUG_OA
UART_CPutString("oa> sixt: nowhere to go, going back \r\n");
#endif
next_area.x= oa->prev_area.x;
next_area.y= oa->prev_area.y;
}
else{
#ifdef DEBUG_OA
sprintf(uart_out_buffer,"oa> sixt: going to area {%d,%d}\r\n",next_area.x,next_area.y);
UART_PutString(&uart_out_buffer);
#endif
}
xy_position pos;
pos = oa_area_to_xy(next_area);
/*we save our previous area, is next time we have nowhere to go..*/
trajectory_goto_xy_abs(oa->traj,(double)pos.x,(double)pos.y);
}
oa->prev_area.x = next_area.x;
oa->prev_area.y = next_area.y;
}
int cypress_update( int HW_ver )
{
// -- This example section of commands show the high-level calls to -------
// -- perform Target Initialization, SilcionID Test, Bulk-Erase, Target ---
// -- RAM Load, FLASH-Block Program, and Target Checksum Verification. ----
unsigned char fIsError = 0;
// unsigned char bTry=0;
// >>>> ISSP Programming Starts Here <<<<
// ioctl(touch_fd, DEV_CTRL_TOUCH_INT_DISABLE,NULL);
// ioctl(touch_fd, DEV_CTRL_TOUCH_SET_FLAG,NULL);
printk(KERN_INFO "[TSP] %s, %d, HW ver=%d\n", __func__, __LINE__,HW_ver);
#if defined(CONFIG_MACH_GIO)
if( HW_ver == 1)
pSocData = Firmware_Data_HW1;
else if ( HW_ver == 2 )
pSocData = Firmware_Data_HW2;
else if ( HW_ver == 3 || HW_ver == 0 )
pSocData = Firmware_Data_HW3;
else if ( HW_ver == 17 )
pSocData = Firmware_Data_HW11;
else if ( HW_ver == 33 )
pSocData = Firmware_Data_HW21;
else if ( HW_ver == 34)
pSocData = Firmware_Data_HW22;
else if ( HW_ver == 35)
pSocData = Firmware_Data_HW23;
#elif defined(CONFIG_MACH_COOPER)
if( HW_ver == 4 || HW_ver == 3 || HW_ver == 0 )
pSocData = Firmware_Data_HW3;
#else
if( HW_ver == 1 )
pSocData = Firmware_Data_HW1;
else if( HW_ver == 2 )
pSocData = Firmware_Data_HW2;
else if( HW_ver == 3 )
pSocData = Firmware_Data_HW3;
else if( HW_ver == 4 )
pSocData = Firmware_Data_HW4;
#endif
else
{
printk(KERN_INFO "[TSP] %s, %d, HW ver is wrong!!\n", __func__, __LINE__);
goto update_err;
}
#ifdef TX_ON
UART_Start();
UART_CPutString("Start HSSP - Ovation");
UART_PutCRLF();
#endif
// >>>> ISSP Programming Starts Here <<<<
// Acquire the device through reset or power cycle
#ifdef RESET_MODE
UART_CPutString("Reset Mode activated");
#else
// UART_CPutString("Power Cycle Mode activated");
// Initialize the Host & Target for ISSP operations
fIsError = fPowerCycleInitializeTargetForISSP();
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
#endif
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("Verify SiliconID");
#endif
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
// Run the SiliconID Verification, and proceed according to result.
#if !defined(CONFIG_MACH_TASS) && !defined(CONFIG_MACH_TASSDT) && !defined(CONFIG_MACH_GIO)
fIsError = fVerifySiliconID();
#endif
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("End VerifySiliconID");
#endif
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
#if 1
// Bulk-Erase the Device.
fIsError = fEraseTarget();
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("End EraseTarget");
UART_PutCRLF();
UART_CPutString("Program Flash Blocks Start");
UART_PutCRLF();
#endif
#endif
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
#if 1 // program flash block
//LCD_Char_Position(1, 0);
//LCD_Char_PrintString("Program Flash Blocks Start");
//==============================================================//
// Program Flash blocks with predetermined data. In the final application
// this data should come from the HEX output of PSoC Designer.
iChecksumData = 0; // Calculte the device checksum as you go
for (iBlockCounter=0; iBlockCounter<BLOCKS_PER_BANK; iBlockCounter++)
{
fIsError = fReadWriteSetup();
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
//LoadProgramData(bBankCounter, (unsigned char)iBlockCounter);
iChecksumData += iLoadTarget(iBlockCounter);
fIsError = fProgramTargetBlock(bBankCounter,(unsigned char)iBlockCounter);
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
fIsError = fReadStatus();
if (fIsError)
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
#ifdef TX_ON
UART_PutChar('#');
#endif
}
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("Program Flash Blocks End");
#endif
#endif
#if 1 // verify
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("Verify Start");
UART_PutCRLF();
#endif
//=======================================================//
//PTJ: Doing Verify
//PTJ: this code isnt needed in the program flow because we use PROGRAM-AND-VERIFY (ProgramAndVerify SROM Func)
//PTJ: which has Verify built into it.
// Verify included for completeness in case host desires to do a stand-alone verify at a later date.
for (iBlockCounter=0; iBlockCounter<BLOCKS_PER_BANK; iBlockCounter++)
{
//LoadProgramData(bBankCounter, (unsigned char) iBlockCounter);
fIsError = fReadWriteSetup();
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
fIsError = fVerifySetup(bBankCounter,(unsigned char)iBlockCounter);
if (fIsError)
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
fIsError = fReadStatus();
if (fIsError ) {
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
fIsError = fReadWriteSetup();
if (fIsError) {
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
fIsError = fReadByteLoop(iBlockCounter);
if (fIsError ) {
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
#ifdef TX_ON
UART_PutChar('.');
#endif
}
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("Verify End");
#endif
#endif // end verify
#if 1
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("Security Start");
#endif
//=======================================================//
// Program security data into target PSoC. In the final application this
// data should come from the HEX output of PSoC Designer.
for (bBankCounter=0; (bBankCounter<NUM_BANKS) ; bBankCounter++)
{
//PTJ: READ-WRITE-SETUP used here to select SRAM Bank 1
fIsError = fReadWriteSetup();
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
// Load one bank of security data from hex file into buffer
fIsError = fLoadSecurityData(bBankCounter);
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
// Secure one bank of the target flash
fIsError = fSecureTargetFlash();
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
}
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("End Security data");
#endif
#endif
#if 1 // checksum
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("CheckSum Start");
#endif
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
//PTJ: Doing Checksum
iChecksumTarget = 0;
fIsError = fAccTargetBankChecksum(&iChecksumTarget);
if (fIsError )
{
printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
ErrorTrap(fIsError);
goto update_err;
}
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("Checksum : iChecksumTarget (0x");
UART_PutHexWord(iChecksumTarget);
UART_CPutString("), iChecksumData (0x");
UART_PutHexWord(iChecksumData);
UART_CPutString(")");
#endif
iChecksumTarget = iChecksumTarget & 0xFFFF;
iChecksumData = iChecksumData & 0xFFFF;
if (iChecksumTarget != iChecksumData)
{
printk(KERN_INFO "[TSP] %s, %d, iChecksumTarget=%d, iChecksumData=%d\n", __func__, __LINE__,iChecksumTarget, iChecksumData );
ErrorTrap(CHECKSUM_ERROR);
goto update_err;
}
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("End Checksum");
#endif
#endif
// *** SUCCESS ***
// At this point, the Target has been successfully Initialize, ID-Checked,
// Bulk-Erased, Block-Loaded, Block-Programmed, Block-Verified, and Device-
// Checksum Verified.
// You may want to restart Your Target PSoC Here.
ReStartTarget();
// printk(KERN_INFO "[TSP] %s, %d\n", __func__, __LINE__);
return 1;
update_err:
return 0;
}
// ============================================================================
// fVerifySiliconID()
// Returns:
// 0 if successful
// Si_ID_ERROR if timed out on handshake to the device.
// ============================================================================
signed char fVerifySiliconID(void)
{
SendVector(id_setup_2, num_bits_id_setup_2);
fIsError = fDetectHiLoTransition();
if (fIsError)
{
#ifdef TX_ON
UART_PutCRLF();
UART_CPutString("fDetectHiLoTransition Error");
#endif
return(SiID_ERROR);
}
SendVector(wait_and_poll_end, num_bits_wait_and_poll_end);
SendVector(tsync_enable, num_bits_tsync_enable);
//Send Read ID vector and get Target ID
SendVector(read_id_v, 11); // Read-MSB Vector is the first 11-Bits
RunClock(2); // Two SCLK cycles between write & read
bTargetID[0] = bReceiveByte();
RunClock(1);
SendVector(read_id_v+2, 12); // 1+11 bits starting from the 3rd byte
RunClock(2); // Read-LSB Command
bTargetID[1] = bReceiveByte();
RunClock(1);
SendVector(read_id_v+4, 1); // 1 bit starting from the 5th byte
//read Revision ID from Accumulator A and Accumulator X
//SendVector(read_id_v+5, 11); //11 bits starting from the 6th byte
//RunClock(2);
//bTargetID[2] = bReceiveByte(); //Read from Acc.X
//RunClock(1);
//SendVector(read_id_v+7, 12); //1+11 bits starting from the 8th byte
//
//RunClock(2);
//bTargetID[3] = bReceiveByte(); //Read from Acc.A
//
//RunClock(1);
//SendVector(read_id_v+4, 1); //1 bit starting from the 5th byte,
SendVector(tsync_disable, num_bits_tsync_disable);
#ifdef TX_ON
// Print READ-ID
UART_PutCRLF();
UART_CPutString("Silicon-ID : ");
UART_PutChar(' ');
UART_PutHexByte(bTargetID[0]);
UART_PutChar(' ');
UART_PutHexByte(bTargetID[1]);
UART_PutChar(' ');
#endif
#ifdef LCD_ON
LCD_Char_Position(1, 0);
LCD_Char_PrintString("ID : ");
LCD_Char_PrintInt8(bTargetID[0]);
LCD_Char_PutChar(' ');
LCD_Char_PrintInt8(bTargetID[1]);
LCD_Char_PutChar(' ');
#endif
if (bTargetID[0] == target_id_v[0] && bTargetID[1] == target_id_v[1])
{
return(PASS);
}
else if (bTargetID[0] == target_id_v2[0] && bTargetID[1] == target_id_v2[1])
{
return(PASS);
}
else
{
printk("%x %x \n", bTargetID[0], bTargetID[1]);
return(SiID_ERROR);
}
}
void serial_print(unsigned char *str) {
UART_PutString(str);
UART_CPutString("\r\n");
}
void serial_cprint(const unsigned char *str)
{
UART_CPutString(str);
UART_CPutString("\r\n");
}