CanDriverReturnType can_driver_write(CanDriverChannelType channel, CanDriverMboxType mbox, CanDriverMessageBufferType buffer)
{
CanDriverUint16 reg16;
CanDriverUint8 i;
CanDriverReturnType error;
if (channel != CAN_DRIVER_CHANNEL) {
return CAN_DRIVER_E_INVALID;
}
reg16 = CanDriver_RegRead16((CanDriverUint16*)MPU_CAN_ADDR_CnMCTRLm(channel, mbox));
if ((reg16 & MPU_CAN_CnMCTRLm_TRQ_READ_BIT) == MPU_CAN_CnMCTRLm_TRQ_READ_BIT) {
return CAN_DRIVER_E_BUSY;
}
error = EnableBuffer(channel, mbox, 1U);
if (error != CAN_DRIVER_E_OK) {
return error;
}
/*
* 送信データをレジスタに設定
*/
for (i = 0; i < CAN_DRIVER_DLC; i++) {
CanDriver_RegWrite8((CanDriverUint8 *)MPU_CAN_ADDR_CnMDATAxm(channel, mbox, i), buffer[i]);
}
DisableBuffer(channel, mbox);
reg16 = MPU_CAN_CnMCTRLm_TRQ_WRITE_SET_BIT;
CanDriver_RegWrite16((CanDriverUint16*)MPU_CAN_ADDR_CnMCTRLm(channel, mbox), reg16);
return CAN_DRIVER_E_OK;
}
void can_driver_init(void)
{
//TODO チャネルの初期化
/*
* デモ用なので省略する．
*/
/*
* CANモジュールの受信割り込みの許可を設定する．
*
* 設定対象レジスタ：
* CANモジュール割込み許可レジスタ CIE1ビットの設定
* bit: SetCIE1 : 9
* ClearCIE1 : 0
* SetCIE1ビット： 1 ClearCIE1ビット： 0 ： 受信割り込みを許可ビットをセットする．
*/
CanDriver_RegWrite16((CanDriverUint16 *)MPU_CAN_ADDR_CnIE(CAN_DRIVER_CHANNEL), MPU_CAN_CnIE_CIE1_WRITE_SET_BIT);
//MBOXの初期化
/*
* 0: TX1, 0x100
*/
(void)EnableBuffer(CAN_DRIVER_CHANNEL, CAN_DRIVER_TX1_MBOX, 1U);
InitMboxTx(CAN_DRIVER_CHANNEL, CAN_DRIVER_TX1_MBOX, CAN_DRIVER_TX1_CANID);
DisableBuffer(CAN_DRIVER_CHANNEL, CAN_DRIVER_TX1_MBOX);
/*
* 1: TX2, 0x101
*/
(void)EnableBuffer(CAN_DRIVER_CHANNEL, CAN_DRIVER_TX2_MBOX, 1U);
InitMboxTx(CAN_DRIVER_CHANNEL, CAN_DRIVER_TX2_MBOX, CAN_DRIVER_TX2_CANID);
DisableBuffer(CAN_DRIVER_CHANNEL, CAN_DRIVER_TX2_MBOX);
/*
* 2: RX, 0x200
*/
(void)EnableBuffer(CAN_DRIVER_CHANNEL, CAN_DRIVER_RX_MBOX, 1U);
InitMboxRx(CAN_DRIVER_CHANNEL, CAN_DRIVER_RX_MBOX, CAN_DRIVER_RX_CANID);
DisableBuffer(CAN_DRIVER_CHANNEL, CAN_DRIVER_RX_MBOX);
InitMboxUnused(CAN_DRIVER_CHANNEL, CAN_DRIVER_XX_MBOX);
return;
}
int CCamera::Render (void)
{
gameStates.render.cameras.bActive = 1;
if (gameStates.render.cockpit.nType != CM_FULL_SCREEN)
cockpit->Activate (CM_FULL_SCREEN);
gameData.objs.viewerP = m_info.objP;
gameOpts->render.nMaxFPS = 1;
#if RENDER2TEXTURE
if (ReleaseBuffer () && EnableBuffer ()) {
RenderFrame (0, 0);
m_info.bValid = 1;
DisableBuffer ();
}
else
# if CAMERA_READPIXELS
if (m_info.buffer.Buffer ())
# endif
#endif
{
RenderFrame (0, 0);
m_info.bValid = 1;
m_info.buffer.ReleaseTexture ();
#if CAMERA_READPIXELS
memset (m_info.buffer.Buffer (), 0, m_info.buffer.Width () * m_info.buffer.Height () * 4);
glDisable (GL_TEXTURE_2D);
#endif
glReadBuffer (GL_BACK);
if (gameOpts->render.cameras.bFitToWall || m_info.bTeleport) {
#if CAMERA_READPIXELS == 0
m_info.buffer.SetTranspType (-1);
m_info.buffer.PrepareTexture (0, 0, NULL);
glCopyTexImage2D (GL_TEXTURE_2D, 0, GL_RGBA,
(CCanvas::Current ()->Width () - m_info.buffer.Width ()) / 2,
(CCanvas::Current ()->Height () - m_info.buffer.Height ()) / 2,
m_info.buffer.Width (), m_info.buffer.Height (), 0);
#else
glReadPixels (
(CCanvas::Current ()->Width () - m_info.buffer.Width ()) / 2,
(CCanvas::Current ()->Height () - m_info.buffer.Height ()) / 2,
m_info.buffer.Width (), m_info.buffer.Height (),
GL_RGBA, GL_UNSIGNED_BYTE, m_info.buffer.Buffer ());
PrepareTexture (&m_info.buffer, 0, -1, NULL);
#endif
}
else {
#if CAMERA_READPIXELS == 0
m_info.buffer.SetTranspType (-1);
m_info.buffer.PrepareTexture (0, 0, NULL);
glCopyTexImage2D (GL_TEXTURE_2D, 0, GL_RGBA,
-(m_info.buffer.Width () - CCanvas::Current ()->Width ()) / 2,
-(m_info.buffer.Height () - CCanvas::Current ()->Height ()) / 2,
m_info.buffer.Width (), m_info.buffer.Height (), 0);
#else
char *pSrc, *pDest;
int dxBuf = (m_info.buffer.Width () - CCanvas::Current ()->Width ()) / 2;
int dyBuf = (m_info.buffer.Height () - CCanvas::Current ()->Height ()) / 2;
int wSrc = CCanvas::Current ()->Width () * 4;
int wDest = m_info.buffer.Width () * 4;
if (CCanvas::Current ()->Width () == m_info.buffer.Width ()) {
glReadPixels (
0, 0, CCanvas::Current ()->Width (), CCanvas::Current ()->Height (),
GL_RGBA, GL_UNSIGNED_BYTE, m_info.buffer.Buffer () + dyBuf * m_info.buffer.Width () * 4);
}
else {
glReadPixels (
0, 0, CCanvas::Current ()->Width (), CCanvas::Current ()->Height (),
GL_RGBA, GL_UNSIGNED_BYTE, m_info.screenBuf);
pSrc = m_info.screenBuf;
pDest = m_info.buffer.Buffer () + (dyBuf - 1) * wDest + dxBuf * 4;
# ifndef _WIN32
for (dyBuf = CCanvas::Current ()->Height (); dyBuf; dyBuf--, pSrc += wSrc, pDest += wDest)
memcpy (pDest, pSrc, wSrc);
# else
dxBuf = m_info.buffer.Width () - CCanvas::Current ()->Width ();
dyBuf = CCanvas::Current ()->Height ();
wSrc /= 4;
__asm {
push edi
push esi
push ecx
mov edx,dyBuf
mov esi,pSrc
mov edi,pDest
mov eax,dxBuf
shl eax,2
cld
copy:
mov ecx,wSrc
rep movsd
dec edx
jz done
add edi,eax
jmp copy
done:
pop ecx
pop esi
pop edi
}
# endif
PrepareTexture (&m_info.buffer, 0, -1);
}
#endif
}
}