void pal_nvm_multi_write32(uint8_t var_id, uint32_t *value)
{
bool clear = false;
// Check if current flash address is the last one of the flash section used for this variable.
if (var_addr[var_id] == (NVM_MULTI_WRITE_START +
((var_id +1) * NVM_MULTI_WRITE_NUM_PG_PER_VAR * SPM_PAGESIZE) - sizeof(uint32_t)))
{
// Entire flash area for this variable is in use; clear flash pages used for this variable
clear = true;
}
else
{
// Assign next storage location
var_addr[var_id] += sizeof(uint32_t);
}
if (clear)
{
nvm_var_clear(var_id);
var_addr[var_id] = NVM_MULTI_WRITE_START + (var_id * NVM_MULTI_WRITE_NUM_PG_PER_VAR * SPM_PAGESIZE);
}
// Write new value to page buffer
flash_fill_page_buffer((var_addr[var_id] % SPM_PAGESIZE), sizeof(uint32_t), (uint8_t*)value);
// Write page buffer to actual flash page
flash_write_page(var_addr[var_id]);
}
int main (void) {
struct eeprom_boot_data eedata;
DDRB = 0;
DDRC = 0;
DDRD = 0;
PORTB = 0xFF;
PORTC = 0xFF;
PORTD = 0xFF;
DDRB |= _BV(2) | _BV(4) | _BV(5);
seed_pseudorandom();
load_eeprom_data(&eedata);
init_eeprom_data(&eedata);
save_eeprom_data(&eedata);
if (memcmp_PP(bootloader_data, (void *)__bootloader_start, bootloader_data_len)) {
DDRB |= _BV(PB5);
for (int pageaddr = 0; pageaddr < bootloader_data_len; pageaddr += SPM_PAGESIZE) {
PORTB ^= _BV(PB5);
memcpy_P(flashdata, bootloader_data + pageaddr, SPM_PAGESIZE);
flash_write_page((void *)__bootloader_start + pageaddr, flashdata);
}
}
while (1) {
PORTB ^= _BV(PB5);
_delay_ms(500);
}
}
void flash_write(uint8_t* buf, uint32_t addr, size_t size){
int i = 0;
for(; i < size / PAGE_SIZE; i++){
flash_write_page(buf + (i * PAGE_SIZE), i + (addr / PAGE_SIZE));
}
}
/**
* Calculate ADCS boot counter and save in flash. The boot counter is available
* in global variable adcs_boot_counter.
* @return The status of Flash memory and if the boot counter is valid
*/
adcs_error_status increment_boot_counter() {
adcs_boot_cnt = 0;
uint8_t adcs_boot_cnt_8[4] = { 0 };
uint32_t flash_read_address = BOOT_CNT_BASE_ADDRESS;
for (uint8_t i = 0; i < 4; i++) {
if (flash_read_byte(&adcs_boot_cnt_8[i], flash_read_address)
== FLASH_NORMAL) {
flash_read_address = flash_read_address + BOOT_CNT_OFFSET_ADDRESS;
} else {
return ERROR_FLASH;
}
}
cnv8_32(adcs_boot_cnt_8, &adcs_boot_cnt);
adcs_boot_cnt++;
if (flash_erase_block4K(BOOT_CNT_BASE_ADDRESS) == FLASH_ERROR) {
return ERROR_FLASH;
}
cnv32_8(adcs_boot_cnt, &adcs_boot_cnt_8);
if (flash_write_page(adcs_boot_cnt_8, sizeof(adcs_boot_cnt_8),
BOOT_CNT_BASE_ADDRESS) == FLASH_ERROR) {
return FLASH_ERROR;
}
return error_propagation(ERROR_OK);
}
void pal_nvm_multi_init(uint8_t var_id)
{
nvm_var_clear(var_id); // Erase/Clear entire flash page
uint32_t value = 0x00000000; // Set the first value to 0x00000000
// Write first value to page buffer
var_addr[var_id] = NVM_MULTI_WRITE_START + (var_id * NVM_MULTI_WRITE_NUM_PG_PER_VAR * SPM_PAGESIZE);
flash_fill_page_buffer(0, sizeof(uint32_t), (uint8_t *)&value);
// Write page buffer to actual flash page
flash_write_page(var_addr[var_id]);
}
void RAWHID_PROTOCOL_task()
{
if (state.status != EXECUTING)
return;
uint8_t hdr = state.msg[0];
switch (hdr) {
case MESSAGE_DFU:
run_bootloader();
break; /* well... */
case MESSAGE_WRITE_PAGE:
if (state.len != SPM_PAGESIZE + 2) {
state.status = MESSAGE_ERROR;
return;
}
const uint8_t pageno = state.msg[1];
uint32_t addr = LAYOUT_BEGIN + pageno*SPM_PAGESIZE;
flash_write_page(addr, (uint8_t*)state.msg + 2);
break;
case MESSAGE_ACTIVATE_LAYOUT:
if (state.len != 1) {
state.status = MESSAGE_ERROR;
return;
}
LAYOUT_set((const struct layout*)LAYOUT_BEGIN);
break;
case MESSAGE_DEACTIVATE_LAYOUT:
if (state.len != 1) {
state.status = MESSAGE_ERROR;
return;
}
LAYOUT_deactivate();
break;
default:
state.status = WRONG_MESSAGE_ERROR;
return;
};
state.status = IDLE;
}
int main (void){
cpu_wakeup_init();
clock_init();
gpio_init();
gpio_write(GPIO_PD7, 0);
gpio_set_output_en(GPIO_PD7, 1);
i2c_init();
wd_stop();
sleep_us(50*1000);
mouse_sensor_no_fifo_init();
sleep_us(1000*1000); // for L3G, must delay enough time
s16 avg_data[6];
calib(64, avg_data);
flash_erase_sector(AIRMOUSE_CALIBRATION_ADDR);
flash_write_page(AIRMOUSE_CALIBRATION_ADDR, 12, avg_data);
while (1);
return 0;
}
////////////////////////////////////////
// Секундный тик
////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void RTC_Alarm_IRQHandler(void) { // Тик каждые 4 секунды
int i;
#ifdef debug
Wakeup.rtc_wakeup++;
#endif
if(RTC_GetITStatus(RTC_IT_ALRA) != RESET)
{
RTC_ClearITPendingBit(RTC_IT_ALRA);
EXTI_ClearITPendingBit(EXTI_Line17);
if(!poweroff_state)
{
Set_next_alarm_wakeup(); // установить таймер просыпания на +4 секунды
DataUpdate.Need_display_update=ENABLE;
if(Power.USB_active)
{
USB_not_active++; // Счетчик неактивности USB
madorc_impulse+=Detector_massive[Detector_massive_pointer]; // Счетчик импульсов для передачи по USB
}
// Счетчик времени для обновления напряжения АКБ (каждые 4 минуты)
if(DataUpdate.Batt_update_time_counter>75)
{
DataUpdate.Need_batt_voltage_update=ENABLE;
DataUpdate.Batt_update_time_counter=0;
} else DataUpdate.Batt_update_time_counter++;
// Счетчик времени для обновления счетчика импульсов накачки
if(DataUpdate.pump_counter_update_time>14)
{
#ifdef debug
Wakeup.total_wakeup=0;
Wakeup.total_cycle=0;
Wakeup.rtc_wakeup=0;
Wakeup.tim9_wakeup=0;
Wakeup.pump_wakeup=0;
Wakeup.comp_wakeup=0;
Wakeup.sensor_wakeup=0;
#endif
if(!Power.USB_active)madorc_impulse=0;
pump_counter_avg_impulse_by_1sec[1]=pump_counter_avg_impulse_by_1sec[0];
pump_counter_avg_impulse_by_1sec[0]=0;
DataUpdate.pump_counter_update_time=0;
if(pump_counter_avg_impulse_by_1sec[1]==0) //затычка на случай глюка с накачкой
{
dac_init();
Pump_now(DISABLE);
while(RTC_WakeUpCmd(DISABLE)!=SUCCESS);
RTC_SetWakeUpCounter(0xF96); // Установить таймаут просыпания = 2 секунды
current_pulse_count=0;
while(RTC_WakeUpCmd(ENABLE)!=SUCCESS);
}
} else DataUpdate.pump_counter_update_time++;
// Счетчик дней
if(DataUpdate.days_sec_count>=24600) // каждые 24 часа минут
{
DataUpdate.days_sec_count=0;
working_days++;
} else DataUpdate.days_sec_count++;
// Сдвиг массива дозы
if(DataUpdate.doze_sec_count>=150) // каждые 10 минут (150)
{
DataUpdate.Need_update_mainscreen_counters=ENABLE;
// -----------------------------------------------------
DataUpdate.doze_count++;
if(DataUpdate.doze_count>=doze_length) // Запись страницы во Flash
//if(DataUpdate.doze_count>1) // Запись страницы во Flash
{
DataUpdate.doze_count=0;
flash_write_page(DataUpdate.current_flash_page);
DataUpdate.current_flash_page++;
if(DataUpdate.current_flash_page > ((FLASH_END_ADDR-FLASH_START_ADDR)/FLASH_PAGE_SIZE)) // если за границами диапазона
DataUpdate.current_flash_page=0;
}
// -----------------------------------------------------
for(i=doze_length;i>0;i--)
{
ram_Doze_massive[i]=ram_Doze_massive[i-1]; // сдвиг массива дозы
ram_max_fon_massive[i]=ram_max_fon_massive[i-1]; // сдвиг массива максимального фона
}
ram_Doze_massive[0]=0;
ram_max_fon_massive[0]=0;
DataUpdate.doze_sec_count=1; //// !!!!! 0
} else DataUpdate.doze_sec_count++;
////////////////////////////////////////////////////
////////////////////////////////////////////////////
if(Detector_massive[Detector_massive_pointer]>9)
{
if(Detector_massive[Detector_massive_pointer]>199) // деление на 9 при фоне более 10 000
{
if(auto_speedup_factor!=10)auto_speedup_factor=9;
} else
{
if(Detector_massive[Detector_massive_pointer]>99) // деление на 5 при фоне более 5 000
{
if(auto_speedup_factor!=5)auto_speedup_factor=5;
} else
{
if(Detector_massive[Detector_massive_pointer]>19) // деление на 3 при фоне более 1 000
{
if(auto_speedup_factor!=3)auto_speedup_factor=3;
} else
{ // деление на 2 при фоне более 500
if(auto_speedup_factor!=2)auto_speedup_factor=2;
}
}
}
if(auto_speedup_factor!=1)recalculate_fon(); // пересчет фона, если активированно ускорение
} else
{ // если ускорение не требуется
if(auto_speedup_factor!=1){auto_speedup_factor=1;recalculate_fon();}
else
{ fon_level+=Detector_massive[Detector_massive_pointer];}
}
Detector_massive_pointer++;
if(Detector_massive_pointer>=(Settings.Second_count>>2))
{
if(auto_speedup_factor==1)fon_level-=Detector_massive[0];
Detector_massive[0]=0;
Detector_massive_pointer=0;
}else
{
if(auto_speedup_factor==1)fon_level-=Detector_massive[Detector_massive_pointer];
/**
* NOTE: The technique is not the same as that used in TinyVM.
* The return value indicates the impact of the call on the VM
* system. EXEC_CONTINUE normal return the system should return to the return
* address provided by the VM. EXEC_RUN The call has modified the value of
* VM PC and this should be used to restart execution. EXEC_RETRY The call
* needs to be re-tried (typically for a GC failure), all global state
* should be left intact, the PC has been set appropriately.
*
*/
int dispatch_native(TWOBYTES signature, STACKWORD * paramBase)
{
STACKWORD p0 = paramBase[0];
switch (signature) {
case wait_4_5V:
return monitor_wait((Object *) word2ptr(p0), 0);
case wait_4J_5V:
return monitor_wait((Object *) word2ptr(p0), ((int)paramBase[1] > 0 ? 0x7fffffff : paramBase[2]));
case notify_4_5V:
return monitor_notify((Object *) word2ptr(p0), false);
case notifyAll_4_5V:
return monitor_notify((Object *) word2ptr(p0), true);
case start_4_5V:
// Create thread, allow for instruction restart
return init_thread((Thread *) word2ptr(p0));
case yield_4_5V:
schedule_request(REQUEST_SWITCH_THREAD);
break;
case sleep_4J_5V:
sleep_thread(((int)p0 > 0 ? 0x7fffffff : paramBase[1]));
schedule_request(REQUEST_SWITCH_THREAD);
break;
case getPriority_4_5I:
push_word(get_thread_priority((Thread *) word2ptr(p0)));
break;
case setPriority_4I_5V:
{
STACKWORD p = (STACKWORD) paramBase[1];
if (p > MAX_PRIORITY || p < MIN_PRIORITY)
return throw_new_exception(JAVA_LANG_ILLEGALARGUMENTEXCEPTION);
else
set_thread_priority((Thread *) word2ptr(p0), p);
}
break;
case currentThread_4_5Ljava_3lang_3Thread_2:
push_ref(ptr2ref(currentThread));
break;
case interrupt_4_5V:
interrupt_thread((Thread *) word2ptr(p0));
break;
case interrupted_4_5Z:
{
JBYTE i = currentThread->interruptState != INTERRUPT_CLEARED;
currentThread->interruptState = INTERRUPT_CLEARED;
push_word(i);
}
break;
case isInterrupted_4_5Z:
push_word(((Thread *) word2ptr(p0))->interruptState
!= INTERRUPT_CLEARED);
break;
case join_4_5V:
join_thread((Thread *) word2ptr(p0), 0);
break;
case join_4J_5V:
join_thread((Thread *) word2obj(p0), paramBase[2]);
break;
case halt_4I_5V:
schedule_request(REQUEST_EXIT);
break;
case shutdown_4_5V:
shutdown_program(false);
break;
case currentTimeMillis_4_5J:
push_word(0);
push_word(systick_get_ms());
break;
case readSensorValue_4I_5I:
push_word(sp_read(p0, SP_ANA));
break;
case setPowerTypeById_4II_5V:
sp_set_power(p0, paramBase[1]);
break;
case freeMemory_4_5J:
push_word(0);
push_word(getHeapFree());
break;
case totalMemory_4_5J:
push_word(0);
push_word(getHeapSize());
break;
case floatToRawIntBits_4F_5I: // Fall through
case intBitsToFloat_4I_5F:
push_word(p0);
break;
case doubleToRawLongBits_4D_5J: // Fall through
case longBitsToDouble_4J_5D:
push_word(p0);
push_word(paramBase[1]);
break;
case drawString_4Ljava_3lang_3String_2II_5V:
{
String *p = (String *)word2obj(p0);
Object *charArray;
if (!p) return throw_new_exception(JAVA_LANG_NULLPOINTEREXCEPTION);
charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
if (!charArray) return throw_new_exception(JAVA_LANG_NULLPOINTEREXCEPTION);
display_goto_xy(paramBase[1], paramBase[2]);
display_jstring(p);
}
break;
case drawInt_4III_5V:
display_goto_xy(paramBase[1], paramBase[2]);
display_int(p0, 0);
break;
case drawInt_4IIII_5V:
display_goto_xy(paramBase[2], paramBase[3]);
display_int(p0, paramBase[1]);
break;
case asyncRefresh_4_5V:
display_update();
break;
case clear_4_5V:
display_clear(0);
break;
case getDisplay_4_5_1B:
push_word(display_get_array());
break;
case setAutoRefreshPeriod_4I_5I:
push_word(display_set_auto_update_period(p0));
break;
case getRefreshCompleteTime_4_5I:
push_word(display_get_update_complete_time());
break;
case bitBlt_4_1BIIII_1BIIIIIII_5V:
{
Object *src = word2ptr(p0);
Object *dst = word2ptr(paramBase[5]);
display_bitblt((byte *)(src != NULL ?jbyte_array(src):NULL), paramBase[1], paramBase[2], paramBase[3], paramBase[4], (byte *)(dst!=NULL?jbyte_array(dst):NULL), paramBase[6], paramBase[7], paramBase[8], paramBase[9], paramBase[10], paramBase[11], paramBase[12]);
break;
}
case getSystemFont_4_5_1B:
push_word(display_get_font());
break;
case setContrast_4I_5V:
nxt_lcd_set_pot(p0);
break;
case getBatteryStatus_4_5I:
push_word(battery_voltage());
break;
case getButtons_4_5I:
push_word(buttons_get());
break;
case getTachoCountById_4I_5I:
push_word(nxt_motor_get_count(p0));
break;
case controlMotorById_4III_5V:
nxt_motor_set_speed(p0, paramBase[1], paramBase[2]);
break;
case resetTachoCountById_4I_5V:
nxt_motor_set_count(p0, 0);
break;
case i2cEnableById_4II_5V:
if (i2c_enable(p0, paramBase[1]) == 0)
return EXEC_RETRY;
else
break;
case i2cDisableById_4I_5V:
i2c_disable(p0);
break;
case i2cStatusById_4I_5I:
push_word(i2c_status(p0));
break;
case i2cStartById_4II_1BIII_5I:
{
Object *p = word2obj(paramBase[2]);
JBYTE *byteArray = p ? jbyte_array(p) + paramBase[3] : NULL;
push_word(i2c_start(p0,
paramBase[1],
(U8 *)byteArray,
paramBase[4],
paramBase[5]));
}
break;
case i2cCompleteById_4I_1BII_5I:
{
Object *p = word2ptr(paramBase[1]);
JBYTE *byteArray = p ? jbyte_array(p) + paramBase[2] : NULL;
push_word(i2c_complete(p0,
(U8 *)byteArray,
paramBase[3]));
}
break;
case playFreq_4III_5V:
sound_freq(p0,paramBase[1], paramBase[2]);
break;
case btGetBC4CmdMode_4_5I:
push_word(bt_get_mode());
break;
case btSetArmCmdMode_4I_5V:
if (p0 == 0) bt_set_arm7_cmd();
else bt_clear_arm7_cmd();
break;
case btSetResetLow_4_5V:
bt_set_reset_low();
break;
case btSetResetHigh_4_5V:
bt_set_reset_high();
break;
case btWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(bt_write(byteArray, paramBase[1], paramBase[2]));
}
break;
case btRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(bt_read(byteArray, paramBase[1], paramBase[2]));
}
break;
case btPending_4_5I:
{
push_word(bt_event_check(0xffffffff));
}
break;
case btEnable_4_5V:
if (bt_enable() == 0)
return EXEC_RETRY;
else
break;
case btDisable_4_5V:
bt_disable();
break;
case usbRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(udp_read(byteArray,paramBase[1], paramBase[2]));
}
break;
case usbWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(udp_write(byteArray,paramBase[1], paramBase[2]));
}
break;
case usbStatus_4_5I:
{
push_word(udp_event_check(0xffffffff));
}
break;
case usbEnable_4I_5V:
{
udp_enable(p0);
}
break;
case usbDisable_4_5V:
{
udp_disable();
}
break;
case usbReset_4_5V:
udp_reset();
break;
case usbSetSerialNo_4Ljava_3lang_3String_2_5V:
{
byte *p = word2ptr(p0);
int len;
Object *charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
len = get_array_length(charArray);
udp_set_serialno((U8 *)jchar_array(charArray), len);
}
break;
case usbSetName_4Ljava_3lang_3String_2_5V:
{
byte *p = word2ptr(p0);
int len;
Object *charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
len = get_array_length(charArray);
udp_set_name((U8 *)jchar_array(charArray), len);
}
break;
case flashWritePage_4_1BI_5I:
{
Object *p = word2ptr(p0);
unsigned long *intArray = (unsigned long *) jint_array(p);
push_word(flash_write_page(intArray,paramBase[1]));
}
break;
case flashReadPage_4_1BI_5I:
{
Object *p = word2ptr(p0);
unsigned long *intArray = (unsigned long *) jint_array(p);
push_word(flash_read_page(intArray,paramBase[1]));
}
break;
case flashExec_4II_5I:
push_word(run_program((byte *)(&FLASH_BASE[(p0*FLASH_PAGE_SIZE)]), paramBase[1]));
break;
case playSample_4IIIII_5V:
sound_play_sample(((unsigned char *) &FLASH_BASE[(p0*FLASH_PAGE_SIZE)]) + paramBase[1],paramBase[2],paramBase[3],paramBase[4]);
break;
case playQueuedSample_4_1BIIII_5I:
push_word(sound_add_sample((U8 *)jbyte_array(word2obj(p0)) + paramBase[1],paramBase[2],paramBase[3],paramBase[4]));
break;
case getTime_4_5I:
push_word(sound_get_time());
break;
case getDataAddress_4Ljava_3lang_3Object_2_5I:
if (is_array(word2obj(p0)))
push_word (ptr2word ((byte *) array_start(word2ptr(p0))));
else
push_word (ptr2word ((byte *) fields_start(word2ptr(p0))));
break;
case getObjectAddress_4Ljava_3lang_3Object_2_5I:
push_word(p0);
break;
case gc_4_5V:
// Restartable garbage collection
return garbage_collect();
case shutDown_4_5V:
shutdown(); // does not return
case boot_4_5V:
display_clear(1);
while (1) nxt_avr_firmware_update_mode(); // does not return
case arraycopy_4Ljava_3lang_3Object_2ILjava_3lang_3Object_2II_5V:
return arraycopy(word2ptr(p0), paramBase[1], word2ptr(paramBase[2]), paramBase[3], paramBase[4]);
case executeProgram_4I_5V:
// Exceute program, allow for instruction re-start
return execute_program(p0);
case setDebug_4_5V:
set_debug(word2ptr(p0));
break;
case eventOptions_4II_5I:
{
byte old = debugEventOptions[p0];
debugEventOptions[p0] = (byte)paramBase[1];
push_word(old);
}
break;
case suspendThread_4Ljava_3lang_3Object_2_5V:
suspend_thread(ref2ptr(p0));
break;
case resumeThread_4Ljava_3lang_3Object_2_5V:
resume_thread(ref2ptr(p0));
break;
case getProgramExecutionsCount_4_5I:
push_word(gProgramExecutions);
break;
case getFirmwareRevision_4_5I:
push_word((STACKWORD) getRevision());
break;
case getFirmwareRawVersion_4_5I:
push_word((STACKWORD) VERSION_NUMBER);
break;
case hsEnable_4II_5V:
{
if (hs_enable((int)p0, (int)paramBase[1]) == 0)
return EXEC_RETRY;
}
break;
case hsDisable_4_5V:
{
hs_disable();
}
break;
case hsWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(hs_write(byteArray, paramBase[1], paramBase[2]));
}
break;
case hsRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(hs_read(byteArray, paramBase[1], paramBase[2]));
}
break;
case hsPending_4_5I:
{
push_word(hs_pending());
}
break;
case hsSend_4BB_1BII_1C_5I:
{
Object *p = word2ptr(paramBase[2]);
U8 *data = (U8 *)jbyte_array(p);
p = word2ptr(paramBase[5]);
U16 *crc = (U16 *)jchar_array(p);
push_word(hs_send((U8) p0, (U8)paramBase[1], data, paramBase[3], paramBase[4], crc));
}
break;
case hsRecv_4_1BI_1CI_5I:
{
Object *p = word2ptr(p0);
U8 *data = (U8 *)jbyte_array(p);
p = word2ptr(paramBase[2]);
U16 *crc = (U16 *)jchar_array(p);
push_word(hs_recv(data, paramBase[1], crc, paramBase[3]));
}
break;
case getUserPages_4_5I:
push_word(FLASH_MAX_PAGES - flash_start_page);
break;
case setVMOptions_4I_5V:
gVMOptions = p0;
break;
case getVMOptions_4_5I:
push_word(gVMOptions);
break;
case isAssignable_4II_5Z:
push_word(is_assignable(p0, paramBase[1]));
break;
case cloneObject_4Ljava_3lang_3Object_2_5Ljava_3lang_3Object_2:
{
Object *newObj = clone((Object *)ref2obj(p0));
if (newObj == NULL) return EXEC_RETRY;
push_word(obj2ref(newObj));
}
break;
case memPeek_4III_5I:
push_word(mem_peek(p0, paramBase[1], paramBase[2]));
break;
case memCopy_4Ljava_3lang_3Object_2IIII_5V:
mem_copy(word2ptr(p0), paramBase[1], paramBase[2], paramBase[3], paramBase[4]);
break;
case memGetReference_4II_5Ljava_3lang_3Object_2:
push_word(mem_get_reference(p0, paramBase[1]));
break;
case setSensorPin_4III_5V:
sp_set(p0, paramBase[1], paramBase[2]);
break;
case getSensorPin_4II_5I:
push_word(sp_get(p0, paramBase[1]));
break;
case setSensorPinMode_4III_5V:
sp_set_mode(p0, paramBase[1], paramBase[2]);
break;
case readSensorPin_4II_5I:
push_word(sp_read(p0, paramBase[1]));
break;
case nanoTime_4_5J:
{
U64 ns = systick_get_ns();
push_word(ns >> 32);
push_word(ns);
}
break;
case createStackTrace_4Ljava_3lang_3Thread_2Ljava_3lang_3Object_2_5_1I:
{
Object *trace = create_stack_trace((Thread *)ref2obj(p0), ref2obj(paramBase[1]));
if (trace == NULL) return EXEC_RETRY;
push_word(obj2ref(trace));
}
break;
case registerEvent_4_5I:
push_word(register_event((NXTEvent *) ref2obj(p0)));
break;
case unregisterEvent_4_5I:
push_word(unregister_event((NXTEvent *) ref2obj(p0)));
break;
case changeEvent_4II_5I:
push_word(change_event((NXTEvent *) ref2obj(p0), paramBase[1], paramBase[2]));
break;
case isInitialized_4I_5Z:
push_word(is_initialized_idx(p0));
break;
case allocate_4II_5Ljava_3lang_3Object_2:
{
Object *allocated;
if(paramBase[1]>0){
allocated=new_single_array(p0,paramBase[1]);
}else{
allocated=new_object_for_class(p0);
}
if(allocated == NULL) return EXEC_RETRY;
push_word(obj2ref(allocated));
}
break;
case memPut_4IIII_5V:
store_word_ns((byte *)(memory_base[p0] + paramBase[1]), paramBase[2],paramBase[3]);
break;
case notifyEvent_4ILjava_3lang_3Thread_2_5Z:
push_word(debug_event(paramBase[1], NULL, (Thread*) ref2obj(paramBase[2]), 0, 0, 0, 0));
break;
case setThreadRequest_4Ljava_3lang_3Thread_2Llejos_3nxt_3debug_3SteppingRequest_2_5V:
{
Thread *th = (Thread*) ref2obj(p0);
th->debugData = (REFERENCE) paramBase[1];
// currently we only get stepping requests
if(paramBase[1])
th->flags |= THREAD_STEPPING;
else
th->flags &= ~THREAD_STEPPING;
}
break;
case isStepping_4Ljava_3lang_3Thread_2_5Z:
{
Thread *th = (Thread*) ref2obj(p0);
push_word(is_stepping(th));
}
break;
case setBreakpointList_4_1Llejos_3nxt_3debug_3Breakpoint_2I_5V:
breakpoint_set_list((Breakpoint**) array_start(p0), paramBase[1]);
break;
case enableBreakpoint_4Llejos_3nxt_3debug_3Breakpoint_2Z_5V:
breakpoint_enable((Breakpoint*) word2ptr(p0), (boolean) paramBase[1]);
break;
case firmwareExceptionHandler_4Ljava_3lang_3Throwable_2II_5V:
firmware_exception_handler((Throwable *)p0, paramBase[1], paramBase[2]);
break;
case exitThread_4_5V:
currentThread->state = DEAD;
schedule_request(REQUEST_SWITCH_THREAD);
break;
case updateThreadFlags_4Ljava_3lang_3Thread_2II_5I:
((Thread *)p0)->flags |= paramBase[1];
((Thread *)p0)->flags &= ~paramBase[2];
//printf("m %x %d\n", p0, ((Thread *)p0)->flags);
push_word(((Thread *)p0)->flags);
break;
default:
return throw_new_exception(JAVA_LANG_NOSUCHMETHODERROR);
}
return EXEC_CONTINUE;
}
