// Write out the R-Type instruction
void rtype_instruction(char *instruction, char *rs, char *rt, char *rd, int shamt, FILE *Out) {
// Set the instruction bits
char *opcode = "000000";
char *rdBin = "00000";
if (strcmp(rd, "00000") != 0)
rdBin = register_address(rd);
char *rsBin = "00000";
if (strcmp(rs, "00000") != 0)
rsBin = register_address(rs);
char *rtBin = "00000";
if (strcmp(rt, "00000") != 0)
rtBin = register_address(rt);
char *func = NULL;
char shamtBin[6];
// Convert shamt to binary and put in shamtBin as a char*
getBin(shamt, shamtBin, 5);
size_t i;
for (i = 0; rMap[i].name != NULL; i++) {
if (strcmp(instruction, rMap[i].name) == 0) {
func = rMap[i].function;
}
}
if(RADIX == 16)
{
char buf[40];
sprintf(buf,"%s%s%s%s%s%s", opcode, rsBin, rtBin, rdBin, shamtBin, func);
int hex = getDec(buf);
// Print out the instruction to the file
fprintf(Out, "%08X,\n",hex);
}
else
{
fprintf(Out, "%s%s%s%s%s%s,\n", opcode, rsBin, rtBin, rdBin, shamtBin, func);
}
}
void L6470::Dump(void) {
#ifndef NDEBUG
uint8_t reg;
printf("Registers:\n");
printf("01:ABS_POS - Current position: %ld\n", getPos());
printf("02:EL_POS - Electrical position: %ld\n", getParam(L6470_PARAM_EL_POS));
printf("03:MARK - Mark position: %ld\n", getMark());
printf("04:SPEED - Current speed: %ld (raw)\n", getParam(L6470_PARAM_SPEED));
printf("05:ACC - Acceleration: %.2f steps/s2\n", getAcc());
printf("06:DEC - Deceleration: %.2f steps/s2\n", getDec());
printf("07:MAX_SPEED - Maximum speed: %.2f steps/s\n", getMaxSpeed());
printf("08:MIN_SPEED - Minimum speed: %.2f steps/s\n", getMinSpeed());
printf("09:KVAL_HOLD - Holding KVAL: %d\n", (int) getHoldKVAL());
printf("0A:KVAL_RUN - Constant speed KVAL: %d\n", (int) getRunKVAL());
printf("0B:KVAL_ACC - Acceleration starting KVAL: %d\n", (int) getAccKVAL());
printf("0C:KVAL_Dec - Deceleration starting KVAL: %d\n", (int) getDecKVAL());
printf("0D:INT_SPEED - Intersect speed: 0x%.4X (raw)\n", (unsigned int) getParam(L6470_PARAM_INT_SPD));
reg = getParam(L6470_PARAM_ST_SLP);
printf("0E:ST_SLP - Start slope: %.3f\%% s/step (0x%.2X)\n", (float) 100 * SlpCalcValueReg(reg), reg);
reg = getParam(L6470_PARAM_FN_SLP_ACC);
printf("0F:FN_SLP_ACC - Acceleration final slope: %.3f\%% s/step (0x%.2X)\n", (float) 100 * SlpCalcValueReg(reg), reg);
reg = getParam(L6470_PARAM_FN_SLP_DEC);
printf("10:FN_SLP_DEC - Deceleration final slope: %.3f\%% s/step (0x%.2X)\n", (float) 100 * SlpCalcValueReg(reg), reg);
reg = getParam(L6470_PARAM_K_THERM);
printf("11:K_THERM - Thermal compensation factor: %.3f (0x%.2X)\n", KThermCalcValueReg(reg), reg);
reg = getParam(L6470_PARAM_ADC_OUT);
printf("12:ADC_OUT - ADC output: 0x%.2X\n", reg & 0x1F);
reg = getOCThreshold();
printf("13:OCD_TH - OCD threshold: %d mA (0x%.2X)\n", OcdThCalcValueReg(reg), reg);
reg = getParam(L6470_PARAM_STALL_TH);
printf("14:STALL_TH - STALL threshold: %d mA (0x%.2X)\n", StallThCalcValueReg(reg & 0x7F), reg);
printf("15:FS_SPD - Full-step speed: %.2f steps/s\n", getFullSpeed());
printf("16:STEP_MODE - Step mode: %d microsteps\n", 1 << getStepMode());
printf("17:ALARM_EN - Alarm enable: 0x%.2X\n", (unsigned int) getParam(L6470_PARAM_ALARM_EN));
printf("18:CONFIG - IC configuration: 0x%.4X\n", (unsigned int) getParam(L6470_PARAM_CONFIG));
#endif
}
//uint8_t readCfgFile(DATE *adate,TIME *atime, uint8_t *filename_dat, uint8_t atomic)
uint8_t readCfgFile(char *filename_dat) //, uint8_t atomic)
{
DIR *dir;
uint32_t cluster, fileSize, firstSector;
uint16_t k;
uint8_t i,j,ld,lt;
uint8_t filename[]= "CONFIG CFG";
uint8_t filename2[]="_CONFIG CFG";
dir = findFiles (GET_FILE, filename, filename); //, atomic); //get the file location
if(dir == 0)
return(0);
cluster = (((uint32_t) dir->firstClusterHI) << 16) | dir->firstClusterLO;
fileSize = dir->fileSize;
ld = 0;
lt = 0;
while(1)
{
ClusterNumber = cluster;
firstSector = getFirstSector ();
for(j=0; j<SectorPerCluster; j++)
{
SD_readSingleBlock(firstSector + j); //, atomic);
for(k=0; k<512; k++)
{
switch(buffer[k])
{
case 'S':
k++;
if(buffer[k]=='T')
{
k++;
Time.h = getDec((uint8_t*)buffer+k);
//k +=2;
Time.m = getDec((uint8_t*)buffer+k+2);
//k +=2;
Time.s = getDec((uint8_t*)buffer+k+4);
}
else if(buffer[k]=='D')
{
k++;
Date.d = getDec(&buffer[k]);
//k +=2;
Date.m = getDec(&buffer[k+2]);
//k +=2;
Date.y = 20 + getDec(&buffer[k+4]);
}
else if(buffer[k]=='F')
{
k = k+2;
for(i=0;i<8;i++)
{
if(buffer[k+i] < 0x21) //if any control code and space
{
filename_dat[i] = 0x00;
break;
}
filename_dat[i] = buffer[k+i];
}
filename_dat[i+1] = 0x00;
// i = strlcpy(filename_dat,&(buffer[k]),9);
k = k+i;
}
else if(buffer[k]=='I')
{
k +=2;
for(i=0;i<13;i++)
{
if(buffer[k+i] < 0x20) //if any control code
break;
inset[i] = buffer[k+i];
}
}
break;
case 'A':
k++;
if(buffer[k]=='D')
{
k++;
ADate[ld].d = getDec((uint8_t*)buffer+k);
//k +=2;
ADate[ld].m = getDec((uint8_t*)buffer+k+2);
//k +=2;
ADate[ld].y = 20 + getDec((uint8_t*)buffer+k+4);
ld++;
}
else if(buffer[k]=='T')
{
k++;
ATime[lt].h = getDec((uint8_t*)buffer+k);
//k +=2;
ATime[lt].m = getDec((uint8_t*)buffer+k+2);
//k +=2;
ATime[lt].s = getDec((uint8_t*)buffer+k+4);
lt++;
}
break;
}
if (k >= fileSize )
{
findFiles(RENAME, filename, filename2); //, atomic);
return(lt);
}
}
}
ClusterNumber = cluster;
cluster = getSetNextCluster (GET); //, 0, atomic);
if(cluster == 0)
{
//#if BIGAVR == 1
// printf_P(PSTR("ERR GETTING CLUSTERb\n"));
//#endif //BIGAVR
return(0);
}
}
return(0);
}
void itype_parse(char *token, char *tok_ptr, hash_table_t *hash_table, int32_t instruction_count, FILE *Out)
{
int i;
// la is pseudo instruction for lui and ori
// Convert to lui and ori and pass those instructions
if (strcmp(token, "la") == 0)
{
// Parse the instruction - get register & immediate
char *inst_ptr = tok_ptr;
char *reg = NULL;
// Create an array of char* that stores rd, rs and shamt
char **reg_store;
reg_store = (char**)malloc(2 * sizeof(char*));
if (reg_store == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
for (i = 0; i < 2; i++)
{
reg_store[i] = (char*)malloc(20 * sizeof(char));
if (reg_store[i] == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
}
// Keeps a reference to which register has been parsed for storage
int count = 0;
while (1)
{
reg = parse_token(inst_ptr, " $,\n\t", &inst_ptr, NULL);
if (reg == NULL || *reg == '#')
{
break;
}
strcpy(reg_store[count], reg);
count++;
free(reg);
}
// Interpret la instruction.
// The register is at reg_store[0] and the variable is at reg_store[1]
// Find address of label in hash table
int *address = (int*)hash_find(hash_table, reg_store[1], strlen(reg_store[1])+1);
// Convert address to binary in char*
char addressBinary[33];
getBin(*address, addressBinary, 32);
// Get upper and lower bits of address
char upperBits[16];
char lowerBits[16];
for (i = 0; i < 32; i++)
{
if (i < 16)
lowerBits[i] = addressBinary[i];
else
upperBits[i-16] = addressBinary[i];
}
// Call the lui instruction with: lui $reg, upperBits
// Convert upperBits binary to int
int immediate = getDec(upperBits);
itype_instruction("lui", "00000", reg_store[0], immediate, Out);
// Call the ori instruction with: ori $reg, $reg, lowerBits
// Convert lowerBits binary to int
immediate = getDec(lowerBits);
itype_instruction("ori", reg_store[0], reg_store[0], immediate, Out);
// Dealloc reg_store
for (i = 0; i < 2; i++)
{
free(reg_store[i]);
}
free(reg_store);
}
// I-Type $rt, i($rs)
else if (strcmp(token, "lw") == 0 || strcmp(token, "sw") == 0
|| strcmp(token, "lb") == 0 || strcmp(token, "lbu") == 0
|| strcmp(token, "lh") == 0 || strcmp(token, "lhu") == 0
|| strcmp(token, "sb") == 0 || strcmp(token, "sh") == 0
)
{
// Parse the instructio - rt, immediate and rs
char *inst_ptr = tok_ptr;
char *reg = NULL;
//
// Create an array of char* that stores rd, rs, rt respectively
char **reg_store;
reg_store =(char**) malloc(3 * sizeof(char*));
if (reg_store == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
for (i = 0; i < 3; i++)
{
reg_store[i] =(char*) malloc(20 * sizeof(char));
if (reg_store[i] == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
}
// Keeps a reference to which register has been parsed for storage
int count = 0;
while (1)
{
reg = parse_token(inst_ptr, " $,\n\t()", &inst_ptr, NULL);
if (reg == NULL || *reg == '#') {
break;
}
strcpy(reg_store[count], reg);
count++;
free(reg);
}
// rt in position 0, immediate in position 1 and rs in position2
int immediate = atoi(reg_store[1]);
itype_instruction(token, reg_store[2], reg_store[0], immediate, Out);
// Dealloc reg_store
for (i = 0; i < 3; i++)
{
free(reg_store[i]);
}
free(reg_store);
}
// I-Type rt, rs, im
else if (strcmp(token, "andi") == 0 || strcmp( token, "ori") == 0
|| strcmp(token, "xori") == 0 || strcmp(token, "sltiu") == 0
|| strcmp(token, "slti") == 0 || strcmp(token, "addi") == 0
|| strcmp(token, "addiu") == 0
)
{
// Parse the instruction - rt, rs, immediate
char *inst_ptr = tok_ptr;
char *reg = NULL;
// Create an array of char* that stores rt, rs
char **reg_store;
reg_store =(char**) malloc(3 * sizeof(char*));
if (reg_store == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
for (i = 0; i < 3; i++)
{
reg_store[i] =(char*) malloc(20 * sizeof(char));
if (reg_store[i] == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
}
// Keeps a reference to which register has been parsed for storage
int count = 0;
while (1)
{
reg = parse_token(inst_ptr, " $,\n\t", &inst_ptr, NULL);
if (reg == NULL || *reg == '#')
{
break;
}
strcpy(reg_store[count], reg);
count++;
free(reg);
}
// rt in position 0, rs in position 1 and immediate in position 2
int immediate = atoi(reg_store[2]);
itype_instruction(token, reg_store[1], reg_store[0], immediate, Out);
// Dealloc reg_store
for ( i = 0; i < 3; i++)
{
free(reg_store[i]);
}
free(reg_store);
}
// I-Type $rt, immediate
else if (strcmp(token, "lui") == 0)
{
// Parse the insturction, rt - immediate
char *inst_ptr = tok_ptr;
char *reg = NULL;
// Create an array of char* that stores rs, rt
char **reg_store;
reg_store =(char**) malloc(2 * sizeof(char*));
if (reg_store == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
for (i = 0; i < 2; i++)
{
reg_store[i] =(char*) malloc(20 * sizeof(char));
if (reg_store[i] == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
}
// Keeps a reference to which register has been parsed for storage
int count = 0;
while (1)
{
reg = parse_token(inst_ptr, " $,\n\t", &inst_ptr, NULL);
if (reg == NULL || *reg == '#')
{
break;
}
strcpy(reg_store[count], reg);
count++;
free(reg);
}
// rt in position 0, immediate in position 1
int immediate = atoi(reg_store[1]);
itype_instruction(token, "00000", reg_store[0], immediate, Out);
// Dealloc reg_store
for (i = 0; i < 2; i++)
{
free(reg_store[i]);
}
free(reg_store);
}
// I-Type $rs, $rt, label
else if (strcmp(token, "beq") == 0 || strcmp(token, "bne") == 0)
{
// Parse the instruction - rs, rt
char *inst_ptr = tok_ptr;
char *reg = NULL;
// Create an array of char* that stores rs, rt
char **reg_store;
reg_store =(char**) malloc(2 * sizeof(char*));
if (reg_store == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
for (i = 0; i < 2; i++)
{
reg_store[i] =(char*) malloc(20 * sizeof(char));
if (reg_store[i] == NULL)
{
fprintf(Out, "Out of memory\n");
exit(1);
}
}
// Keeps a reference to which register has been parsed for storage
int count = 0;
while (1)
{
reg = parse_token(inst_ptr, " $,\n\t", &inst_ptr, NULL);
if (reg == NULL || *reg == '#')
{
break;
}
strcpy(reg_store[count], reg);
count++;
free(reg);
if (count == 2)
break;
}
reg = parse_token(inst_ptr, " $,\n\t", &inst_ptr, NULL);
// Find hash address for a register and put in an immediate
int *address =(int*) hash_find(hash_table, reg, strlen(reg)+1);
// beq跳转地址有问题
int immediate = (*address - instruction_count) >> 2;
// Send instruction to itype function
itype_instruction(token, reg_store[0], reg_store[1], immediate, Out);
// Dealloc reg_store
for (i = 0; i < 2; i++)
{
free(reg_store[i]);
}
free(reg_store);
}
//uint8_t readCfgFile(DATE *adate,TIME *atime, uint8_t *filename_dat, uint8_t atomic)
uint8_t readCfgFile(uint8_t *filename_dat, uint8_t atomic)
{
DIR *dir;
uint32_t cluster, fileSize, firstSector;
uint16_t k;
uint8_t i,j,ld,lt;
uint8_t filename[]="CONFIG CFG";
uint8_t filename2[]="_CONFIG CFG";
TIME_t time;
DATE_t date;
dir = findFiles (GET_FILE, filename, filename, atomic); //get the file location
if(dir == 0)
return(0);
cluster = (((uint32_t) dir->firstClusterHI) << 16) | dir->firstClusterLO;
fileSize = dir->fileSize;
ld = 0;
lt = 0;
while(1)
{
firstSector = getFirstSector (cluster);
for(j=0; j<SectorPerCluster; j++)
{
SD_readSingleBlock(firstSector + j, atomic);
for(k=0; k<512; k++)
{
switch(buffer[k])
{
case 'S':
k++;
switch(buffer[k])
{
case 'T':
k++;
time.h = getDec((uint8_t*)buffer+k);
time.m = getDec((uint8_t*)buffer+k+2);
time.s = getDec((uint8_t*)buffer+k+4);
break;
case 'D':
k++;
date.d = getDec(&buffer[k]);
date.m = getDec(&buffer[k+2]);
date.y = 20 + getDec(&buffer[k+4]);
break;
case 'F':
k = k+2;
for(i=0;i<13;i++)
{
if(buffer[k+i] < 0x20) //if any control code
break;
filename_dat[i] = buffer[k+i];
}
k = k+i;
break;
case 'M': //mask definitions: M - mic only, S - SHT sensor only, T - DS1820 1-wire sensor, X - Mic+SHT, '-' - nothing
k++;
for(i=0;i<12;i++)
{
Mask.SHT = Mask.SHT<<1;
Mask.MIC = Mask.MIC<<1;
switch(buffer[k+i])
{
// case 'X': //SHT mask generated from mic mask!
// Mask.SHT |= 0x0001;
case 'M':
Mask.MIC |= 0x0001;
break;
// case 'S':
// Mask.SHT |= 0x0001;
// break;
case 'T':
Mask.DS |= 0x01; // any T will cause DS mask to be one...
break;
default:
break;
}
}
k = k+i;
}
break;
case 'A':
k++;
if(buffer[k]=='D')
{
k++;
ADate[ld].d = getDec((uint8_t*)buffer+k);
//k +=2;
ADate[ld].m = getDec((uint8_t*)buffer+k+2);
//k +=2;
ADate[ld].y = 20 + getDec((uint8_t*)buffer+k+4);
ld++;
}
else if(buffer[k]=='T')
{
k++;
ATime[lt].h = getDec((uint8_t*)buffer+k);
//k +=2;
ATime[lt].m = getDec((uint8_t*)buffer+k+2);
//k +=2;
ATime[lt].s = getDec((uint8_t*)buffer+k+4);
lt++;
}
break;
}
if (k >= fileSize )
{
findFiles(RENAME,filename, filename2, atomic);
RTC_SetDateTime(&date, &time);
//?? if(Mask.SHT)
// {
generate_mask_bm();
// }
return(lt);
}
}
}
cluster = getSetNextCluster (cluster, GET, 0, atomic);
if(cluster == 0)
{
#if RSCOM == 1
printf_P(PSTR("ERR GETTING CLUSTERb\n"));
#endif //BIGAVR
return(0);
}
}
return(0);
}
