int mvme_read(MVME_INTERFACE *vme, void *dst, mvme_addr_t vme_addr, mvme_size_t n_bytes)
{
mvme_size_t n;
bt_error_t status;
BT617_TABLE *ptab;
ptab = ((BT617_TABLE *)vme->table)+vme->handle;
status = bt_read(ptab->btd, dst, vme_addr, n_bytes, (size_t *)&n);
if (status != BT_SUCCESS)
bt_perror(ptab->btd, status, "bt_read error");
return n;
}
ssize_t serial_read(int fd, void *data, size_t len) {
#ifndef WINDOWS
#ifdef ANDROID
return bt_read(fd, data, len);
#else
return read(fd, data, len);
#endif
#else
DWORD dwBytesRead = 0;
ReadFile(hSerial[fd], data, len, &dwBytesRead, 0);
//SDL_Log("## serial get: %i/%i \n", dwBytesRead, len);
return dwBytesRead;
#endif
}
DWORD mvme_read_value(MVME_INTERFACE *vme, mvme_addr_t vme_addr)
{
mvme_size_t n;
DWORD data;
bt_error_t status;
BT617_TABLE *ptab;
ptab = ((BT617_TABLE *)vme->table)+vme->handle;
if (vme->dmode == MVME_DMODE_D8)
n = 1;
else if (vme->dmode == MVME_DMODE_D16)
n = 2;
else
n = 4;
data = 0;
status = bt_read(ptab->btd, &data, vme_addr, n, (size_t *)&n);
if (status != BT_SUCCESS)
bt_perror(ptab->btd, status, "bt_read error");
return data;
}
int main (void)
{
init_pins();
char* bt_data = bt_init();
pacer_init (LOOP_POLL_RATE);
pio_output_set(PIO_AUX_ENABLE, 0);
short aux_power = 0;
while (1)
{
pacer_wait ();
pio_output_set(PIO_LED_G, bt_connected());
if (bt_read()) {
process_command(bt_data);
}
}
}
/**
* 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;
}
int main(void)
{
key_t skey=SEMAPHORE_KEY;
int nsems=NSEM;
int semid;
int semno;
union semun {
int val;
struct semid_ds *buf;
unsigned short *array;
} arg;
int shmid1, shmid2;
int shmemsize=BUFFER_LENGTH;
int *shm1ptr, *shm2ptr;
key_t bkey=SHAREDMEM_KEY;
key_t mkey=MESSAGE_KEY;
int i;
FILE *strm;
int fd;
int exades; /* File descriptor for Exabyte */
int opendes; /* File descripter of opened file */
int new_des_min = 10; /* Offset for new file descriptor ? */
int write_data = 0; /* Write raw data to tape or not */
ssize_t bytes_written;
int *bufp; /* Pointer to databuffer in shared memory */
int *messp; /* Pointer to message_box in shared memory */
int *buf1p, *buf2p, *buf3p, *buf4p;
long message_length = 40; /* VME Message_Box is 10 Words long */
long *mess_p; /* Pointer to Message_Box */
long movebytes; /* Length (bytes) of movebuffer from RIO3 */
long Message_Box[10]; /* Vector to hold Message_Box */
unsigned long moveaddress; /* Data buffer address in VME */
long *sem1ptr; /* Pointer to VME semaphore 1 */
long *sem2ptr; /* Pointer to VME semaphore 2 */
long *sem3ptr; /* Pointer to VME semaphore 3 */
long *sem4ptr; /* Pointer to VME semaphore 4 */
long sem1val, sem2val, sem3val, sem4val;
long *engstatptr;
long engstatval;
long semph1, semph2, semph3, semph4, tiger, stbox;
int *sortp; /* Pointer to message_box(0) - sort flag */
int *engp; /* Pointer to message_box(1) - engine flag */
int *stgp; /* Pointer to message_box(2) - storage */
int *vmesp; /* Pointer to message_box(3) - VME status */
int *recp; /* Pointer to message_box(5) - record count */
int sort_off = 0; /* Offset for pointer to message_box[0] */
int engine_off = 1; /* Offset for pointer to message_box[1] */
int stgflag_off = 2; /* Offset for pointer to message_box[2] */
int vmes_off = 3; /* Offset for pointer to message_box[3] */
int reccount_off = 5; /* Offset for pointer to message_box[5] */
int part_offset = 8192; /* Pointer off in databuffer part */
size_t amt_read; /* Amount of data read from device */
arg.buf = (void *) malloc (100);
mess_p = &Message_Box[0];
sem1ptr = &sem1val;
sem2ptr = &sem2val;
sem3ptr = &sem3val;
sem4ptr = &sem4val;
engstatptr = &engstatval;
/* Check if the engine lock-file is present, create if not. This is */
/* a security precaution, multiple engine processes cause system crash*/
if((fd = open("/Applications/sirius/system/engine.lock",O_CREAT|O_EXCL,PERMS)) == -1 )
{
printf("Engine ERROR: Could not start engine due to lock file /Applications/sirius/system/engine.lock\n");
exit(errno);
}
/* Get semaphore identifier */
semid = semget(skey, nsems, PERMS );
if (semid == -1) {
printf("Engine ERROR: Get semaphore identifier failed \n");
exit(errno);
}
/* Initialize VME front-end system link */
if (vme_open() != 0) {
printf("Engine ERROR: Could not initialize and open SBS VME-PCI interface\n");
exit(errno);
}
/* Attach shared message_box segment to process */
shmemsize = 80;
shmid2 = shmget(mkey, shmemsize, PERMS);
if (shmid2 == -1) {
printf("Engine ERROR: Shared message_box memory allocation failed\n");
exit(errno);
}
shm2ptr = shmat(shmid2, NULL, 0);
if (*shm2ptr == -1) {
printf("Engine ERROR: Attach shared message_box to process failed\n");
exit(errno);
}
/* Attach shared data buffer segment to process */
shmemsize = BUFFER_LENGTH;
shmid1 = shmget(bkey, shmemsize, IPC_CREAT | PERMS);
if (shmid1 == -1) {
printf("Engine ERROR: Shared data buffer memory allocation failed %d\n", errno);
exit(errno);
}
shm1ptr = shmat(shmid1, NULL, 0);
if (*shm1ptr == -1) {
printf("Engine ERROR: Attach shared data buffer to process failed\n");
exit(errno);
}
/* Take a copy of the pointers to shared memory segments */
bufp = shm1ptr; /* Points to databuffer in shared memory */
messp = shm2ptr; /* Points to message_box n shared memory */
/* Pointers used in write to Exabyte, buffer is divided into 4 */
buf1p = shm1ptr; /* Points to part 1 of databuffer */
buf2p = shm1ptr + part_offset; /* Points to part 2 of databuffer */
buf3p = shm1ptr + part_offset*2; /* Points to part 3 of databuffer */
buf4p = shm1ptr + part_offset*3; /* Points to part 4 of databuffer */
/* Initialize pointers to message_box variables */
sortp = messp + sort_off;
recp = messp + reccount_off;
stgp = messp + stgflag_off;
engp = messp + engine_off;
vmesp = messp + vmes_off;
/* Clear data buffer segment */
for (i = 0; i < 32768; i++) {
*(bufp+i) = 0;
}
bufp = shm1ptr; /* Restore pointer */
/* Signal to VME front-end system that the acquisition is running */
/* This is done by setting the VME Message_Box[1] to '1' */
engstatval = 1;
status = bt_write(btd, engstatptr, ENGSTATUS, 4, &amt_read);
if ( BT_SUCCESS != status) { /* At first VME write failure, we print out a lot of errors*/
if (amt_read != 4) {
fprintf(stderr, "Engine ERROR: Only %d bytes written to SBS VME-PCI.\n", (int) amt_read);
}
else {
fprintf(stderr, "Engine ERROR: Could not write to %s.\n", &devname[0]);
}
bt_perror(btd, status, "Engine ERROR: Could not write engine status to SBS VME-PCI");
vme_close();
return EXIT_FAILURE;
}
/* Read the whole VME Message_box to get info from bobcat (installed in the VME crate) */
status = bt_read(btd, mess_p, MESSAGE_ADDRESS, message_length, &amt_read);
if ( BT_SUCCESS != status) { /* At first VME read error, we print out a lot of messages*/
if (amt_read != message_length) {
fprintf(stderr, "Engine ERROR: Only %d bytes read from device.\n", (int) amt_read);
}
else {
fprintf(stderr, "Engine ERROR: Could not read from %s.\n", &devname[0]);
}
bt_perror(btd, status, "Engine ERROR: Could not read VME Message_box from VME A24 memory");
vme_close();
return EXIT_FAILURE;
}
if ( Message_Box[6] == 1) {
*vmesp = 1; /* VME system is in running state */
}else {
*vmesp = 0;
}
movebytes = BUFFER_LENGTH/4; /* Bufferlength is in bytes */
moveaddress = Message_Box[0]; /* Address of VME A24 event buffer */
/* Write status to file /help/vmestatus.tmp */
strm = fopen("/Applications/sirius/help/vmestatus.tmp","w");
if ( Message_Box[6] == 1 ) {
fprintf(strm," VME system status\t\t: RUNNING\n");
}
else if ( Message_Box[6] == 0 ) {
fprintf(strm," VME system status\t\t: STOPPED\n");
}else {
fprintf(strm," VME system status\t\t: UNKNOWN ?\n");
}
fprintf(strm, " Buffer address\t\t: %lx (hex) \n", moveaddress);
fprintf(strm, " Buffer length\t\t: %lx (hex) \n", Message_Box[1]);
fprintf(strm," ---------------------------------------------\n");
fclose( strm );
/* Take a copy of the file descriptor for storage unit if used */
if (*stgp > 0) {
opendes = *stgp;
exades = fcntl( opendes, F_DUPFD, new_des_min );
write_data = 1;
if ( exades == -1) {
perror("\n Engine ERROR: Could not copy file descriptor \n");
write_data = 0;
}
}
semph1 = Message_Box[2]&0x00000001; /*Test on the last 4 bits*/
semph2 = Message_Box[3]&0x00000001;
semph3 = Message_Box[4]&0x00000001; /*Test on the last 4 bits*/
semph4 = Message_Box[5]&0x00000001;
tiger = Message_Box[7]&0x00000001;
stbox = MESSAGE_ADDRESS;
printf("\n --------------------------------------------------------- \n");
printf( "| E N G I N E 1.0 |\n");
printf( "| Apr. 10. 2008 |\n");
printf( "|---------------------------------------------------------|\n");
printf( "| VME message box starts at : 0x%8lx |\n",stbox);
printf( "| Buffer starts at : 0x%8lx |\n",moveaddress);
printf( "| Start of buffer address (messagebox 0) : 0x%8lx |\n",Message_Box[0]);
printf( "| Buffer length (words) (messagebox 1) : %8ld |\n",Message_Box[1]);
printf( "| Semaphore # 1 (messagebox 2) : %8ld |\n",semph1);
printf( "| Semaphore # 2 (messagebox 3) : %8ld |\n",semph2);
printf( "| Semaphore # 3 (messagebox 4) : %8ld |\n",semph3);
printf( "| Semaphore # 4 (messagebox 5) : %8ld |\n",semph4);
printf( "| VME ready(1) or not(0) (messagebox 6) : %8ld |\n",Message_Box[6]);
printf( "| Linux ready(1) or not(0) (messagebox 7) : %8ld |\n",tiger);
printf( "| Not used (messagebox 8) : %8ld |\n",Message_Box[8]);
printf( "| Not used (messagebox 9) : %8ld |\n",Message_Box[9]);
printf( " --------------------------------------------------------- \n");
for(;;) { /*MAIN DATA ACQUISITION LOOP*/
if ( *engp == 9 ) goto exitengine; /*STOP COMMAND FROM MASTER */
/********************************************************************** */
/* B U F F E R */
/*::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: */
/* Since A32 slave DRAM gives crash */
/* after typically 2 - 5 hours, we use A24 SRAM. However, this space */
/* is only 128 kbytes. Thus, we cannot use the 2 buffer technique */
/* from the original version designed by Tore Ramsoey. We */
/* have to segment 1 eventbuffer (32 kwords) into 4 movebuffers, */
/* each 32 kbytes. Tests show that this is almost as fast as before, */
/* and no more crashes of the eventbuilder running on bobcat RIO2!!! */
/* First buffer is called for every 100 us, the next three other */
/* buffers is called for every 1 us. */
/*::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: */
/************************************************************************/
/*1.0 Check if movebuffer is ready */
/* Loop on VME semaphore # 1 until it becomes 1 (FULL) */
/* The call to usleep suspends the process 100 us */
for (;;) {
status = bt_read(btd, sem1ptr, SEM_1, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME semaphore # 1");
vme_close();
return EXIT_FAILURE;
}
if (sem1val == 1 ) break; /* Buffer in VME is FULL, go and fetch it */
if (*engp == 9) goto exitengine; /* User has requested to stop acquisition */
usleep(100); /* Buffer is EMPTY, continue asking (polling) */
}
/*1.1 Signal the sorting task to disrupt sorting */
/* This is done by setting message_box[0] to '3' */
*sortp = 3;
/*1.2 Fetch movebuffer #1 from the VMEbus system */
status = bt_read(btd, bufp + 0x0000, moveaddress, movebytes, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME event buffer 1");
vme_close();
return EXIT_FAILURE;
}
/*1.3 Reset VMEbus semaphore # 1 to empty */
sem1val = 0;
status = bt_write(btd, sem1ptr, SEM_1, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not reset VME semaphore # 1 to empty");
vme_close();
return EXIT_FAILURE;
}
/************************************************************************/
/*2.0 Check if movebuffer is ready */
/* Loop on VME semaphore # 2 until it becomes 1 (FULL) */
/* The call to usleep suspends the process 1 us */
for (;;) {
status = bt_read(btd, sem2ptr, SEM_2, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME semaphore # 2");
vme_close();
return EXIT_FAILURE;
}
if (sem2val == 1 ) break; /* Buffer in VME is FULL, go and fetch it */
if (*engp == 9) goto exitengine; /* User has requested to stop acquisition */
usleep(1); /* Buffer is EMPTY, continue asking (polling) */
}
/*2.1 Signal the sorting task to disrupt sorting */
/* This is done by setting message_box[0] to 3 */
*sortp = 3;
/*2.2 Fetch movebuffer #2 from the VMEbus system */
status = bt_read(btd, bufp + 0x2000, moveaddress, movebytes, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME event buffer 2");
vme_close();
return EXIT_FAILURE;
}
/*2.3 Reset VMEbus semaphore # 2 to empty */
sem2val = 0;
status = bt_write(btd, sem2ptr, SEM_2, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not reset VME semaphore # 2 to empty");
vme_close();
return EXIT_FAILURE;
}
/************************************************************************/
/*3.0 Check if movebuffer is ready */
/* Loop on VME semaphore # 3 until it becomes 1 (FULL) */
/* The call to usleep suspends the process 1 us */
for (;;) {
status = bt_read(btd, sem3ptr, SEM_3, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME semaphore # 3");
vme_close();
return EXIT_FAILURE;
}
if (sem3val == 1 ) break; /* Buffer in VME is FULL, go and fetch it */
if (*engp == 9) goto exitengine; /* User has requested to stop acquisition */
usleep(1); /* Buffer is EMPTY, continue asking (polling) */
}
/*3.1 Signal the sorting task to disrupt sorting */
/* This is done by setting message_box[0] to 3 */
*sortp = 3;
/*3.2 Fetch movebuffer #3 from the VMEbus system */
status = bt_read(btd, bufp + 0x4000, moveaddress, movebytes, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME event buffer 3");
vme_close();
return EXIT_FAILURE;
}
/*3.3 Reset VMEbus semaphore # 3 to empty */
sem3val = 0;
status = bt_write(btd, sem3ptr, SEM_3, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not reset VME semaphore #3 to empty");
vme_close();
return EXIT_FAILURE;
}
/************************************************************************/
/*4.0 Check if movebuffer is ready */
/* Loop on VME semaphore # 4 until it becomes 1 (FULL) */
/* The call to usleep suspends the process 1 us */
for (;;) {
status = bt_read(btd, sem4ptr, SEM_4, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME semaphore # 4");
vme_close();
return EXIT_FAILURE;
}
if (sem4val == 1 ) break; /* Buffer in VME is FULL, go and fetch it */
if (*engp == 9) goto exitengine; /* User has requested to stop acquisition */
usleep(1); /* Buffer is EMPTY, continue asking (polling) */
}
/*4.1 Signal the sorting task to disrupt sorting */
/* This is done by setting message_box[0] to 3 */
*sortp = 3;
/*4.2 Fetch movebuffer # 4 from the VMEbus system */
status = bt_read(btd, bufp + 0x6000, moveaddress, movebytes, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not read VME event buffer 4");
vme_close();
return EXIT_FAILURE;
}
/*4.3 Reset VMEbus semaphore # 4 to empty */
sem4val = 0;
status = bt_write(btd, sem4ptr, SEM_4, 4, &amt_read);
if ( BT_SUCCESS != status) {
bt_perror(btd, status, "Engine ERROR: Could not reset VME semaphore # 4 to empty");
vme_close();
return EXIT_FAILURE;
}
/* testing, magne
for (i = 0; i < 32768; i++) {
if(*(bufp+i) < 40000 ){
printf(" no %d buffer read = %d \n",i, *(bufp+i) );}
}
exit(0);
*/
/***********************************************************************/
/*5.0 Activate sorting task */
/* This is done by setting the sort semaphore to 0 */
*sortp = 0; /*Remove disrupt flag*/
semno = 0;
arg.val = 0;
if ( semctl(semid, semno, SETVAL, arg) == -1) {
printf("Engine ERROR: Set Sort Semaphore to Zero Failed\n");
exit(errno);
}
/*6.0 Start dump of total eventbuffer to exabyte tape or disk */
/* Buffer is segmented into 4 records, each 32 kbytes long */
if ( write_data == 1 ) {
bytes_written = write(exades, buf1p, RECORD_LENGTH);
bytes_written = write(exades, buf2p, RECORD_LENGTH);
bytes_written = write(exades, buf3p, RECORD_LENGTH);
bytes_written = write(exades, buf4p, RECORD_LENGTH);
if (bytes_written != RECORD_LENGTH) {
printf("Engine ERROR: Could not write event buffer to disk (or tape)\n");
}
}
/*7.0 Update record count message_box[9] variable */
*recp = *recp + 1;
} /*END OF MAIN DATA ACQUISITION LOOP */
exitengine:
/* Signal to VME front-end system that the acquisition is stopped */
/* This is done by setting the VME Message_Box[1] to 0 */
engstatval = 0;
status = bt_write(btd, engstatptr, ENGSTATUS, 4, &amt_read);
if ( BT_SUCCESS != status) {
if (amt_read != 4) {
fprintf(stderr, "Engine ERROR: Only %d bytes written to SBS VME-PCI\n", (int) amt_read);
}
else {
fprintf(stderr, "Engine ERROR: Could not write to %s\n", &devname[0]);
}
bt_perror(btd, status, "Engine ERROR: Could not write engine status to SBS VME-PCI");
}
/* Detach shared memory */
if ( shmdt( shm1ptr ) == -1) {
printf("Engine ERROR: Could not detach databuffer shared memory\n");
}
if ( shmdt( shm2ptr ) == -1) {
printf("Engine ERROR: Could not detach message_box shared memory\n");
}
/* Remove the lock file */
if ( remove("/Applications/sirius/system/engine.lock") == -1) {
printf("Engine ERROR: Could not remove engine.lock file\n");
}
/* Closing VME front-end system */
if (vme_close() != 0) {
printf("Engine ERROR: Problems to close SBS VME_PCI\n");
exit(errno);
}
exit(0);
}