/* CHANGE *********************************************************************/
void changeState() {
if ((time > 165 || game.getFuelRemaining() < 10) && // end game stage
game.getMemoryFilled() > 0) {
att_state = UPLOAD;
}
if (game.getMemoryFilled() == 2) {
att_state = UPLOAD;
}
if (game.getMemoryFilled() == 0) {
att_state = FACE_ENEMY;
}
if (move_state == STOP) {
move_state = GET_SCORE_PACKS;
}
if (move_state == GET_SCORE_PACKS || move_state == GET_MIRROR) {
if (itemBool[itemNum] != -1) {
itemNum = recalibrate(3,6);
if (itemNum == -1) {
move_state = END_GAME;
}
else {
move_state = GET_SCORE_PACKS;
}
}
}
if (energy < 1.3 && game.posInDark(me)) {
move_state = STOP;
}
}
bool
RFM69::begin(const void* config)
{
// Wait for the transceiver to become ready
do write(SYNC_VALUE1, 0xaa); while (read(SYNC_VALUE1) != 0xaa);
do write(SYNC_VALUE1, 0x55); while (read(SYNC_VALUE1) != 0x55);
// Upload the configuration. Check for default configuration
const uint8_t* cp = RFM69::config;
Reg reg;
if (config != NULL) cp = (const uint8_t*) config;
while ((reg = (Reg) pgm_read_byte(cp++)) != 0)
write(reg, pgm_read_byte(cp++));
// Adjust configuration with instance specific state
uint16_t sync = hton(m_addr.network);
write(SYNC_VALUE1, &sync, sizeof(sync));
write(NODE_ADDR, m_addr.device);
// Set standby mode and calibrate RC oscillator
recalibrate();
// Initiate device driver state and enable interrupt handler
m_avail = false;
m_done = true;
spi.attach(this);
m_irq.enable();
return (true);
}
/*
* remote configuration facility
*/
void fs20_configuration(void) {
ccInitChip();
fs20_resetbuffer();
fs20_rxon();
fstelegram_t t;
t.type = 'U'; // undefined
uint16_t rxtimeout = 300; // wait 300*100ms= 30s for reception
// wait for next telegram
// exit if button pressed or timeout occured
while(!fs20_readFS20Telegram(&t) && (rxtimeout--)>0) {
_delay_ms(100);
if(LED_PIN!=PA3) LED_TOGGLE(); // do not touch pin for CC1100 communication
}
fs20_idle();
// evaluate the result
if(t.type=='F') {
if((t.housecode==HOUSECODE) && (t.button==BUTTON_COMMAND)) {
led_blink(3); // blink for confirmation
switch(t.cmd) {
case COMMAND_HCALIB1:
xcalib1= get_voltage();
hcalib1= t.data[0]/100.0;
recalibrate();
break;
case COMMAND_HCALIB2:
xcalib2= get_voltage();
hcalib2= t.data[0]/100.0;
recalibrate();
break;
case COMMAND_USFOFFSET:
// we receive ufsoffset in centimeters
set_usfconfig(t.data[0]/100.0, usfheight);
break;
case COMMAND_USFHEIGHT:
// we receive usfheight in centimenters
set_usfconfig(usfoffset, t.data[0]/100.0);
break;
}
}
}
}
// get time of call, possibly recalibrating before returning
__forceinline ULONGLONG gethectonanotime_first(void) {
ULONGLONG curtsc = gettsc();
ULONGLONG now = hectonanotime_of_tsc(curtsc);
if ((lastrecal == 0) || (now - lastrecal) > recalinterval) {
recalibrate();
now = hectonanotime_of_tsc(curtsc);
}
return now;
}
void init() {
for (int i = 0 ; i < 9 ; i++) {
game.getItemLoc(items[i], i);
}
updateGameState();
origin[0] = origin[1] = origin[2] = 0.0f;
move_state = GET_SCORE_PACKS;
att_state = FACE_OTHER;
itemID = recalibrate(3, 6);
DEBUG(("Hello from SHA-2468!"));
}
/* CHANGE *********************************************************************/
void changeState() {
if (game.getMemoryFilled() == 2) {
att_state = UPLOAD;
}
if (att_state == UPLOAD && game.getMemoryFilled() == 0) {
att_state = FACE_OTHER;
}
if (game.getCurrentTime() > 165 && game.getMemoryFilled() > 0) {
att_state = UPLOAD;
}
if (move_state == GET_SCORE_PACKS) {
if (game.getScore() > 3) {
itemID = recalibrate(3,6);
if (itemID == -1 || distance(me, items[itemID]) - distance(other, items[itemID]) > GIVE_UP_THRESHOLD) {
move_state = END_GAME;
}
}
else if (itemBool[itemID] != -1) {
itemID = recalibrate(3, 6);
if (itemID == -1) {
move_state = END_GAME;
}
}
}
else {
if (!inBounds(other)) {
move_state = TO_ORIGIN;
}
else {
move_state = END_GAME;
}
}
}
/* this gets the FDC to a known state */
static void reset(void)
{
outportb(FDC_DOR,0);
mtick=0;
motor=0;
outportb(FDC_DRS,0);
outportb(FDC_DOR,0x0c);
done=1;
sendbyte(CMD_SPECIFY);
sendbyte(0xdf); /* SRT = 3ms, HUT = 240ms */
sendbyte(0x02); /* HLT = 16ms, ND = 0 */
flseek(1);
recalibrate();
dchange = 0;
}
void init(){
for (int i = 0 ; i < 9 ; i++) {
game.getItemLoc(items[i], i);
}
updateGameState();
origin[0] = origin[1] = origin[2] = earth[0] = earth[1] = 0.0f;
earth[2] = 1.0f;
itemNum = recalibrate(7,8);
memcpy(target,items[itemNum],3*sizeof(float)); //do this here so we don't have to do it in GET_MIRROR
move_state = GET_MIRROR;
att_state = FACE_ENEMY;
DEBUG(("Hello from SHA-2468!"));
}
int flpy_read(struct fdd *d, uint32_t lba, uint8_t *buf, uint32_t nr_sectors)
{
int rc = 0;
uint8_t retries;
struct chs f_addr;
if (d->param->cmos_type == 0) return -1;
while (_busy) ; /* Wait while the floppy driver is already busy. BUSY WAIT! */
_busy = TRUE;
start_motor(d);
specify(d);
/* Only retry for 3 times */
for (retries = 0; retries < 3; retries++) {
/* Move head to right track */
if (flpy_seek(d, f_addr.c) == 0) {
/* If changeline is active, no disk is in drive */
if (inportb(d->fdc->base_port + FDC_DIR) & 0x80) {
DEBUG(DL_ERR, ("no disk in drive %d\n",
d->number));
rc = -1;
goto errorout;
}
rc = fdc_xfer(d, &f_addr, dma_addr, nr_sectors, FDC_READ);
if (rc == 0) break;
} else
rc = -1;
if (retries < 2) recalibrate(d);
}
/* Copy data from the DMA buffer into the caller's buffer */
if ((rc == 0) && buf)
;
errorout:
stop_motor(d);
_busy = FALSE;
return rc;
}
int flpy_write(struct fdd *d, uint32_t lba, const uint8_t buf, uint32_t nr_sectors)
{
int rc = 0;
uint8_t retries;
struct chs f_addr;
if (d->param->cmos_type == 0) return -1;
while (_busy) ; // The BUSY WAIT!
_busy = TRUE;
start_motor(d);
specify(d);
for (retries = 0; retries < 3; retries++) {
/* Move head to right track */
if (flpy_seek(d, f_addr.c) == 0) {
/* If changeline is active, no disk is in drive */
if (inportb(d->fdc->base_port + FDC_DIR) & 0x80) {
DEBUG(DL_ERR, ("no disk in drive %d\n",
d->number));
rc = -1;
break;
}
rc = fdc_xfer(d, &f_addr, dma_addr, nr_sectors, FDC_WRITE);
if (rc == 0) break;
} else
rc = -1;
if (retries < 2 ) recalibrate(d);
}
stop_motor(d);
_busy = FALSE;
return rc;
}
/*
* reset the floppy.
*
* The first thing that the driver needs to do is reset the controller.This
* will put it in a known state. To reset the primary floppy controller,(in C)
*
* 1.write 0x00 to the DIGITAL_OUTPUT_REG of the desired controller
* 2.write 0x0C to the DIGITAL_OUTPUT_REG of the desired controller
* 3.wait for an interrupt from the controller
* 4.check interrupt status (this is function 0x08 of controllers)
* 5.write 0x00 to the CONFIG_CONTROL_REG
* 6.configure the drive desired on the controller (function 0x03 of controller)
* 7.calibrate the drive (function 0x07 of controller)
*
*/
static void reset( )
{
//LOG("reset() called ...\n");
/* stop the motor and disable IRQ/DMA */
outb_p(0x0c,FD_DOR);
/* program data rate (500K/s) */
outb_p(0,FD_DCR);
/* re-enable interrupts */
outb_p(0x1c,FD_DOR);
/* resetting triggered an interrupt - handle it */
done = TRUE;
wait_fdc(TRUE);
/* specify drive timings (got these off the BIOS) */
send_byte(FD_SPECIFY);
send_byte(0xdf); /* SRT = 3ms, HUT = 240ms */
send_byte(0x06); /* HLT = 16ms, ND = 0 */
recalibrate();
}
/*
* And now, it's time to implenent the read or write function, that's
* all the floppy driver mean!
*
* Read/Write one sector once.
*/
static int floppy_rw(int sector, char *buf, int command)
{
int head;
char *dma_buffer = buf;
static char tmp_dma_buffer[512];
//LOG("TMP dma buffer: %p\n", tmp_dma_buffer);
lba_to_chs(sector, &head, &track, §or);
LOG("head: %d \ttrack: %d \tsector: %d\n", head, track, sector);
/* turn it on if not */
motor_on();
if (inb_p(FD_DIR) & 0x80) {
changed = TRUE;
seek(1, head); /* clear "disk change" status */
recalibrate();
motor_off();
printk("floppy_rw: Disk change detected. You are going to DIE:)\n");
pause(); /* just put it in DIE */
}
/* move head to the right track */
if (!seek(track, head)) {
motor_off();
printk("floppy_rw: Error seeking to track#%d\n", track);
return FALSE;
}
if ((unsigned long)buf >= 0xff000) {
dma_buffer = tmp_dma_buffer;
if (command == FD_WRITE)
memcpy(dma_buffer, buf, 512);
}
setup_DMA((unsigned long)dma_buffer, command);
send_byte(command);
send_byte(head<<2 | 0);
send_byte(track);
send_byte(head);
send_byte(sector);
send_byte(2); /* sector size = 125 * 2^(2) */
send_byte(floppy.sector);
send_byte(0);
send_byte(0xFF); /* sector size(only two valid vaules, 0xff when n!=0*/
if (!wait_fdc(FALSE)) {
//LOG("wait fdc failed!\n");
//return 0;
/*
printk("Time out, trying operation again after reset() \n");
reset();
return floppy_rw(sector, buf, command);
*/
}
motor_off();
if (/*res != 7 || */(ST0 & 0xf8) || (ST1 & 0xbf) || (ST2 & 0x73) ) {
if (ST1 & 0x02)
LOG("Drive is write protected!\n");
else
LOG("floppy_rw: bad interrupt!\n");
return -EIO;
} else {
LOG("floppy_rw: OK\n");
if ((unsigned long)buf >= 0xff000 && command == FD_READ)
memcpy(buf, dma_buffer, 512);
return 0;
}
}
char ATA_DEVICE::exec_ata_cmd(unsigned char cmd)
{
// printf(__FUNCTION__" cmd=%02X\n", cmd);
// EXECUTE DEVICE DIAGNOSTIC for both ATA and ATAPI
if (cmd == 0x90)
{
reset_signature(RESET_SOFT);
return 1;
}
if (atapi)
return 0;
// INITIALIZE DEVICE PARAMETERS
if (cmd == 0x91)
{
// pos = (reg.cyl * h + (reg.devhead & 0x0F)) * s + reg.sec - 1;
h = (reg.devhead & 0xF) + 1;
s = reg.count;
if(s == 0)
{
reg.status = STATUS_DRDY | STATUS_DF | STATUS_DSC | STATUS_ERR;
return 1;
}
c = lba / s / h;
reg.status = STATUS_DRDY | STATUS_DSC;
return 1;
}
if ((cmd & 0xFE) == 0x20) // ATA-3 (mandatory), read sectors
{ // cmd #21 obsolette, rqd for is-dos
// printf(__FUNCTION__" sec_cnt=%d\n", reg.count);
read_sectors();
return 1;
}
if((cmd & 0xFE) == 0x40) // ATA-3 (mandatory), verify sectors
{ //rqd for is-dos
verify_sectors();
return 1;
}
if ((cmd & 0xFE) == 0x30 && !readonly) // ATA-3 (mandatory), write sectors
{
if (seek())
{
state = S_WRITE_SECTORS;
reg.status = STATUS_DRQ | STATUS_DSC;
transptr = 0;
transcount = 0x100;
}
return 1;
}
if(cmd == 0x50) // format track (данная реализация - ничего не делает)
{
reg.sec = 1;
if (seek())
{
state = S_FORMAT_TRACK;
reg.status = STATUS_DRQ | STATUS_DSC;
transptr = 0;
transcount = 0x100;
}
return 1;
}
if (cmd == 0xEC)
{
prepare_id();
return 1;
}
if (cmd == 0xE7)
{ // FLUSH CACHE
if (ata_p.flush())
{
command_ok();
intrq = 1;
}
else
reg.status = STATUS_DRDY | STATUS_DF | STATUS_DSC | STATUS_ERR; // 0x71
return 1;
}
if (cmd == 0x10)
{
recalibrate();
command_ok();
intrq = 1;
return 1;
}
if (cmd == 0x70)
{ // seek
if (!seek())
return 1;
command_ok();
intrq = 1;
return 1;
}
printf("*** unknown ata cmd %02X ***\n", cmd);
return 0;
}
/**
\fn updateImageTiming
*/
bool ADM_Composer::updateImageTiming(_SEGMENT *seg,ADMImage *image)
{
recalibrate(&(image->Pts),seg);
// recalibrate(&(image->Dts),seg);
return true;
}
void mfm_harddisk_device::device_timer(emu_timer &timer, device_timer_id id, int param, void *ptr)
{
switch (id)
{
case INDEX_TM:
// Simple index hole handling. We assume that there is only a short pulse.
m_revolution_start_time = machine().time();
if (!m_index_pulse_cb.isnull())
{
m_index_pulse_cb(this, ASSERT_LINE);
m_index_pulse_cb(this, CLEAR_LINE);
}
break;
case SPINUP_TM:
recalibrate();
break;
case CACHE_TM:
m_cache->write_back_one();
break;
case SEEK_TM:
switch (m_step_phase)
{
case STEP_COLLECT:
// Collect timer has expired; start moving head
head_move();
break;
case STEP_MOVING:
// Head has reached final position
// Check whether we have a new delta
if (m_track_delta == 0)
{
// Start the settle timer
m_step_phase = STEP_SETTLE;
m_seek_timer->adjust(m_settle_time);
if (TRACE_STEPS && TRACE_DETAIL) logerror("%s: Arrived at target cylinder %d, settling ...\n", tag(), m_current_cylinder);
}
else
{
// need to move the head again
head_move();
}
break;
case STEP_SETTLE:
// Do we have new step pulses?
if (m_track_delta != 0) head_move();
else
{
// Seek completed
if (!m_recalibrated)
{
m_ready = true;
m_recalibrated = true;
if (TRACE_STATE) logerror("%s: Spinup complete, drive recalibrated and positioned at cylinder %d; drive is READY\n", tag(), m_current_cylinder);
if (!m_ready_cb.isnull()) m_ready_cb(this, ASSERT_LINE);
}
else
{
if (TRACE_SIGNALS) logerror("%s: Settling done at cylinder %d, seek complete\n", tag(), m_current_cylinder);
}
m_seek_complete = true;
if (!m_seek_complete_cb.isnull()) m_seek_complete_cb(this, ASSERT_LINE);
m_step_phase = STEP_COLLECT;
}
break;
}
}
}
EventReceiver::EventReceiver()
: inputManager(0),
mouse(0),
keyboard(0),
joystick(0),
deadZone(0.01f),
test_kc(0),
keyNameMap(),
lastSteer(0.0f)
{
inputManager = OIS::InputManager::createInputSystem(TheGame::getInstance()->getWindowId());
// for mem leak test
//for (unsigned int i = 0; i < 10; i++)
//{
// new char[100+i];
//}
if (inputManager->getNumberOfDevices(OIS::OISKeyboard) <= 0)
{
PrintError(1, "Unable to detect keyboard. Program will exit");
assert(0);
}
keyboard = static_cast<OIS::Keyboard*>(inputManager->createInputObject(OIS::OISKeyboard, false));
//mouse = static_cast<OIS::Mouse*>(inputManager->createInputObject(OIS::OISMouse, false));
dprintf(MY_DEBUG_ERROR, "If crash here report me the error\n");
if (inputManager->getNumberOfDevices(OIS::OISJoyStick) > 0)
{
joystick = static_cast<OIS::JoyStick*>(inputManager->createInputObject(OIS::OISJoyStick, false));
}
recalibrate();
KeyProperty kp;
kp.primaryKeyConfig = kp.secondaryKeyConfig = 0;
kp.continous = true;
keyNameMap["accelerate"] = ACCELERATE;
kp.keyLongName = "Accelerate";
keyMap[ACCELERATE] = kp;
keyNameMap["brake"] = BRAKE;
kp.keyLongName = "Brake";
keyMap[BRAKE] = kp;
keyNameMap["left"] = LEFT;
kp.keyLongName = "Steer left";
keyMap[LEFT] = kp;
keyNameMap["right"] = RIGHT;
kp.keyLongName = "Steer right";
keyMap[RIGHT] = kp;
keyNameMap["handbrake"] = HANDBRAKE;
kp.keyLongName = "Handbrake";
keyMap[HANDBRAKE] = kp;
keyNameMap["clutch"] = CLUTCH;
kp.keyLongName = "Clutch";
keyMap[CLUTCH] = kp;
keyNameMap["look_left"] = LOOK_LEFT;
kp.keyLongName = "Look left";
keyMap[LOOK_LEFT] = kp;
keyNameMap["look_right"] = LOOK_RIGHT;
kp.keyLongName = "Look right";
keyMap[LOOK_RIGHT] = kp;
keyNameMap["gear_1"] = GEAR_1;
kp.keyLongName = "First gear";
keyMap[GEAR_1] = kp;
keyNameMap["gear_2"] = GEAR_2;
kp.keyLongName = "Second gear";
keyMap[GEAR_2] = kp;
keyNameMap["gear_3"] = GEAR_3;
kp.keyLongName = "Third gear";
keyMap[GEAR_3] = kp;
keyNameMap["gear_4"] = GEAR_4;
kp.keyLongName = "Fourth gear";
keyMap[GEAR_4] = kp;
keyNameMap["gear_5"] = GEAR_5;
kp.keyLongName = "Fifth gear";
keyMap[GEAR_5] = kp;
keyNameMap["gear_6"] = GEAR_6;
kp.keyLongName = "Sixth gear";
keyMap[GEAR_6] = kp;
keyNameMap["gear_r"] = GEAR_R;
kp.keyLongName = "Reverse gear";
keyMap[GEAR_R] = kp;
kp.continous = false;
keyNameMap["physics"] = PHYSICS;
kp.keyLongName = "Switch Physics on/off";
keyMap[PHYSICS] = kp;
keyNameMap["fps_camera"] = FPS_CAMERA;
kp.keyLongName = "Change FPS camera";
keyMap[FPS_CAMERA] = kp;
keyNameMap["switch_hud"] = SWITCH_HUD;
kp.keyLongName = "Turn on/off HUD";
keyMap[SWITCH_HUD] = kp;
keyNameMap["change_view"] = CHANGE_VIEW;
kp.keyLongName = "Change view";
keyMap[CHANGE_VIEW] = kp;
keyNameMap["open_editor"] = OPEN_EDITOR;
kp.keyLongName = "Open editor window";
keyMap[OPEN_EDITOR] = kp;
keyNameMap["reset_vehicle"] = RESET_VEHICLE;
kp.keyLongName = "Reset vehicle";
keyMap[RESET_VEHICLE] = kp;
keyNameMap["repair_vehicle"] = REPAIR_VEHICLE;
kp.keyLongName = "Repair vehicle";
keyMap[REPAIR_VEHICLE] = kp;
keyNameMap["switch_input"] = SWITCH_INPUT;
kp.keyLongName = "Switch input while editor (game/editor)";
keyMap[SWITCH_INPUT] = kp;
keyNameMap["exit_to_menu"] = EXIT_TO_MENU;
kp.keyLongName = "Game pause menu";
keyMap[EXIT_TO_MENU] = kp;
keyNameMap["roadbook_next"] = ROADBOOK_NEXT;
kp.keyLongName = "Go to the next roadbook element";
keyMap[ROADBOOK_NEXT] = kp;
keyNameMap["roadbook_prev"] = ROADBOOK_PREV;
kp.keyLongName = "Go to the previous roadbook element";
keyMap[ROADBOOK_PREV] = kp;
keyNameMap["reset_partial"] = RESET_PARTIAL;
kp.keyLongName = "Reset partial";
keyMap[RESET_PARTIAL] = kp;
keyNameMap["inc_fps_speed"] = INC_FPS_SPEED;
kp.keyLongName = "Increase FPS camera movement speed";
keyMap[INC_FPS_SPEED] = kp;
keyNameMap["dec_fps_speed"] = DEC_FPS_SPEED;
kp.keyLongName = "Decrease FPS camera movement speed";
keyMap[DEC_FPS_SPEED] = kp;
keyNameMap["gear_up"] = GEAR_UP;
kp.keyLongName = "Gear up (if sequential)";
keyMap[GEAR_UP] = kp;
keyNameMap["gear_down"] = GEAR_DOWN;
kp.keyLongName = "Gear down (if sequential)";
keyMap[GEAR_DOWN] = kp;
#ifdef DETECT_MEM_LEAKS
keyNameMap["print_mem_leaks"] = PRINT_MEM_LEAKS;
kp.keyLongName = "Print memory leaks";
keyMap[PRINT_MEM_LEAKS] = kp;
keyNameMap["print_mem_leaks_irr"] = PRINT_MEM_LEAKS_IRR;
kp.keyLongName = "Print memory leaks from Irrlicht";
keyMap[PRINT_MEM_LEAKS_IRR] = kp;
#endif // DETECT_MEM_LEAKS
loadKeyMapping();
//saveKeyMapping();
}
void loop(){
api.getMyZRState(me);
api.getOtherZRState(other);
getItemArray();
if((game.getCurrentTime() > 165 || game.getFuelRemaining() < 10) && game.getMemoryFilled() >= 1){
game.takePic();
state = UPLOAD; //game changer
}
if(game.getEnergy() < 1 && !game.posInLight(me))
state = STOP;
if(game.getFuelRemaining() == 0)
game.takePic();
switch(state) {
case MAIN: //normal case
if(distance(me,items[itemNum])<0.3 && distance(me,items[itemNum])>distance(other,items[itemNum]) )
itemBool[itemNum]=false;
if(!itemBool[itemNum]){
itemNum = recalibrate(4,6);
}
memcpy(target,items[itemNum],3*sizeof(float));
moveTo(target);
mathVecSubtract(facing, other, me, 3);
api.setAttitudeTarget(facing);
if( checkPhoto(me,other,facing) )
game.takePic();
if(game.getMemoryFilled() == 2)
state = UPLOAD;
break;
case UPLOAD: //upload
if(game.getEnergy() > 2)
moveTo(target);
else
api.setVelocityTarget(origin);
api.setAttitudeTarget(earth);
if( game.getEnergy() > 1 && checkUpload(me) )
game.uploadPics();
if( game.getMemoryFilled() == 0){
state = MAIN;
}
break;
case STOP: //chill out
api.setVelocityTarget(origin);
api.setAttRateTarget(origin);
if(!mathVecInner(me+6,facing,3) > 0.9689f)
api.setAttitudeTarget(facing);
if(game.posInLight(me)){
if(game.getMemoryFilled() == 2)
state = UPLOAD;
else
state = MAIN;
}
break;
case LIGHTDARK: //if we are in light and they are in dark
itemNum = recalibrate(7,8);
if(!itemBool[itemNum]) //if both mirrors are taken
itemNum = 6;
memcpy(target,items[itemNum],3*sizeof(float));
api.setPositionTarget(target);
mathVecSubtract(facing, other, me, 3);
api.setAttitudeTarget(facing);
break;
}
}
/*since reads and writes differ only by a few lines, this handles both.*/
static UINT fdc_rw(int block,char *blockbuff,UINT cmd_read,ULONG nosectors)
{
int head,track,sector,tries, copycount = 0;
char *p_tbaddr = (char *)0x80000;
char *p_blockbuff = blockbuff;
block2hts(block,&head,&track,§or); /* convert logical address into physical address */
motoron(); /* spin up the disk */
if (!cmd_read && blockbuff) {
/* copy data from data buffer into track buffer */
for(copycount=0;copycount<(nosectors*FLOPPY_SECTOR_SIZE);copycount++) {
*p_tbaddr=*p_blockbuff;
p_blockbuff++;
p_tbaddr++;
}
}
for (tries=0;tries<3;tries++) {
if (inportb(FDC_DIR) & 0x80) { /* check for diskchange */
dchange=1;
flseek(1); /* clear "disk change" status */
recalibrate();
motoroff();
return fdc_rw(block, blockbuff, cmd_read, nosectors);
}
if (!flseek(track)) {/* move head to right track */
motoroff();
return 0;
}
outportb(FDC_CCR,0);/* program data rate (500K/s) */
if (cmd_read) { /* send command */
dma_xfer(2,tbaddr,nosectors*FLOPPY_SECTOR_SIZE,0);
sendbyte(CMD_READ);
} else {
dma_xfer(2,tbaddr,nosectors*FLOPPY_SECTOR_SIZE,1);
sendbyte(CMD_WRITE);
}
sendbyte(head<<2);
sendbyte(track);
sendbyte(head);
sendbyte(sector);
sendbyte(2); /* 512 bytes/sector */
sendbyte(geometry.spt);
if (geometry.spt == DG144_SPT) sendbyte(DG144_GAP3RW); /* gap 3 size for 1.44M read/write */
else sendbyte(DG168_GAP3RW); /* gap 3 size for 1.68M read/write */
sendbyte(0xFF); /* DTL = unused */
/* wait for command completion */
/* read/write don't need "sense interrupt status" */
if (!waitfdc(1)) {
reset();
return fdc_rw(block, blockbuff, cmd_read, nosectors);
}
if (!(status[0]&0xC0)) break; /* worked! outta here! */
recalibrate(); /* oops, try again... */
}
motoroff();
if (cmd_read && blockbuff) {
/* copy data from track buffer into data buffer */
p_blockbuff=blockbuff;
p_tbaddr = (char *) 0x80000;
for(copycount=0; copycount<(nosectors*FLOPPY_SECTOR_SIZE);copycount++) {
*p_blockbuff=*p_tbaddr;
p_blockbuff++;
p_tbaddr++;
}
}
return (tries!=3);
}