u8 EMU_FASTCALL Memory_Read8(u32 addr)
{
// if (addr >= 0x90000000 && addr < 0x94000000) // MEM 2 (Wii)
// return Mem_RAM2[(addr ^ 3) & RAM2_MASK];
// if((addr & RAM_MASK) == (0x803C4BDC & RAM_MASK))
// printf("Reading 0x803C4BDC: %02X\n", Mem_RAM[(0x803C4BDC ^ 3) & RAM_MASK]);
if( addr < 0xC8000000 ) // Logical RAM
return Mem_RAM[(addr ^ 3) & RAM_MASK];
else if( addr >= 0xCC000000 && addr < 0xE0000000 ) // HW
{
return Flipper_Read8(addr);
}
else if( addr < 0xCC000000 ) // EFB
{
ASSERT_T(1, ".Memory: Invalid Memory_Read8 from EFB!");
return 0;
}
else if( addr < 0xF0000000 ) // L2
{
//printf("Memory_Read8() L2 Accessed!\n");
return Mem_L2[(addr ^ 3) & L2_MASK];
}else{ // IPL
// printf(".Memory: ERROR: IPL Memory_Read8(%08X) !\n", addr);
return 0;
}
}
void BiMotor::Move( MTMovDir_enum Direction, uint8_t Para, MTSpeed_enum Speed )
{
if ( 0 == Para )
{
ASSERT_T(0);
return;
}
switch ( Direction )
{
case MT_FORWARD:
case MT_BACKWARD:
case MT_STOP:
Walk( Direction, Para );
break;
case MT_CLOCKWISE:
case MT_ANTICLOCK:
Rotate( Direction, Para );
break;
case MT_TURNLEFT:
case MT_TURNRIGHT:
//todo
break;
default:
ASSERT_T(0);
}
/** RunCnt must be set before SpeedVal**/
SetSpeed(Speed);
Run();
Statistic( Direction, Para);
}
u32 EMU_FASTCALL Memory_Read32(u32 addr)
{
/* if (addr >= 0x90000000 && addr < 0x94000000) // MEM 2 (Wii)
{
return *(u32 *)(&Mem_RAM2[addr & RAM2_MASK]);
}
*/
if( addr < 0xC8000000 ) // Logical RAM
{
addr &= RAM_MASK;
if(!(addr & 3))
return *(u32 *)(&Mem_RAM[addr]);
else
{
return ((u32)Mem_RAM[(addr + 0) ^ 3] << 24) |
((u32)Mem_RAM[(addr + 1) ^ 3] << 16) |
((u32)Mem_RAM[(addr + 2) ^ 3] << 8) |
((u32)Mem_RAM[(addr + 3) ^ 3]);
}
}
else if( addr >= 0xCC000000 && addr < 0xE0000000 ) // HW
{
return Flipper_Read32(addr);
}
else if( addr < 0xCC000000 ) // EFB
{
ASSERT_T(1, "MEM: Invalid Memory_Read32 from EFB!");
return 0;
}
else if( addr < 0xF0000000 ) // L2
{
if(!(addr & 3))
return *(u32 *)(&Mem_L2[addr & L2_MASK]);
else
{
addr = addr & L2_MASK;
return ((u32)Mem_L2[(addr + 0) ^ 3] << 24) |
((u32)Mem_L2[(addr + 1) ^ 3] << 16) |
((u32)Mem_L2[(addr + 2) ^ 3] << 8) |
((u32)Mem_L2[(addr + 3) ^ 3]);
}
}
else
{ // IPL
// printf(".Memory: ERROR: IPL Memory_Read32(%08X) !\n", addr);
return 0;
}
}
u16 EMU_FASTCALL Memory_Read16(u32 addr)
{
/* if (addr >= 0x90000000 && addr < 0x94000000) // MEM 2 (Wii)
{
return *(u16 *)(&Mem_RAM2[(addr ^ 2) & RAM2_MASK]);
}
*/
if( addr < 0xC8000000 ) // Logical RAM
{
if(!(addr & 1))
return *(u16 *)(&Mem_RAM[(addr ^ 2) & RAM_MASK]);
else
{
addr = addr & RAM_MASK;
return (u16)(Mem_RAM[(addr + 0) ^ 3] << 8) |
(u16)(Mem_RAM[(addr + 1) ^ 3]);
}
}
else if( addr >= 0xCC000000 && addr < 0xE0000000 ) // HW
{
return Flipper_Read16(addr);
}
else if( addr < 0xCC000000 ) // EFB
{
ASSERT_T(1, ".Memory: Invalid Memory_Read16 from EFB!");
return 0;
}
else if( addr < 0xF0000000 ) // L2
{
if(!(addr & 1))
return *(u16 *)(&Mem_L2[(addr ^ 2) & L2_MASK]);
else
{
addr = addr & L2_MASK;
return (u16)(Mem_L2[(addr + 0) ^ 3] << 8) |
(u16)(Mem_L2[(addr + 1) ^ 3]);
}
}
else
{ // IPL
// printf(".Memory: ERROR: IPL Memory_Read16(%08X) !\n", addr);
return 0;
}
}
void EMU_FASTCALL Memory_Write8(u32 addr, u32 data)
{
/* if(((addr ^ 3) & RAM_MASK) == (0x803C4BDC & RAM_MASK))
{
printf("Writing 0x803C4BDC: %02X, PC: %08X, IC: %08X\n", (u8)data, ireg_PC(), ireg_IC());
// _asm {int 3};
}
*/
/* if (addr >= 0x90000000 && addr < 0x94000000) // MEM 2 (Wii)
{
Mem_RAM2[(addr ^ 3) & RAM2_MASK] = data;
return;
}
*/ if( addr < 0xC8000000 ) // Logical RAM
{
Mem_RAM[(addr ^ 3) & RAM_MASK] = data;
return;
}
if( addr >= 0xCC000000 && addr < 0xE0000000 ) // HW
{
Flipper_Write8(addr, data);
return;
}
if( addr < 0xCC000000 ) // EFB
{
ASSERT_T(1, ".Memory: Invalid Memory_Write8 to EFB!");
return;
}
if( addr < 0xF0000000 ) // L2
{
//printf("Memory_Write8() L2 Accessed!\n");
Mem_L2[(addr ^ 3) & L2_MASK] = data;
return;
}else{ // IPL
// printf(".Memory: ERROR: IPL Memory_Write8(%08X) !\n", addr);
return;
}
}
inline void Messager_cls::SetEnvRobotInfo( IRMsgOutput_stru &Msg, IRPosition_enum IRLoc )
{
uint8_t SenderID, MessageID, Para;
uint8_t &OldRec = InfoManager.RobotInfoOldRec;
uint8_t Index;
uint8_t i;
EnvRobotInfoRec_stru *pRobotInfo = NULL;
SenderID = Msg.SenderID;
MessageID = Msg.MessageID;
Para = Msg.Para;
/*to caculate TTL by received msg; (maybe it is better to using time, but critical resource).
*because any msg must be dealed with by ACTION after a while, so the method is OK */
pRobotInfo = InfoManager.RobotInfo;
for ( i = 0; i < ENVROBOT_INFOTBL_NUM; ++i )
{
if ( 0 < pRobotInfo->TTLCnt )
{
pRobotInfo->TTLCnt--;
}
if ( pRobotInfo->TTLCnt < InfoManager.RobotInfo[OldRec].TTLCnt )
{
OldRec = i;
}
pRobotInfo++;
}
/*todo: maybe receive many times for a msg, all the info will be combine, so the position is not accurate, expecially in rotating with large angle*/
/*if the record has been stored and than to refresh the record*/
pRobotInfo = InfoManager.RobotInfo;
for ( i = 0; i < ENVROBOT_INFOTBL_NUM; ++i )
{
if ( 0 < pRobotInfo->TTLCnt )
{
if ( (SenderID == pRobotInfo->RobotID) && (MessageID == pRobotInfo->MsgID) )
{
Index = i;
break;
}
}
pRobotInfo++;
}
/*if new record and than to add the record*/
if ( ENVROBOT_INFOTBL_NUM == i )
{
Index = OldRec;
}
ASSERT_T( Index < ENVROBOT_INFOTBL_NUM );
pRobotInfo = InfoManager.RobotInfo;
pRobotInfo += Index;
pRobotInfo->RobotID = SenderID;
pRobotInfo->MsgID = MessageID;
pRobotInfo->Para =Para;
bitSet(pRobotInfo->Position,IRLoc);
pRobotInfo->TTLCnt = MSG_TTL;
}
