/**
* Remaps the PIC.
*
* Initially, in real mode, the first 32 positions of the IDT are occupied by the exceptions
* and the PIC's interrupts, IRQs. This function moves the IRQs in the IDT, so they
* don't overlap with the exceptions.
*
* @param offset1 The offset of the position where the IRQ0 was.
* @param offset2 The offset of the position where the IRQ0 will be moved.
*/
void reMapPIC(int offset1,int offset2){
unsigned char mask1,mask2;
// Saving masks
mask1 = inB(PIC1_DATA);
mask2 = inB(PIC2_DATA);
// Starting initialization
outB(PIC1_COMMAND,0x11);
outB(PIC2_COMMAND,0x11);
// Setting PIC offset
outB(PIC1_DATA,offset1);
outB(PIC2_DATA,offset2);
// Continuing initialization
outB(PIC1_DATA,4);
outB(PIC2_DATA,2);
outB(PIC1_DATA,ICW4_8086);
outB(PIC2_DATA,ICW4_8086);
// Restore masks
outB(PIC1_DATA,mask1);
outB(PIC2_DATA,mask2);
}
/**
* Initializes the Interrupt Descriptor Table.
*
* Remaps the PIC, and loads the interrput and exceptions handlers.
*/
void setupIDT(void) {
idt = allocPages(1);
// We don't actually have to keep this in memory, so it's safe to have it as a local.
InterruptDescriptorTableRegister idtr;
// Disabling interrupts to make sure we're in absolute control.
reMapPIC(PIC1_BASE_OFFSET,PIC2_BASE_OFFSET);
setIdtEntry(idt, 0x80, 0x08, (dword)&_int80Handler, 0xEE);
setIdtEntry(idt, 0x20, 0x08, (dword)&_int20Handler, ACS_INT);
setIdtEntry(idt, 0x21, 0x08, (dword)&_int21Handler, ACS_INT);
setIdtEntry(idt, 0x00, 0x08, (dword)&_int00Handler, ACS_INT);
setIdtEntry(idt, 0x01, 0x08, (dword)&_int01Handler, ACS_INT);
setIdtEntry(idt, 0x02, 0x08, (dword)&_int02Handler, ACS_INT);
setIdtEntry(idt, 0x03, 0x08, (dword)&_int03Handler, ACS_INT);
setIdtEntry(idt, 0x04, 0x08, (dword)&_int04Handler, ACS_INT);
setIdtEntry(idt, 0x05, 0x08, (dword)&_int05Handler, ACS_INT);
setIdtEntry(idt, 0x06, 0x08, (dword)&_int06Handler, ACS_INT);
setIdtEntry(idt, 0x07, 0x08, (dword)&_int07Handler, ACS_INT);
setIdtEntry(idt, 0x08, 0x08, (dword)&_int08Handler, ACS_INT);
setIdtEntry(idt, 0x09, 0x08, (dword)&_int09Handler, ACS_INT);
setIdtEntry(idt, 0x0A, 0x08, (dword)&_int0AHandler, ACS_INT);
setIdtEntry(idt, 0x0B, 0x08, (dword)&_int0BHandler, ACS_INT);
setIdtEntry(idt, 0x0C, 0x08, (dword)&_int0CHandler, ACS_INT);
setIdtEntry(idt, 0x0D, 0x08, (dword)&_int0DHandler, ACS_INT);
setIdtEntry(idt, 0x0E, 0x08, (dword)&_int0EHandler, ACS_INT);
setIdtEntry(idt, 0x0F, 0x08, (dword)&_int0FHandler, ACS_INT);
setIdtEntry(idt, 0x10, 0x08, (dword)&_int10Handler, ACS_INT);
setIdtEntry(idt, 0x11, 0x08, (dword)&_int11Handler, ACS_INT);
setIdtEntry(idt, 0x12, 0x08, (dword)&_int12Handler, ACS_INT);
setIdtEntry(idt, 0x13, 0x08, (dword)&_int13Handler, ACS_INT);
setIdtEntry(idt, 0x14, 0x08, (dword)&_int14Handler, ACS_INT);
setIdtEntry(idt, 0x15, 0x08, (dword)&_int15Handler, ACS_INT);
setIdtEntry(idt, 0x16, 0x08, (dword)&_int16Handler, ACS_INT);
setIdtEntry(idt, 0x17, 0x08, (dword)&_int17Handler, ACS_INT);
setIdtEntry(idt, 0x18, 0x08, (dword)&_int18Handler, ACS_INT);
setIdtEntry(idt, 0x19, 0x08, (dword)&_int19Handler, ACS_INT);
setIdtEntry(idt, 0x1A, 0x08, (dword)&_int1AHandler, ACS_INT);
setIdtEntry(idt, 0x1B, 0x08, (dword)&_int1BHandler, ACS_INT);
setIdtEntry(idt, 0x1C, 0x08, (dword)&_int1CHandler, ACS_INT);
setIdtEntry(idt, 0x1D, 0x08, (dword)&_int1DHandler, ACS_INT);
setIdtEntry(idt, 0x1E, 0x08, (dword)&_int1EHandler, ACS_INT);
setIdtEntry(idt, 0x1F, 0x08, (dword)&_int1FHandler, ACS_INT);
idtr.base = (dword) idt;
idtr.limit = sizeof(InterruptDescriptor) * 256 - 1;
__asm__ volatile("lidt (%%eax)"::"A"(&idtr):);
setInterruptHandlerTable();
/* Enable the interrupts we need in the PIC. */
outB(0x21,0xFC);
outB(0xA1,0xFF);
}
void signalPIC(void) {
if (intNum >= PIC_MIN_INTNUM && intNum < PIC_MIN_INTNUM + PIC_IRQS) {
if (intNum - PIC_MIN_INTNUM >= 8) {
// Tell the slave PIC we're done
outB(0xA0, PIC_EOI);
}
// Tell the master PIC we're done
outB(0x20, PIC_EOI);
}
}
void place::savePlacement(const std::vector<const place::posInfo *> &minima,
const std::string &outName,
const std::vector<Eigen::Vector2i> &zeroZero) {
constexpr int maxToSave = 500;
std::ofstream out(outName, std::ios::out);
std::ofstream outB(outName.substr(0, outName.find(".")) + ".dat",
std::ios::out | std::ios::binary);
const int num = minima.size();
out << "Score x y rotation" << std::endl;
outB.write(reinterpret_cast<const char *>(&num), sizeof(num));
for (int i = 0; i < std::min(maxToSave, num); ++i) {
place::posInfo minScore = *minima[i];
minScore.x += zeroZero[minScore.rotation][0];
minScore.y += zeroZero[minScore.rotation][1];
out << minScore.score << " " << minScore.x << " " << minScore.y << " "
<< minScore.rotation << std::endl;
outB.write(reinterpret_cast<const char *>(&minScore), sizeof(minScore));
}
out.close();
outB.close();
}
/**
* Read the registers from the Real Time Clock.
*
* It reads the registers from the RTC and stores the data in the struct which
* pointer it receives. It handles the different types of format in which the data
* is stored in the RTC registers.
*
* @param regs Pointer to struct where the data from RTC registers will be stored.
*
*/
void readRTCRegisters(RTCRegisters *regs){
int format;
// Getting format register
outB(RTCADDRESS, 11);
format = inB(RTCDATA);
// Getting seconds
regs->seconds = readSeconds();
// Getting minutes
regs->minutes = readMinutes();
// Getting hours (value may be 12hs o 24hs format)
regs->hours = readHours();
// Getting day of the month
regs->day = readDay();
// Getting month
regs->month = readMonth();
// Getting year
regs->year = readYear();
// Getting century
regs->century = readCentury();
// If in BCD mode, convert to binary
if ((format & 0x02) == 0x02 ) {
regs->seconds = BCDTOBINARY(regs->seconds);
regs->minutes = BCDTOBINARY( regs->minutes);
regs->hours = BCDTOBINARY(regs->hours);
regs->day = BCDTOBINARY(regs->day );
regs->month = BCDTOBINARY(regs->month);
regs->year = BCDTOBINARY(regs->year);
regs->century = BCDTOBINARY(regs->century);
}
// If in 12 hs mode, convert to 24 hs mode
if ((format & 0x04) == 0x04) {
// Masking off the pm/am bit
if ( (regs->hours & 0x80) == 0x80 ) {
regs->hours &= 0x7F;
// Setting 12 pm as 0 regs->hours and adjusting the rest
regs->hours = (regs->hours == 12)? 0 : regs->hours + 12;
}
}
}
/**
* Read the RTC century register.
*
* @return An integer representing the data stored in the register (different formats).
*/
int readCentury(void) {
outB(RTCADDRESS, CENTURYREGISTER);
return inB(RTCDATA);
}
/**
* Read the RTC year register.
*
* @return An integer representing the data stored in the register (different formats).
*/
int readYear(void) {
outB(RTCADDRESS, YEARREGISTER);
return inB(RTCDATA);
}
/**
* Read the RTC month register.
*
* @return An integer representing the data stored in the register (different formats).
*/
int readMonth(void) {
outB(RTCADDRESS, MONTHREGISTER);
return inB(RTCDATA);
}
/**
* Read the RTC day of the month register.
*
* @return An integer representing the data stored in the register (different formats).
*/
int readDay(void) {
outB(RTCADDRESS, DAYREGISTER);
return inB(RTCDATA);
}
/**
* Read the RTC hours register.
*
* @return An integer representing the data stored in the register (different formats).
*/
int readHours(void) {
outB(RTCADDRESS, HOURSREGISTER);
return inB(RTCDATA);
}
/**
* Read the RTC minutes register.
*
* @return An integer representing the data stored in the register (different formats).
*/
int readMinutes(void) {
outB(RTCADDRESS, MINUTESREGISTER);
return inB(RTCDATA);
}
/**
* Read the RTC seconds register.
*
* @return An integer representing the data stored in the register (different formats).
*/
int readSeconds(void) {
outB(RTCADDRESS, SECONDSREGISTER);
return inB(RTCDATA);
}
