static int program_wait(int *exitcode, int tryflg)
{
int taskid;
char *userargs;
int usersize;
usersize = environment_get_session_size();
userargs = malloc(usersize);
if(userargs==0)
return ERRNO_RESOURCE;
taskid=environment_wait(exitcode, tryflg, userargs, usersize);
if(taskid==ERRNO_OVER) {
mfree(userargs);
return taskid;
}
if(taskid<0) {
display_puts("wait error=");
int2dec(-taskid,s);
display_puts(s);
display_puts("\n");
mfree(userargs);
return taskid;
}
if(*exitcode & 0x8000) {
exception_dump((void*)userargs, display_puts);
}
mfree(userargs);
return taskid;
}
int cdfs_init(void)
{
int rc;
if(cdfs_queid != 0)
return 0;
for(;;) {
rc = syscall_que_lookup(CDFS_QNM_CDFS);
if(rc==ERRNO_NOTEXIST) {
syscall_wait(10);
continue;
}
if(rc<0) {
cdfs_queid = 0;
display_puts("cdfs_init srvq=");
long2hex(-rc,s);
display_puts(s);
display_puts("\n");
return rc;
}
cdfs_queid = rc;
break;
}
//display_puts("cdfs_init done\n");
return 0;
}
int tst_alarm(void)
{
int i;
//int rc;
//int alarm;
struct msg_head selected_msg;
for(i=0;i<10;i++) {
display_puts("@");
syscall_wait(50);
}
display_puts("\n");
for(i=0;i<10;i++) {
display_puts("@");
syscall_alarm_set(50,environment_getqueid(),0x00010000);
selected_msg.size=sizeof(selected_msg);
message_poll(MESSAGE_MODE_WAIT, 0, 0, &selected_msg);
message_receive(MESSAGE_MODE_TRY, 0, 0, &selected_msg);
}
display_puts("\n");
return 0;
}
int test_mouse_key()
{
unsigned long mask=0;
int count=0;
display_puts("key open\n");
if ((keyb_fd = GdOpenKeyboard()) < 0) {
PRINT_ERROR("Cannot initialise keyboard");
return -1;
}
psd = GdOpenScreen();
if(psd==NULL) {
syscall_puts("GdOpenScreen error\n");
GdCloseKeyboard();
return -1;
}
display_puts("mouse open\n");
if ((mouse_fd = GdOpenMouse()) < 0) {
PRINT_ERROR("Cannot initialise mouse");
GdCloseScreen(psd);
GdCloseKeyboard();
return -1;
}
GdSetForegroundPixelVal(psd, 7);
GdSetBackgroundPixelVal(psd, 0);
GdSetDash(&mask, &count);
for(;;) {
GsSelect();
}
return 0;
}
int cdfs_open_response(unsigned short *seq, int *handle)
{
union cdfs_msg msg;
int rc;
if(cdfs_queid==0) {
rc=cdfs_init();
if(rc<0)
return rc;
}
msg.h.size=sizeof(msg);
rc=message_receive(MESSAGE_MODE_WAIT,CDFS_SRV_CDFS, CDFS_CMD_OPEN, &msg);
if(rc<0) {
display_puts("cdfs open=");
int2dec(-rc,s);
display_puts(s);
display_puts("\n");
return rc;
}
*seq = msg.open.res.seq;
*handle = msg.open.res.handle;
return rc;
}
int cdfs_getinfo_request(unsigned short seq,unsigned short devid)
{
int rc;
union cdfs_msg msg;
if(cdfs_queid==0) {
rc=cdfs_init();
if(rc<0)
return rc;
}
msg.h.size=sizeof(struct cdfs_req_getinfo);
msg.h.service=CDFS_SRV_CDFS;
msg.h.command=CDFS_CMD_GETINFO;
msg.h.arg=environment_getqueid();
msg.getinfo.req.seq=seq;
msg.getinfo.req.devid=devid;
/*
int2dec(msg.req.queid,s);
display_puts(s);
*/
rc=message_send(cdfs_queid, &msg);
if(rc<0) {
display_puts("getcode sndcmd=");
int2dec(-rc,s);
display_puts(s);
display_puts("\n");
return rc;
}
return 0;
}
int cdfs_getinfo_response(unsigned short *seq, int *typecode)
{
union cdfs_msg msg;
int rc;
if(cdfs_queid==0) {
rc=cdfs_init();
if(rc<0)
return rc;
}
msg.h.size=sizeof(msg);
rc=message_receive(MESSAGE_MODE_WAIT,CDFS_SRV_CDFS, CDFS_CMD_GETINFO, &msg);
if(rc<0) {
display_puts("getcode getresp=");
int2dec(-rc,s);
display_puts(s);
display_puts("\n");
return rc;
}
*seq = msg.getinfo.res.seq;
*typecode = msg.getinfo.res.type;
return 0;
}
int cdfs_stat_response(unsigned short *seq, struct file_info *info, unsigned long bufsize)
{
union cdfs_msg msg;
int rc;
if(cdfs_queid==0) {
rc=cdfs_init();
if(rc<0)
return rc;
}
msg.h.size=sizeof(msg);
rc=message_receive(MESSAGE_MODE_WAIT,CDFS_SRV_CDFS, CDFS_CMD_STAT, &msg);
if(rc<0) {
display_puts("getcode getresp=");
int2dec(-rc,s);
display_puts(s);
display_puts("\n");
return rc;
}
*seq = msg.stat.res.seq;
unsigned long len = sizeof(struct file_info);
if(len>bufsize)
len = bufsize;
memcpy(info, &msg.stat.res.info, len);
if((int)(msg.stat.res.info.size) == -1)
return 0;
if(bufsize < sizeof(struct file_info))
return 0;
return 0;
}
int cdfs_stat_request(unsigned short seq,int handle)
{
int rc;
union cdfs_msg msg;
if(cdfs_queid==0) {
rc=cdfs_init();
if(rc<0)
return rc;
}
msg.h.size=sizeof(struct cdfs_req_readdir);
msg.h.service=CDFS_SRV_CDFS;
msg.h.command=CDFS_CMD_STAT;
msg.h.arg=environment_getqueid();
msg.stat.req.seq=seq;
msg.stat.req.handle=handle;
/*
int2dec(msg.req.queid,s);
display_puts(s);
*/
rc=message_send(cdfs_queid, &msg);
if(rc<0) {
display_puts("cdfs_stat sndcmd=");
int2dec(-rc,s);
display_puts(s);
display_puts("\n");
return rc;
}
return 0;
}
int cdfs_read_response(unsigned short *seq, int *readbyte)
{
union cdfs_msg msg;
int rc;
if(cdfs_queid==0) {
rc=cdfs_init();
if(rc<0)
return rc;
}
msg.h.size=sizeof(msg);
rc=message_receive(MESSAGE_MODE_WAIT,CDFS_SRV_CDFS, CDFS_CMD_READ, &msg);
if(rc<0) {
display_puts("getcode getresp=");
int2dec(-rc,s);
display_puts(s);
display_puts("\n");
return rc;
}
*seq = msg.read.res.seq;
*readbyte = msg.read.res.readbyte;
return rc;
}
void usage(void)
{
display_puts("usage: tstcdfs command fullpath\n");
display_puts("commands:\n");
display_puts("type - display file\n");
display_puts("dir - list directory\n");
}
//
// Update mouse status and issue events on it if necessary.
// This function doesn't block, but is normally only called when
// there is known to be some data waiting to be read from the mouse.
//
BOOL GsCheckMouseEvent(void)
{
MWCOORD rootx; // latest mouse x position
MWCOORD rooty; // latest mouse y position
int newbuttons; // latest buttons
int mousestatus; // latest mouse status
// Read the latest mouse status:
display_puts("mouse read\n");
mousestatus = GdReadMouse(&rootx, &rooty, &newbuttons);
if(mousestatus < 0) {
display_puts("Mouse error\n");
return FALSE;
} else if(mousestatus) { // Deliver events as appropriate:
/*
display_puts("mouse ");
sint2dec(rootx,s);
display_puts(s);
display_puts(",");
sint2dec(rooty,s);
display_puts(s);
display_puts(",");
long2hex(newbuttons,s);
display_puts(s);
display_puts("\n");
*/
if(newbuttons&0x1)
tstColorGd++;
GdSetForegroundPixelVal(psd, tstColorGd);
GdPoint(psd, rootx, rooty);
return TRUE;
}
return FALSE;
}
void placar (display *tela, int n_inimigos)
{
float elapsed = (float) clock() / CLOCKS_PER_SEC;
elapsed -= g_start;
display_puts(tela, 0, 1, "%d inimigos", n_inimigos);
display_puts(tela, 0, 0, "%.2f segundos vivo", elapsed);
}
void tst_shm2(void)
{
int r;
int shmid;
syscall_wait(10);
shmid=shm_lookup(SHRMEMNAME);
display_puts("shm2 lookup=");
sint2dec(shmid,s);
display_puts(s);
r=shm_map(shmid,(void*)SHRMEMADDR);
display_puts(" shm2 map=");
sint2dec(r,s);
display_puts(s);
// display_puts("\n");
syscall_wait(50);
syscall_mtx_lock((int*)SHRMEMADDR);
memcpy(s,(void*)(SHRMEMADDR+sizeof(int)),4);
syscall_mtx_unlock((int*)SHRMEMADDR);
s[4]=0;
display_puts(" shm2 shrstr=");
display_puts(s);
// display_puts("\n");
r=shm_unmap(shmid);
display_puts(" shm2 unmap=");
sint2dec(r,s);
display_puts(s);
display_puts("\n");
}
static void
do_buttondown(GR_EVENT_BUTTON *ep)
{
mwin * mwp;
static int app_no;
char *userargs;
int r,taskid,queid,n;
char s[16];
char *argv[2];
if (ep->wid == w1) {
app_no = ep->y / fheight;
if (app_no >= num_apps) {
app_no = num_apps - 1;
}
taskid=syscall_pgm_load(
Apps[app_no].app_path,
SYSCALL_PGM_TYPE_VGA|SYSCALL_PGM_TYPE_IO);
if(taskid<0) {
display_puts("load error=");
int2dec(-taskid,s);
display_puts(s);
display_puts("\n");
return;
}
argv[0]=Apps[app_no].app_path;
argv[1]="";
userargs=environment_copy_session();
n = environment_get_session_size();
environment_make_args(userargs, 2, argv);
r = syscall_pgm_setargs(taskid, userargs, n);
if(r<0) {
display_puts("setargs error=");
int2dec(-r,s);
display_puts(s);
display_puts("\n");
return;
}
mfree(userargs);
queid = environment_getqueid();
r=syscall_pgm_start(taskid, queid);
if(r<0) {
display_puts("start error=");
int2dec(-r,s);
display_puts(s);
display_puts("\n");
return;
}
} else if ((mwp = IsDecoration(ep->wid)) != NULL) {
GrRaiseWindow(mwp->wid);
GrRaiseWindow(mwp->fid);
in_motion = mwp;
move_xoff = ep->x;
move_yoff = ep->y;
}
}
/*!
* Display zum Setzen und Anfahren der Stackpunkte
*/
void drive_stack_display(void) {
display_cursor(1, 1);
display_printf("Stack %5d %5d", pos.x, pos.y);
display_cursor(2, 1);
display_puts("Save/Del : 3/8");
display_cursor(3, 1);
display_puts("GoBack/Forward: 4/7");
display_cursor(4, 1);
display_puts("Start WayPushPos: 5");
drivestack_disp_key_handler(); // Aufruf des Key-Handlers
}
/**
* Zeigt die aktuelle Speicherbelegung an.
* Achtung, die Stackgroesse bezieht sich auf den Stack *dieser* Funktion!
* Die Heapgroesse stimmt nur, wenn es dort keine Luecken gibt (z.b. durch free())
*/
void ram_display(void) {
unsigned char * sp = (unsigned char *) SP;
extern unsigned char __data_start;
extern unsigned char __bss_start;
extern unsigned char __heap_start;
extern unsigned char * __brkval;
#ifdef RC5_AVAILABLE
#ifdef LOG_AVAILABLE
extern unsigned char __data_end;
extern unsigned char __bss_end;
if (RC5_Code == RC5_CODE_1) {
LOG_DEBUG("__data_start = 0x%04x", &__data_start);
LOG_DEBUG("__data_end = 0x%04x", &__data_end);
LOG_DEBUG("__bss_start = 0x%04x", &__bss_start);
LOG_DEBUG("__bss_end = 0x%04x", &__bss_end);
LOG_DEBUG("__heap_start = 0x%04x", &__heap_start);
LOG_DEBUG("__heap_end = 0x%04x", __brkval);
LOG_DEBUG("SP = 0x%04x", sp);
LOG_DEBUG("RAMEND = 0x%04x", RAMEND);
RC5_Code = 0;
}
#endif // RC5_AVAILABLE
#endif // LOG_AVAILABLE
size_t data_size = (size_t) (&__bss_start - &__data_start);
size_t bss_size = (size_t) (&__heap_start - &__bss_start);
display_cursor(1, 1);
display_puts("bss/data:");
display_cursor(1, 10);
display_printf("%5u/%5u", bss_size, data_size);
display_cursor(2, 1);
display_puts("heap:");
display_cursor(2, 16);
size_t heap_size = __brkval == NULL ? 0 : (size_t) (__brkval - &__heap_start);
display_printf("%5u", heap_size);
display_cursor(3, 1);
size_t ram_size = (size_t) ((unsigned char *) (RAMEND + 1) - &__data_start);
size_t stack_size = (size_t) ((unsigned char *) RAMEND - sp);
display_puts("stack:");
#ifdef OS_DEBUG
size_t stack_size_max = ram_size - (os_stack_unused(__brkval + __malloc_margin) + data_size + bss_size + heap_size);
display_cursor(3, 10);
display_printf("%5u/%5u", stack_size, stack_size_max);
#else
display_cursor(3, 16);
display_printf("%5u", stack_size);
#endif // OS_DEBUG
display_cursor(4, 1);
size_t frei = ram_size - (data_size + bss_size + heap_size + stack_size);
display_puts("free/ram:");
display_cursor(4, 10);
display_printf("%5u/%5u", frei, ram_size);
}
int main(void)
{
WDTCTL = WDTPW | WDTHOLD;
/* configure P2.6 and P2.7 as XIN/XOUT function pins */
P2DIR &= ~BIT6;
P2DIR |= BIT7;
P2SEL |= BIT7 | BIT6;
/* 32kHz external crystal, XCAP = 12.5pF, clear LFXT1 osc fault */
BCSCTL3 |= XCAP0 | XCAP1;
BCSCTL3 &= ~(LFXT1S0 | LFXT1S1);
/* enable ACLK function of P1.0 (32KHz clock output) */
P1DIR |= BIT0;
P1SEL |= BIT0;
spi_init();
/* to save space, since we do it in the interrupt anyway */
P1DIR |= DISPLAY_SUPPLY;
P1OUT |= DISPLAY_SUPPLY;
#if 0
display_puts("MSP430", 0);
display_puts("123456", 1);
#endif
display_init(1);
delay_ms(100);
display_update(1);
/* enable falling edge interrupt for BUSY1 of the display, which
* becomes low when the display content has been updated */
P1IE |= DISPLAY_BUSY1;
P1IES |= DISPLAY_BUSY1;
/* Timer A: input divider /8, ACLK clock source, UP mode */
TACTL = ID_3 | TASSEL_1 | MC_3;
/* enable the TACCR0 compare interrupt */
TACCTL0 = CCIE;
/* load TACCR0, starts timer. (32768Hz / 8) * 15 = 61440, so the
* timer interrupt fires every 15 seconds */
TACCR0 = 61440 - 1;
/* enable global interrupts and enter LPM3 */
_BIS_SR(LPM3_bits + GIE);
while (1) { };
}
void dsp_open_error(int errno)
{
switch(errno) {
case ERRNO_NOTEXIST:
display_puts("Not found\n");
break;
case ERRNO_SCSI_NotReady:
display_puts("Drive is not ready\n");
break;
default:
print_format("Error(%d)\n",errno);
}
}
int pci_init(void)
{
pci_bios_entry.address=(unsigned long)pci_scan_bios();
if(pci_bios_entry.address==0) {
return ERRNO_NOTEXIST;
}
unsigned long addr = pci_bios32_service_directory(PCI_SERVICE);
if(addr)
display_puts("In service");
else
display_puts("Out of service");
return 0;
}
/**
* Handle keys when tea is not being brewed
*/
static void handle_key_idle(const char key) {
//digit
if (key >= 0x30 && key <= 0x39) {
handle_temperature_digit(key - 0x30);
} else if (key == '#') {
if (tea_set_point == 0)
display_puts("Err");
else
tea_on();
} else if (key == '*') {
display_puts("---");
del_timer(clear_temp_state);
clear_temp_state();
}
}
/**
* Faehrt den Bot sauber herunter
*/
void ctbot_shutdown(void) {
LOG_INFO("Shutting c't-Bot down...");
motor_set(BOT_SPEED_STOP, BOT_SPEED_STOP);
#ifdef MAP_AVAILABLE
map_flush_cache();
#endif
#ifdef LOG_MMC_AVAILABLE
log_flush();
#endif
#ifdef BOT_FS_AVAILABLE
botfs_close_volume();
#endif
#ifdef DISPLAY_AVAILABLE
display_clear();
display_cursor(1, 1);
display_puts("SYSTEM HALTED.");
#endif // DISPLAY_AVAILABLE
ENA_off(0xff);
ctbot_shutdown_low();
}
/**
* Display fuer das uBasic-Verhalten
*/
void ubasic_display(void) {
display_cursor(1, 1);
display_puts("- uBasic -");
#ifdef RC5_CODE_PLAY
display_cursor(2, 1);
display_puts("PLAY:Run Prog");
#endif
display_cursor(3, 1);
display_puts("1-9:bas1..9.txt");
#ifdef RC5_CODE_STOP
display_cursor(4, 1);
display_puts("STOPP:Prog abbrechen");
#endif
ubasic_disp_key_handler(); // Aufruf des Key-Handlers
}
/**
* Handle keys to set temperature digits
*/
static void handle_temperature_digit(const uint8_t digit) {
char buf[4] = "---";
//this is the first digit
if (temp_entry.state == TEMP_STATE_NONE) {
temp_entry.state = TEMP_STATE_ENTER;
temp_entry.digit = 0;
}
temp_entry.digits[temp_entry.digit] = digit;
del_timer(clear_temp_state);
for (uint8_t i = 0; i <= temp_entry.digit; ++i)
buf[i] = temp_entry.digits[i]+0x30;
display_puts(buf);
if (temp_entry.digit == 2) {
temp_entry.state = TEMP_STATE_NONE;
uint16_t temp = temp_entry.digits[0]*100 + temp_entry.digits[1]*10 + temp_entry.digits[2];
tea_set_temperature(temp);
} else {
temp_entry.digit++;
add_timer(clear_temp_state, 5*TIMER_HZ, 1);
}
}
static void dump(char *addr)
{
int i,j;
for(j=0;j<2;j++) {
long2hex((unsigned long)addr,s);
display_puts(s);
for(i=0;i<16;i++,addr++) {
byte2hex(*addr,s);
display_puts(" ");
display_puts(s);
}
display_puts("\n");
syscall_wait(50);
}
}
int mouse_poll(void)
{
union mou_msg msg;
int r;
msg.req.h.size=sizeof(msg);
r=message_poll(mou_quewait,MOU_SRV_MOUSE, MOU_CMD_GETCODE, &msg);
if(r<0) {
display_puts("mousepoll getresp=");
int2dec(-r,s);
display_puts(s);
display_puts("\n");
return r;
}
return r;
}
int cmd_stat(int ac, char **av)
{
int rc;
int handle;
char type;
char buf[sizeof(struct file_info)+CDFS_FULLPATH_MAXLENGTH];
struct file_info *info=(void*)buf;
//display_puts("cdfs_open\n");
handle = cdfs_open(av[0]);
if(handle<0) {
dsp_open_error(handle);
goto EXITCMD;
}
//display_puts("cdfs_stat\n");
rc = cdfs_stat(handle,info,sizeof(buf));
if(rc<0) {
display_puts("rc=");
sint2dec(rc,s);
display_puts(s);
goto EXITCMD;
}
if(info->attr & CDFS_ATTR_DIRECTORY)
type='D';
else
type='F';
unsigned char *datestr=info->mtime;
print_format("type=%c(%02x) date=%d-%02d-%02d %02d:%02d:%02d size=%d\n",type,info->attr,1900+datestr[0],datestr[1],datestr[2],datestr[3],datestr[4],datestr[5],info->size);
EXITCMD:
if(handle>0) {
//display_puts("cdfs_close\n");
rc = cdfs_close(handle);
if(rc<0) {
display_puts("rc=");
sint2dec(rc,s);
display_puts(s);
}
}
return 0;
}
static void tea_off(void) {
del_timer(tea_tick);
//add_timer(display_test, TIMER_HZ/4, TIMER_RUN_UNLIMITED);
device_state = DEV_STATE_IDLE;
ssr_off();
servo_set_angle(0);
display_puts("---");
}
static void *pci_scan_bios(void)
{
unsigned char *bios_addr;
for(bios_addr = (void*)CFG_MEM_BIOSSTART;
(unsigned long)bios_addr < CFG_MEM_BIOSMAX-sizeof(struct pci_bios) ;
bios_addr++ )
{
if(memcmp(bios_addr,"_32_",4)!=0)
continue;
struct pci_bios *info=(void*)bios_addr;
if(info->revision!=0)
continue;
if(info->length!=(unsigned char)1)
continue;
unsigned char i,checksum=0;
for(i=0;i<sizeof(struct pci_bios);i++) {
checksum += bios_addr[i];
}
if(checksum!=info->checksum)
continue;
display_puts("entry=");
long2hex(info->entry,s);
display_puts(s);
display_puts(",rev=");
int2dec(info->revision,s);
display_puts(s);
display_puts(",len=");
int2dec(info->length,s);
display_puts(s);
display_puts(",chk=");
byte2hex(info->checksum,s);
display_puts(s);
display_puts("\n");
return (void*)info->entry;
//display_puts(".");
//syscall_wait(100);
}
display_puts("PCI BIOS is not found\n");
dump((void*)CFG_MEM_BIOSSTART);
return 0;
}
/**
* Zeigt ein paar Infos an, die man nicht naeher zuordnen kann
*/
void misc_display(void) {
/* Anzeige der Bot-Adresse (aenderbar) */
display_cursor(1, 1);
display_puts("bot_addr=");
#ifdef KEYPAD_AVAILABLE
if (RC5_Code == RC5_CODE_MUTE) {
gui_keypad_request(change_bot_addr_callback, 1, 1, 10);
#ifdef PC
display_cursor(1, 10);
#endif
display_puts(" "); // clean
new_address = 1;
RC5_Code = 0;
}
if (new_address == 0)
#endif // KEYPAD_AVAILABLE
{
#ifdef PC
display_cursor(1, 10);
#endif
display_printf("0x%x", get_bot_address());
}
#ifdef BEHAVIOUR_AVAILABLE
display_cursor(2, 1);
display_printf("TS=%+4d %+4d", target_speed_l, target_speed_r);
#endif
#ifdef SRF10_AVAILABLE
display_cursor(2, 15);
display_printf("US%4u", sensSRF10);
#endif
display_cursor(3, 1);
display_printf("RC=%+4d %+4d", sensEncL, sensEncR);
display_cursor(4, 1);
display_printf("Speed=%+4d", v_center);
display_cursor(4, 12);
display_printf("%4u:%03u", timer_get_s(), timer_get_ms());
}
