picoc/platform/library_surveyor.c

#include "../interpreter.h"

static int Blobcnt, Blobx1, Blobx2, Bloby1, Bloby2, Iy1, Iy2, Iu1, Iu2, Iv1, Iv2;
static int Cxmin, Cxmax, Cymin, Cymax;
static int GPSlat, GPSlon, GPSalt, GPSfix, GPSsat, GPSutc, Elcount, Ercount;
static int ScanVect[16], NNVect[NUM_OUTPUT];

void PlatformLibraryInit()
{
    struct ValueType *IntArrayType;
    
    IntArrayType = TypeGetMatching(NULL, &IntType, TypeArray, 16, StrEmpty, TRUE);
    VariableDefinePlatformVar(NULL, "scanvect", IntArrayType, (union AnyValue *)&ScanVect, FALSE);
    VariableDefinePlatformVar(NULL, "neuron", IntArrayType, (union AnyValue *)&NNVect, FALSE);
    VariableDefinePlatformVar(NULL, "xbuf", CharArrayType, (union AnyValue *)&xbuff, FALSE);
    VariableDefinePlatformVar(NULL, "blobcnt", &IntType, (union AnyValue *)&Blobcnt, FALSE);
    VariableDefinePlatformVar(NULL, "blobx1", &IntType, (union AnyValue *)&Blobx1, FALSE);
    VariableDefinePlatformVar(NULL, "blobx2", &IntType, (union AnyValue *)&Blobx2, FALSE);
    VariableDefinePlatformVar(NULL, "bloby1", &IntType, (union AnyValue *)&Bloby1, FALSE);
    VariableDefinePlatformVar(NULL, "bloby2", &IntType, (union AnyValue *)&Bloby2, FALSE);
    VariableDefinePlatformVar(NULL, "lcount", &IntType, (union AnyValue *)&Elcount, FALSE);
    VariableDefinePlatformVar(NULL, "rcount", &IntType, (union AnyValue *)&Ercount, FALSE);
    VariableDefinePlatformVar(NULL, "y1", &IntType, (union AnyValue *)&Iy1, FALSE);
    VariableDefinePlatformVar(NULL, "y2", &IntType, (union AnyValue *)&Iy2, FALSE);
    VariableDefinePlatformVar(NULL, "u1", &IntType, (union AnyValue *)&Iu1, FALSE);
    VariableDefinePlatformVar(NULL, "u2", &IntType, (union AnyValue *)&Iu2, FALSE);
    VariableDefinePlatformVar(NULL, "v1", &IntType, (union AnyValue *)&Iv1, FALSE);
    VariableDefinePlatformVar(NULL, "v2", &IntType, (union AnyValue *)&Iv2, FALSE);
    VariableDefinePlatformVar(NULL, "gpslat", &IntType, (union AnyValue *)&GPSlat, FALSE);
    VariableDefinePlatformVar(NULL, "gpslon", &IntType, (union AnyValue *)&GPSlon, FALSE);
    VariableDefinePlatformVar(NULL, "gpsalt", &IntType, (union AnyValue *)&GPSalt, FALSE);
    VariableDefinePlatformVar(NULL, "gpsfix", &IntType, (union AnyValue *)&GPSfix, FALSE);
    VariableDefinePlatformVar(NULL, "gpssat", &IntType, (union AnyValue *)&GPSsat, FALSE);
    VariableDefinePlatformVar(NULL, "gpsutc", &IntType, (union AnyValue *)&GPSutc, FALSE);
    VariableDefinePlatformVar(NULL, "cxmin", &IntType, (union AnyValue *)&Cxmin, FALSE);
    VariableDefinePlatformVar(NULL, "cxmax", &IntType, (union AnyValue *)&Cxmax, FALSE);
    VariableDefinePlatformVar(NULL, "cymin", &IntType, (union AnyValue *)&Cymin, FALSE);
    VariableDefinePlatformVar(NULL, "cymax", &IntType, (union AnyValue *)&Cymax, FALSE);
    LibraryAdd(&GlobalTable, "platform library", &PlatformLibrary[0]);
}

void Csignal(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // check for kbhit, return t or nil
{
    ReturnValue->Val->Integer = getsignal();
}

void Csignal1(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // check for kbhit, return t or nil
{
    ReturnValue->Val->Integer = uart1Signal();
}

void Cinput(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return 0-9 from console input
{
    ReturnValue->Val->Integer = getch();
}

void Cinput1(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return 0-9 from console input
{
    ReturnValue->Val->Integer = uart1GetCh();
}

void Cread_int(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return 0-9 from console input
{
    int ix, sign;
    unsigned char ch;
    
    ix = 0;
    sign = 1;
    while (1) {
        ch = getch();
        if (ch == '-') {
            sign = -1;
            continue;
        }
        if ((ch < '0') || (ch > '9')) { // if not '-' or 0-9, we're done
            ReturnValue->Val->Integer = ix * sign;
            return;
        }
        ix = (ix * 10) + (ch & 0x0F);
    }
}

void Cread_str(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // read string from console
{
    int ix;
    unsigned char ch;
    
    ix = 0;
    char *cp = (char *)Param[0]->Val->Pointer;
    while (1) {
        ch = getch();
        cp[ix++] = ch;
        if ((ch == 0) || (ch == 0x01)) {  // null or ctrl-A
            ix--;
            cp[ix] = 0;
            break;
        }
        if (ix > 1023) {
            cp[ix] = 0;
            ix--;
            break;
        } 
    }
    ReturnValue->Val->Integer = ix;    
}

void Cinit_uart1(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return 0-9 from console input
{
    int ii;
    ii = Param[0]->Val->Integer;  // ii = baudrate for uart1
    init_uart1(ii);
}

void Coutput(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return 0-9 from console input
{
    int ch;
    ch = Param[0]->Val->Integer;
    putchar((unsigned char)ch);
}

void Coutput1(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return 0-9 from console input
{
    int ch;
    ch = Param[0]->Val->Integer;
    uart1SendChar((unsigned char)ch);
}

void Cdelay(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int del;
    
    del = Param[0]->Val->Integer;
    if ((del < 0) || (del > 1000000))
        return;
    delayMS(del);
}

void Crand(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    ReturnValue->Val->Integer = (int)rand() % (unsigned int)(Param[0]->Val->Integer + 1);
}

void Ctime(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    ReturnValue->Val->Integer = (int)readRTC();
}

void Ciodir(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int dir;
    
    dir = Param[0]->Val->Integer;
    *pPORTHIO_DIR = ((dir << 10) & 0xFC00) + (*pPORTHIO_DIR & 0x03FF);  // H15/14/13/12/11/10 - 1=output, 0=input
    *pPORTHIO_INEN = (((~dir) << 10) & 0xFC00) + (*pPORTHIO_INEN & 0x03FF); // invert dir bits to enable inputs
}

void Cioread(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    ReturnValue->Val->Integer = (*pPORTHIO >> 10) & 0x003F;
}

void Ciowrite(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    *pPORTHIO = ((Param[0]->Val->Integer << 10) & 0xFC00) + (*pPORTHIO & 0x03FF);
}

void Cpeek(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int size, ptr;
    unsigned char *cp;
    unsigned short *sp;
    unsigned int *ip;
    
    /* x = peek(addr, size);
       mask ptr to align with word size */
    ptr = Param[0]->Val->Integer;
    size = Param[1]->Val->Integer;
    switch (size) {
        case 1: // char *
            cp = (unsigned char *)ptr;
            ReturnValue->Val->Integer = (int)((unsigned int)*cp);
            break;
        case 2: // short *
            sp = (unsigned short *)(ptr & 0xFFFFFFFE);  // align with even boundary
            ReturnValue->Val->Integer = (int)((unsigned short)*sp);
            break;
        case 4: // int *
            ip = (unsigned int *)(ptr & 0xFFFFFFFC);  // aling with quad boundary
            ReturnValue->Val->Integer = (int)*ip;
            break;
        default:
            ReturnValue->Val->Integer = 0;
            break;
    }
}

void Cpoke(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int size, ptr, val;
    unsigned char *cp;
    unsigned short *sp;
    unsigned int *ip;
    
    /* x = poke(addr, size, val);
       mask ptr to align with word size */
    ptr = Param[0]->Val->Integer;
    size = Param[1]->Val->Integer;
    val = Param[2]->Val->Integer;
    switch (size) {
        case 1: // char *
            cp = (unsigned char *)ptr;
            *cp = (unsigned char)(val & 0x000000FF);
            break;
        case 2: // short *
            sp = (unsigned short *)(ptr & 0xFFFFFFFE);
            *sp = (unsigned short)(val & 0x0000FFFF);
            break;
        case 4: // int *
            ip = (unsigned int *)(ptr & 0xFFFFFFFC);
            *ip = val;
            break;
        default: // don't bother with bad value
            break;
    }
}

void Cencoders(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
   unsigned int ix;
   
   ix = encoders();  // read left and right encoders;  save data to C globals lcount, rcount 
   Elcount = (ix >> 16) & 0x0000FFFF; 
   Ercount = ix & 0x0000FFFF; 
}

void Cencoderx(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return reading from HMC6352 I2C compass
{
    int ix;
    
    ix = (unsigned char)Param[0]->Val->Integer;
    if ((ix<0) || (ix>7))  
        ProgramFail(NULL, "encoderx():  invalid channel");
    ReturnValue->Val->Integer = encoder_4wd(ix);
}

void Cmotors(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    lspeed = Param[0]->Val->Integer;
    if ((lspeed < -100) || (lspeed > 100))
        ProgramFail(NULL, "motors():  left motor value out of range");
    rspeed = Param[1]->Val->Integer;
    if ((rspeed < -100) || (rspeed > 100))
        ProgramFail(NULL, "motors():  right motor value out of range");
    if (!pwm1_init) {
        initPWM();
        pwm1_init = 1;
        pwm1_mode = PWM_PWM;
        base_speed = 50;
    }
    setPWM(lspeed, rspeed);
}

void Cmotors2(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    lspeed2 = Param[0]->Val->Integer;
    if ((lspeed2 < -100) || (lspeed2 > 100))
        ProgramFail(NULL, "motors2():  left motor value out of range");
    rspeed2 = Param[1]->Val->Integer;
    if ((rspeed2 < -100) || (rspeed2 > 100))
        ProgramFail(NULL, "motors2():  right motor value out of range");
    if (!pwm2_init) {
        initPWM2();
        pwm2_init = 1;
        pwm2_mode = PWM_PWM;
        base_speed2 = 50;
    }
    setPWM2(lspeed2, rspeed2);
}

/* motor control for SRV-4WD controller */
void Cmotorx(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    unsigned char ch;
    int ls, rs;
    
    ls = Param[0]->Val->Integer;
    if ((ls < -100) || (ls > 100))
        ProgramFail(NULL, "motors():  left motor value out of range");
    ls = (ls * 127) / 100;  // scale to full +/-127 range
    rs = Param[1]->Val->Integer;
    if ((rs < -100) || (rs > 100))
        ProgramFail(NULL, "motors():  right motor value out of range");
    rs = (rs * 127) / 100;  // scale to full +/-127 range
    if (xwd_init == 0) {
        xwd_init = 1;
        init_uart1(115200);
        delayMS(10);
    }
    uart1SendChar('x');
    uart1SendChar((char)ls);
    uart1SendChar((char)rs);
    while (uart1GetChar(&ch))  // flush the receive buffer
        continue;
}

void Cservos(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int lspeed, rspeed;
    
    lspeed = Param[0]->Val->Integer;
    if ((lspeed < 0) || (lspeed > 100))
        ProgramFail(NULL, "servos():  TMR2 value out of range");
    rspeed = Param[1]->Val->Integer;
    if ((rspeed < 0) || (rspeed > 100))
        ProgramFail(NULL, "servos()():  TMR3 value out of range");
    if (!pwm1_init) {
        initPPM1();
        pwm1_init = 1;
        pwm1_mode = PWM_PPM;
    }
    setPPM1(lspeed, rspeed);
}

void Cservos2(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int lspeed, rspeed;
    
    lspeed = Param[0]->Val->Integer;
    if ((lspeed < 0) || (lspeed > 100))
        ProgramFail(NULL, "servos2():  TMR6 value out of range");
    rspeed = Param[1]->Val->Integer;
    if ((rspeed < 0) || (rspeed > 100))
        ProgramFail(NULL, "servos2():  TMR7 value out of range");
    if (!pwm2_init) {
        initPPM2();
        pwm2_init = 1;
        pwm2_mode = PWM_PPM;
    }
    setPPM2(lspeed, rspeed);
}

void Claser(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)    // laser(1) turns them on, laser(0) turns them off
{
    *pPORTHIO &= 0xFD7F;  // turn off both lasers
    switch (Param[0]->Val->Integer) {
        case 1:
            *pPORTHIO |= 0x0080;  // turn on left laser
            break;
        case 2:
            *pPORTHIO |= 0x0200;  // turn on right laser
            break;
        case 3:
            *pPORTHIO |= 0x0280;  // turn on both lasers
            break;
    }
}

void Csonar(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // read sonar module
{
    unsigned int i;
    i = Param[0]->Val->Integer;
    if ((i<1) || (i>4)) {
        ProgramFail(NULL, "sonar():  1, 2, 3, 4 are only valid selections");
    }
    sonar();
    ReturnValue->Val->Integer = sonar_data[i] / 100;
}

void Crange(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    ReturnValue->Val->Integer = laser_range(0);
}

void Cbattery(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    if (*pPORTHIO & 0x0004)
        ReturnValue->Val->Integer = 0;  // low battery voltage detected
    else
        ReturnValue->Val->Integer = 1;  // battery voltage okay
}

void Cvcolor(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // set color bin - 
                //    vcolor (color, ymin, ymax, umin, umax, vmin, vmax);                  
{
    int ix;
    
    ix = Param[0]->Val->Integer;
    ymin[ix] = Param[1]->Val->Integer;
    ymax[ix] = Param[2]->Val->Integer;
    umin[ix] = Param[3]->Val->Integer;
    umax[ix] = Param[4]->Val->Integer;
    vmin[ix] = Param[5]->Val->Integer;
    vmax[ix] = Param[6]->Val->Integer;
}

void Cvcam(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // set camera functions - 
     //    enable/disable AGC(4) / AWB(2) / AEC(1) camera controls
     //    vcam(7) = AGC+AWB+AEC on   vcam(0) = AGC+AWB+AEC off
{
    unsigned char cx, i2c_data[2];

    cx = (unsigned char)Param[0]->Val->Integer & 0x07;
    i2c_data[0] = 0x13;
    i2c_data[1] = 0xC0 + cx;
    i2cwrite(0x30, (unsigned char *)i2c_data, 1, SCCB_ON);  // OV9655
    i2cwrite(0x21, (unsigned char *)i2c_data, 1, SCCB_ON);  // OV7725
}

void Cvfind(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // set color bin - 
                //    vfind (color, x1, x2, y1, y2);                  
{
    int ix, x1, x2, y1, y2;
    
    ix = Param[0]->Val->Integer;
    x1 = Param[1]->Val->Integer;
    x2 = Param[2]->Val->Integer;
    y1 = Param[3]->Val->Integer;
    y2 = Param[4]->Val->Integer;
    ReturnValue->Val->Integer = vfind((unsigned char *)FRAME_BUF, ix, x1, x2, y1, y2);
}

void Cvcap(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    grab_frame();   // capture frame for processing
}

void Cvrcap(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    grab_reference_frame();   // capture reference frame for differencing
}

void Cvdiff(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    frame_diff_flag = Param[0]->Val->Integer;   // set/clear frame_diff_flag
}

void Cvpix(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int x, y, ix;
    x = Param[0]->Val->Integer;
    y = Param[1]->Val->Integer;
    ix = vpix((unsigned char *)FRAME_BUF, x, y);
    Iy1 = ((ix>>16) & 0x000000FF);  // Y1
    Iu1 = ((ix>>24) & 0x000000FF);  // U
    Iv1 = ((ix>>8)  & 0x000000FF);  // V
}

void Cvscan(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    int col, thresh, ix;
    col = Param[0]->Val->Integer;
    if ((col < 1) || (col > 9))
        ProgramFail(NULL, "vscan():  number of columns must be between 1 and 9");
    thresh = Param[1]->Val->Integer;
    if ((thresh < 0) || (thresh > 9999)) 
        ProgramFail(NULL, "vscan():  threshold must be between 0 and 9999");
    ix = vscan((unsigned char *)SPI_BUFFER1, (unsigned char *)FRAME_BUF, thresh, (unsigned int)col, (unsigned int *)&ScanVect[0]);
    ReturnValue->Val->Integer = ix;
}

void Cvmean(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) 
{
    vmean((unsigned char *)FRAME_BUF);
    Iy1 = mean[0];
    Iu1 = mean[1];
    Iv1 = mean[2];
}

//    search for blob by color, index;  return center point X,Y and width Z
void Cvblob(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)    {
    int ix, iblob, numblob;

    ix = Param[0]->Val->Integer;
    if (ix > MAX_COLORS)
        ProgramFail(NULL, "blob():  invalid color index");
    iblob = Param[1]->Val->Integer;
    if (iblob > MAX_BLOBS)
        ProgramFail(NULL, "blob():  invalid blob index");
        
    numblob = vblob((unsigned char *)FRAME_BUF, (unsigned char *)FRAME_BUF3, ix);

    if ((blobcnt[iblob] == 0) || (numblob == -1)) {
        Blobcnt = 0;
    } else {
        Blobcnt = blobcnt[iblob];
        Blobx1 = blobx1[iblob];
        Blobx2 = blobx2[iblob];
        Bloby1 = bloby1[iblob];
        Bloby2 = bloby2[iblob];
    }
    ReturnValue->Val->Integer = numblob;
}

void Cvjpeg (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    unsigned int image_size, qual;
    unsigned char *output_start, *output_end;
    
    qual = Param[0]->Val->Integer;
    if ((qual < 1) || (qual > 8))
        ProgramFail(NULL, "vjpeg():  quality parameter out of range");
        
    output_start = (unsigned char *)JPEG_BUF;
    output_end = encode_image((unsigned char *)FRAME_BUF, output_start, qual, 
            FOUR_TWO_TWO, imgWidth, imgHeight); 
    image_size = (unsigned int)(output_end - output_start);

    ReturnValue->Val->Integer = image_size;
}

void Cvsend (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    unsigned int ix, image_size;
    unsigned char *cp;
    
    image_size = Param[0]->Val->Integer;
    if ((image_size < 0) || (image_size > 200000))
        ProgramFail(NULL, "vsend():  image size out of range");
        
    led1_on();

    cp = (unsigned char *)JPEG_BUF;
    for (ix=0; ix<image_size; ix++) 
        putchar(*cp++);

    led0_on();
}

void Ccompass(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return reading from HMC6352 I2C compass
{
    unsigned char i2c_data[2];
    unsigned int ix;
    
    i2c_data[0] = 0x41;  // read compass twice to clear last reading
    i2cread(0x22, (unsigned char *)i2c_data, 2, SCCB_ON);
    delayMS(20);
    i2c_data[0] = 0x41;
    i2cread(0x22, (unsigned char *)i2c_data, 2, SCCB_ON);
    ix = ((unsigned int)(i2c_data[0] << 8) + i2c_data[1]) / 10;
    ReturnValue->Val->Integer = ix;
}

void Ccompassx(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return reading from HMC5843 I2C compass
{
    short x, y, z;
    int ix;
    
    ix = (int)read_compass3x(&x, &y, &z);
    Cxmin = cxmin;
    Cxmax = cxmax;
    Cymin = cymin;
    Cymax = cymax;
    ReturnValue->Val->Integer = ix;
}

void Ccompassxcal(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return reading from HMC5843 I2C compass
{
    /* cxmin, cxmax, cymin, cymax */
    cxmin = Param[0]->Val->Integer;
    cxmax = Param[1]->Val->Integer;
    cymin = Param[2]->Val->Integer;
    cymax = Param[3]->Val->Integer;
    compass_continuous_calibration = Param[4]->Val->Integer;  // continuous calibration:  off = 0, on = 1
}

void Ctilt(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return reading from HMC6352 I2C compass
{
    unsigned int ix;
    
    ix = (unsigned int)Param[0]->Val->Integer;
    if ((ix<1) || (ix>3))
        ProgramFail(NULL, "tilt():  invalid channel");
    ReturnValue->Val->Integer = tilt(ix);
}

void Canalog(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return reading from HMC6352 I2C compass
{
    unsigned int ix, channel;
    
    ix = (unsigned char)Param[0]->Val->Integer;
    if ((ix<1) || (ix>28))
        ProgramFail(NULL, "analog():  invalid channel");
    channel = ix % 10;
    if ((channel<1) || (channel>8))
        ProgramFail(NULL, "analog():  invalid channel");
    ReturnValue->Val->Integer = analog(ix);
}
    

/* read analog channel 0-7 from SRV-4WD (
    channel 0 = battery level
    channel 1 = 5V gyro
    channel 2 = 3.3V gyro
    channel 3 = IR1
    channel 4 = IR2
    channel 6 = IR3
    channel 7 = IR4
    */
void Canalogx(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // return reading from HMC6352 I2C compass
{
    int ix;
    
    ix = (unsigned char)Param[0]->Val->Integer;
    if ((ix<0) || (ix>7))  
        ProgramFail(NULL, "analogx():  invalid channel");
    ReturnValue->Val->Integer = analog_4wd(ix);
}

void Cgps(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
    gps_parse();
    GPSlat = gps_gga.lat;
    GPSlon = gps_gga.lon;
    GPSalt = gps_gga.alt;
    GPSfix = gps_gga.fix;
    GPSsat = gps_gga.sat;
    GPSutc = gps_gga.utc;
}

void Creadi2c(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  //  syntax   val = readi2c(device, register);
{
    unsigned char i2c_device, i2c_data[2];
    
    i2c_device = (unsigned char)Param[0]->Val->Integer;
    i2c_data[0] = (unsigned char)Param[1]->Val->Integer;
    
    i2cread(i2c_device, (unsigned char *)i2c_data, 1, SCCB_OFF);
    ReturnValue->Val->Integer = ((int)i2c_data[0] & 0x000000FF);
}

void Creadi2c2(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  //  syntax   two_byte_val = readi2c(device, register); 
{
    unsigned char i2c_device, i2c_data[2];

    i2c_device = (unsigned char)Param[0]->Val->Integer;
    i2c_data[0] = (unsigned char)Param[1]->Val->Integer;
    
    i2cread(i2c_device, (unsigned char *)i2c_data, 2, SCCB_OFF);
    ReturnValue->Val->Integer = (((unsigned int)i2c_data[0] << 8) + i2c_data[1]);
}

void Cwritei2c(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  //  syntax   writei2c(device, register, value);
{
    unsigned char i2c_device, i2c_data[2];

    i2c_device = (unsigned char)Param[0]->Val->Integer;
    i2c_data[0] = (unsigned char)Param[1]->Val->Integer;
    i2c_data[1] = (unsigned char)Param[2]->Val->Integer;
    
    i2cwrite(i2c_device, (unsigned char *)i2c_data, 1, SCCB_OFF);
}

void Cabs(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // abs(int)
{
    int ix;
    
    ix = Param[0]->Val->Integer;  // return absolute value of int
    if (ix < 0)
        ix = -ix;
    ReturnValue->Val->Integer = ix;
}
void Csin(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // sin(angle)
{
    int ix;
    
    ix = Param[0]->Val->Integer;  // input to function is angle in degrees
    ReturnValue->Val->Integer = sin(ix);
}

void Ccos(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // cos(angle)
{
    int ix;
    
    ix = Param[0]->Val->Integer;  // input to function is angle in degrees
    ReturnValue->Val->Integer = cos(ix);
}

void Ctan(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // tan(angle)
{
    int ix;
    
    ix = Param[0]->Val->Integer;  // input to function is angle in degrees
    ReturnValue->Val->Integer = tan(ix);
}

void Casin(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // asin(y,hyp)
{
    int y, hyp;
    y = Param[0]->Val->Integer;
    hyp = Param[1]->Val->Integer;
    if (y > hyp)
        ProgramFail(NULL, "asin():  opposite greater than hypotenuse");
    ReturnValue->Val->Integer = asin(y, hyp);
}

void Cacos(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // acos(x,hyp)
{
    int x, hyp;
    x = Param[0]->Val->Integer;
    hyp = Param[1]->Val->Integer;
    if (x > hyp)
        ProgramFail(NULL, "acos():  adjacent greater than hypotenuse");
    ReturnValue->Val->Integer = acos(x, hyp);
}

void Catan(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // atan(y,x)
{
    int x ,y;
    y = Param[0]->Val->Integer;
    x = Param[1]->Val->Integer;
    ReturnValue->Val->Integer = atan(y, x);
} 

void Cgps_head(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // gps_head(lat1, lon1, lat2, lon2)
{
    int lat1, lon1, lat2, lon2;
    lat1 = Param[0]->Val->Integer;
    lon1 = Param[1]->Val->Integer;
    lat2 = Param[2]->Val->Integer;
    lon2 = Param[3]->Val->Integer;
    ReturnValue->Val->Integer = gps_head(lat1, lon1, lat2, lon2);
} 

void Cgps_dist(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // gps_dist(lat1, lon1, lat2, lon2)
{
    int lat1, lon1, lat2, lon2;
    lat1 = Param[0]->Val->Integer;
    lon1 = Param[1]->Val->Integer;
    lat2 = Param[2]->Val->Integer;
    lon2 = Param[3]->Val->Integer;
    ReturnValue->Val->Integer = gps_dist(lat1, lon1, lat2, lon2);
} 

void Csqrt(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)  // sqrt(x)
{
    int x;
    x = Param[0]->Val->Integer;
    ReturnValue->Val->Integer = isqrt(x);
} 

void Cnnset(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    int ix, i1;
    
    ix = Param[0]->Val->Integer;
    if (ix > NUM_NPATTERNS)
        ProgramFail(NULL, "nnset():  invalid index");
    for (i1=0; i1<8; i1++)
        npattern[ix*8 + i1] = (unsigned char)Param[i1+1]->Val->Integer;
}

void Cnnshow(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    int ix;
    
    ix = Param[0]->Val->Integer;
    if (ix > NUM_NPATTERNS)
        ProgramFail(NULL, "nnshow():  invalid index");
    nndisplay(ix);
}

void Cnninit(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    nninit_network();
}

void Cnntrain(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    int ix, i1;

    nntrain_network(10000);
    for (ix=0; ix<NUM_NPATTERNS; ix++) {
        nnset_pattern(ix);
        nncalculate_network();
        for (i1=0; i1<NUM_OUTPUT; i1++) 
            printf(" %3d", N_OUT(i1)/10);
        printf("\r\n");
    }
}

void Cnntest(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    int ix, i1, i2, max;
    unsigned char ch;
    
    ix = 0;
    for (i1=0; i1<8; i1++) {
        ch = (unsigned char)Param[i1]->Val->Integer;
        for (i2=0; i2<8; i2++) {
            if (ch & nmask[i2])
                N_IN(ix++) = 1024;
            else
                N_IN(ix++) = 0;
        }
    }
    nncalculate_network();
    ix = 0;
    max = 0;
    for (i1=0; i1<NUM_OUTPUT; i1++) {
        NNVect[i1] = N_OUT(i1)/10;
        if (max < NNVect[i1]) {
            ix = i1;
            max = NNVect[i1];
        }
    }
    ReturnValue->Val->Integer = ix;
}

void Cnnmatchblob(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {            
    int ix, i1, max;
    
    ix = Param[0]->Val->Integer;
    if (ix > MAX_BLOBS)
        ProgramFail(NULL, "nnmatchblob():  invalid blob index");
    if (!blobcnt[ix])
        ProgramFail(NULL, "nnmatchblob():  not a valid blob");
    /* use data still in blob_buf[] (FRAME_BUF3)
       square the aspect ratio of x1, x2, y1, y2
       then subsample blob pixels to populate N_IN(0:63) with 0:1024 values
       then nncalculate_network() and display the N_OUT() results */
    nnscale8x8((unsigned char *)FRAME_BUF3, blobix[ix], blobx1[ix], blobx2[ix], 
            bloby1[ix], bloby2[ix], imgWidth, imgHeight);
    nncalculate_network();
    ix = 0;
    max = 0;
    for (i1=0; i1<NUM_OUTPUT; i1++) {
        NNVect[i1] = N_OUT(i1)/10;
        if (max < NNVect[i1]) {
            ix = i1;
            max = NNVect[i1];
        }
    }
    ReturnValue->Val->Integer = ix;
}

void Cnnlearnblob (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    int ix;
    
    ix = Param[0]->Val->Integer;
    if (ix > NUM_NPATTERNS)
        ProgramFail(NULL, "nnlearnblob():  invalid index");
    if (!blobcnt[0])
        ProgramFail(NULL, "nnlearnblob():  no blob to grab");
    nnscale8x8((unsigned char *)FRAME_BUF3, blobix[0], blobx1[0], blobx2[0], 
            bloby1[0], bloby2[0], imgWidth, imgHeight);
    nnpack8x8(ix);
    nndisplay(ix);
}

void Cautorun (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    int ix, t0;
    unsigned char ch;
    
    ix = Param[0]->Val->Integer;
    t0 = readRTC();
    while (readRTC() < (t0 + ix*1000)) { // watch for ESC in 'ix' seconds
        if (getchar(&ch)) {
            if (ch == 0x1B) {  // if ESC found, exit picoC
                printf("found ESC\r\n");
                ExitBuf[40] = 1;
                longjmp(ExitBuf, 1);
            }
        }
    }
}

void Clineno (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    ReturnValue->Val->Integer = Parser->Line;
}

void Cerrormsg (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
    PlatformErrorPrefix(Parser);
    LibPrintf(Parser, ReturnValue, Param, NumArgs);
}

/* list of all library functions and their prototypes */
struct LibraryFunction PlatformLibrary[] =
{
    { Csignal,      "int signal();" },
    { Csignal1,     "int signal1();" },
    { Cinput,       "int input();" },
    { Cinput1,      "int input1();" },
    { Cinit_uart1,  "void init_uart1(int);" },
    { Cread_int,    "int read_int();" },
    { Cread_str,    "int read_str(char *);" },
    { Coutput,      "void output(int);" },
    { Coutput1,     "void output1(int);" },
    { Cdelay,       "void delay(int);" },
    { Crand,        "int rand(int);" },
    { Ctime,        "int time();" },
    { Ciodir,       "void iodir(int);" },
    { Cioread,      "int ioread();" },
    { Ciowrite,     "void iowrite(int);" },
    { Cpeek,        "int peek(int, int);" },
    { Cpoke,        "void poke(int, int, int);" },
    { Cmotors,      "void motors(int, int);" },
    { Cmotors2,     "void motors2(int, int);" },
    { Cmotorx,      "void motorx(int, int);" },
    { Cservos,      "void servos(int, int);" },
    { Cservos2,     "void servos2(int, int);" },
    { Cencoders,    "void encoders();" },
    { Cencoderx,    "int encoderx(int);" },
    { Claser,       "void laser(int);" },
    { Csonar,       "int sonar(int);" },
    { Crange,       "int range();" },
    { Cbattery,     "int battery();" },
    { Cvcolor,      "void vcolor(int, int, int, int, int, int, int);" },
    { Cvfind,       "int vfind(int, int, int, int, int);" },
    { Cvcam,        "void vcam(int);" },
    { Cvcap,        "void vcap();" },
    { Cvrcap,       "void vrcap();" },
    { Cvdiff,       "void vdiff(int);" },
    { Cvpix,        "void vpix(int, int);" },
    { Cvscan,       "int vscan(int, int);" },
    { Cvmean,       "void vmean();" },
    { Cvblob,       "int vblob(int, int);" },
    { Cvjpeg,       "int vjpeg(int);" },
    { Cvsend,       "void vsend(int);" },
    { Ccompass,     "int compass();" },
    { Ccompassx,    "int compassx();" },
    { Ccompassxcal, "void compassxcal(int, int, int, int, int);" },
    { Canalog,      "int analog(int);" },
    { Canalogx,     "int analogx(int);" },
    { Ctilt,        "int tilt(int);" },
    { Cgps,         "void gps();" },
    { Creadi2c,     "int readi2c(int, int);" },
    { Creadi2c2,    "int readi2c2(int, int);" },
    { Cwritei2c,    "void writei2c(int, int, int);" },
    { Cabs,         "int abs(int);" },
    { Csin,         "int sin(int);" },
    { Ccos,         "int cos(int);" },
    { Ctan,         "int tan(int);" },
    { Casin,        "int asin(int, int);" },
    { Cacos,        "int acos(int, int);" },
    { Catan,        "int atan(int, int);" },
    { Cgps_head,    "int gps_head(int, int, int, int);" },
    { Cgps_dist,    "int gps_dist(int, int, int, int);" },
    { Csqrt,        "int sqrt(int);" },
    { Cnnshow,      "void nnshow(int);" },
    { Cnnset,       "void nnset(int, int, int, int, int, int, int, int, int);" },
    { Cnninit,      "void nninit();" },
    { Cnntrain,     "void nntrain();" },
    { Cnntest,      "int nntest(int, int, int, int, int, int, int, int);" },
    { Cnnmatchblob, "int nnmatchblob(int);" },
    { Cnnlearnblob, "void nnlearnblob(int);" },
    { Cautorun,     "void autorun(int);" },
    { Clineno,      "int lineno();" },
    { Cerrormsg,    "void errormsg(char *);" },
    { NULL,         NULL }
};