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added peek(), poke(), battery(), iodir(), ioread() and iowrite() to

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Surveyor robot functions

full function list is now found at http://www.surveyor.com/C.html



git-svn-id: http://picoc.googlecode.com/svn/trunk@220 21eae674-98b7-11dd-bd71-f92a316d2d60
This commit is contained in:
surveyor.com 2009-04-08 01:17:12 +00:00
parent 16922d2e73
commit 414ae8a3c2
1 changed files with 112 additions and 1 deletions
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113
library_surveyor.c
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@ -59,6 +59,86 @@ void Ctime(struct ParseState *Parser, struct Value *ReturnValue, struct Value **
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 << 26) & 0xFC00); // H15/14/13/12/11/10 - 1=output, 0=input
*pPORTHIO_INEN |= ((~dir << 26) & 0xFC00); // invert dir bits to enable inputs
}
void Cioread(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
ReturnValue->Val->Integer = (*pPORTHIO >> 26) & 0x003F;
}
void Ciowrite(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
*pPORTHIO = ((Param[0]->Val->Integer << 26) & 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;
printf("cp = 0x%x\n\r", (int)cp);
*cp = (unsigned char)(val & 0x000000FF);
break;
case 2: // short *
sp = (unsigned short *)(ptr & 0xFFFFFFFE);
printf("sp = 0x%x\n\r", (int)sp);
*sp = (unsigned short)(val & 0x0000FFFF);
break;
case 4: // int *
ip = (unsigned int *)(ptr & 0xFFFFFFFC);
printf("ip = 0x%x\n\r", (int)ip);
*ip = val;
break;
}
}
void Cmotors(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
lspeed = Param[0]->Val->Integer;
@ -76,6 +156,23 @@ void Cmotors(struct ParseState *Parser, struct Value *ReturnValue, struct Value
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);
}
void Cservos(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
int lspeed, rspeed;
@ -144,6 +241,14 @@ void Crange(struct ParseState *Parser, struct Value *ReturnValue, struct Value *
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);
{
@ -523,12 +628,18 @@ struct LibraryFunction PlatformLibrary[] =
{ 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)" },
{ Cservos, "void servos(int, int)" },
{ Cservos2, "void servos2(int, int)" },
{ Claser, "void laser(int)" },
{ Csonar, "void sonar(int)" },
{ Csonar, "int sonar(int)" },
{ Crange, "int range()" },
{ Cbattery, "int battery()" },
{ Cvcolor, "void vcolor(int, int, int, int, int, int, int)" },
{ Cvcap, "void vcap()" },
{ Cvrcap, "void vrcap()" },