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Fixes for Brian Schmalz for the surveyor platform.

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git-svn-id: http://picoc.googlecode.com/svn/trunk@516 21eae674-98b7-11dd-bd71-f92a316d2d60
This commit is contained in:
zik.saleeba 2011-02-12 04:23:37 +00:00
parent eb7010d292
commit 6dd3e69fa5
7 changed files with 244 additions and 87 deletions
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2
expression.c
View file

@ -1238,7 +1238,7 @@ void ExpressionParseMacroCall(struct ParseState *Parser, struct ExpressionStack
#ifndef NO_FP #ifndef NO_FP
ExpressionStackPushValueByType(Parser, StackTop, &FPType); /* largest return type there is */ ExpressionStackPushValueByType(Parser, StackTop, &FPType); /* largest return type there is */
#else #else
ExpressionStackPushValueByType(Parser, StackTop, IntType); /* largest return type there is */ ExpressionStackPushValueByType(Parser, StackTop, &IntType); /* largest return type there is */
#endif #endif
ReturnValue = (*StackTop)->Val; ReturnValue = (*StackTop)->Val;
HeapPushStackFrame(); HeapPushStackFrame();

1
heap.c
View file

@ -11,7 +11,6 @@ static void *StackFrame = NULL; /* the current stack frame *
void *HeapStackTop = NULL; /* the top of the stack */ void *HeapStackTop = NULL; /* the top of the stack */
#else #else
# ifdef SURVEYOR_HOST # ifdef SURVEYOR_HOST
# define HEAP_SIZE C_HEAPSIZE
static unsigned char *HeapMemory = (unsigned char *)C_HEAPSTART; /* all memory - stack and heap */ static unsigned char *HeapMemory = (unsigned char *)C_HEAPSTART; /* all memory - stack and heap */
static void *HeapBottom = (void *)C_HEAPSTART + HEAP_SIZE; /* the bottom of the (downward-growing) heap */ static void *HeapBottom = (void *)C_HEAPSTART + HEAP_SIZE; /* the bottom of the (downward-growing) heap */
static void *StackFrame = (void *)C_HEAPSTART; /* the current stack frame */ static void *StackFrame = (void *)C_HEAPSTART; /* the current stack frame */

28
picoc.c
View file

@ -14,7 +14,9 @@ void Initialise(int StackSize)
VariableInit(); VariableInit();
LexInit(); LexInit();
TypeInit(); TypeInit();
#ifndef NO_HASH_INCLUDE
IncludeInit(); IncludeInit();
#endif
#ifdef BUILTIN_MINI_STDLIB #ifdef BUILTIN_MINI_STDLIB
LibraryInit(&GlobalTable, "c library", &CLibrary[0]); LibraryInit(&GlobalTable, "c library", &CLibrary[0]);
CLibraryInit(); CLibraryInit();
@ -26,7 +28,9 @@ void Initialise(int StackSize)
void Cleanup() void Cleanup()
{ {
PlatformCleanup(); PlatformCleanup();
#ifndef NO_HASH_INCLUDE
IncludeCleanup(); IncludeCleanup();
#endif
ParseCleanup(); ParseCleanup();
LexCleanup(); LexCleanup();
VariableCleanup(); VariableCleanup();
@ -124,15 +128,21 @@ int main(int argc, char **argv)
# ifdef SURVEYOR_HOST # ifdef SURVEYOR_HOST
int picoc(char *SourceStr) int picoc(char *SourceStr)
{ {
int ix; unsigned int i;
unsigned int sl;
Initialise(HEAP_SIZE); Initialise(HEAP_SIZE);
if (SourceStr) {
for (ix=0; ix<strlen(SourceStr); ix++) /* clear out ctrl-z from XMODEM transfer */ sl = strlen(SourceStr);
if (SourceStr[ix] == 0x1A) if (SourceStr)
SourceStr[ix] = 0x20; {
/*printf("%s\n\r", SourceStr);*/ /* display program source */ for (i = 0; i < sl; i++)
/*printf("=====================\n");*/ {
if (SourceStr[i] == 0x1A)
{
SourceStr[i] = 0x20;
}
}
} }
ExitBuf[40] = 0; ExitBuf[40] = 0;
PlatformSetExitPoint(); PlatformSetExitPoint();
@ -143,7 +153,7 @@ int picoc(char *SourceStr)
} }
if (SourceStr) if (SourceStr)
Parse("test.c", SourceStr, strlen(SourceStr), TRUE); Parse("nofile", SourceStr, strlen(SourceStr), TRUE, TRUE, FALSE);
ParseInteractive(); ParseInteractive();
Cleanup(); Cleanup();
return ExitValue; return ExitValue;

1
picoc.h
View file

@ -313,6 +313,7 @@ extern struct ValueType *VoidPtrType;
extern char *StrEmpty; extern char *StrEmpty;
extern struct PointerValue NULLPointer; extern struct PointerValue NULLPointer;
extern struct LibraryFunction CLibrary[]; extern struct LibraryFunction CLibrary[];
extern struct LibraryFunction PlatformLibrary[];
extern IOFILE *CStdOut; extern IOFILE *CStdOut;
/* table.c */ /* table.c */

2
platform.h
View file

@ -79,6 +79,7 @@ extern jmp_buf ExitBuf;
# else # else
# ifdef SURVEYOR_HOST # ifdef SURVEYOR_HOST
# define HEAP_SIZE C_HEAPSIZE
# define NO_FP # define NO_FP
# define NO_CTYPE # define NO_CTYPE
# define NO_HASH_INCLUDE # define NO_HASH_INCLUDE
@ -95,6 +96,7 @@ extern jmp_buf ExitBuf;
# include "../i2c.h" # include "../i2c.h"
# include "../jpeg.h" # include "../jpeg.h"
# include "../malloc.h" # include "../malloc.h"
# include "../xmodem.h"
# define assert(x) # define assert(x)
# undef INTERACTIVE_PROMPT_STATEMENT # undef INTERACTIVE_PROMPT_STATEMENT
# undef INTERACTIVE_PROMPT_LINE # undef INTERACTIVE_PROMPT_LINE

292
platform/library_surveyor.c
View file

@ -1,15 +1,52 @@
#include "../picoc.h" #include "../picoc.h"
static int Blobcnt, Blobx1, Blobx2, Bloby1, Bloby2, Iy1, Iy2, Iu1, Iu2, Iv1, Iv2; 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 GPSlat, GPSlon, GPSalt, GPSfix, GPSsat, GPSutc, Elcount, Ercount;
static int ScanVect[16], NNVect[NUM_OUTPUT]; static int ScanVect[16], NNVect[NUM_OUTPUT];
void PlatformLibraryInit()
{
struct ValueType *IntArrayType;
IntArrayType = TypeGetMatching(NULL, &IntType, TypeArray, 16, NULL);
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);
LibraryInit(&GlobalTable, "platform library", &PlatformLibrary);
}
void Csignal(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // check for kbhit, return t or nil void Csignal(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // check for kbhit, return t or nil
{ {
if (getsignal()) ReturnValue->Val->Integer = getsignal();
ReturnValue->Val->Integer = 1; }
else
ReturnValue->Val->Integer = 0; 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 void Cinput(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // return 0-9 from console input
@ -17,6 +54,77 @@ void Cinput(struct ParseState *Parser, struct Value *ReturnValue, struct Value *
ReturnValue->Val->Integer = getch(); 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) void Cdelay(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{ {
int del; int del;
@ -125,6 +233,16 @@ void Cencoders(struct ParseState *Parser, struct Value *ReturnValue, struct Valu
Ercount = ix & 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) void Cmotors(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{ {
lspeed = Param[0]->Val->Integer; lspeed = Param[0]->Val->Integer;
@ -159,6 +277,32 @@ void Cmotors2(struct ParseState *Parser, struct Value *ReturnValue, struct Value
setPWM2(lspeed2, rspeed2); 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) void Cservos(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{ {
int lspeed, rspeed; int lspeed, rspeed;
@ -296,9 +440,9 @@ void Cvpix(struct ParseState *Parser, struct Value *ReturnValue, struct Value **
x = Param[0]->Val->Integer; x = Param[0]->Val->Integer;
y = Param[1]->Val->Integer; y = Param[1]->Val->Integer;
ix = vpix((unsigned char *)FRAME_BUF, x, y); ix = vpix((unsigned char *)FRAME_BUF, x, y);
Iy1 = ((ix>>16) & 0x000000FF); // Y1 Iy1 = ((ix>>16) & 0x000000FF); // Y1
Iu1 = ((ix>>24) & 0x000000FF); // U Iu1 = ((ix>>24) & 0x000000FF); // U
Iv1 = ((ix>>8) & 0x000000FF); // V Iv1 = ((ix>>8) & 0x000000FF); // V
} }
void Cvscan(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) void Cvscan(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
@ -316,11 +460,11 @@ void Cvscan(struct ParseState *Parser, struct Value *ReturnValue, struct Value *
void Cvmean(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) void Cvmean(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{ {
vmean((unsigned char *)FRAME_BUF); vmean((unsigned char *)FRAME_BUF);
Iy1 = mean[0]; Iy1 = mean[0];
Iu1 = mean[1]; Iu1 = mean[1];
Iv1 = mean[2]; Iv1 = mean[2];
} }
// search for blob by color, index; return center point X,Y and width Z // 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) { void Cvblob(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
@ -394,6 +538,29 @@ void Ccompass(struct ParseState *Parser, struct Value *ReturnValue, struct Value
ReturnValue->Val->Integer = ix; 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 void Ctilt(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // return reading from HMC6352 I2C compass
{ {
unsigned int ix; unsigned int ix;
@ -406,50 +573,35 @@ void Ctilt(struct ParseState *Parser, struct Value *ReturnValue, struct Value **
void Canalog(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // return reading from HMC6352 I2C compass void Canalog(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // return reading from HMC6352 I2C compass
{ {
unsigned char i2c_data[3], device_id;
unsigned int ix, channel; unsigned int ix, channel;
unsigned char mask1[] = { 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x04, 0x08 };
unsigned char mask2[] = { 0x10, 0x20, 0x40, 0x80, 0x00, 0x00, 0x00, 0x00 };
// decide which i2c device based on channel range
ix = (unsigned char)Param[0]->Val->Integer; ix = (unsigned char)Param[0]->Val->Integer;
if ((ix<1) || (ix>28)) if ((ix<1) || (ix>28))
ProgramFail(NULL, "analog(): invalid channel"); ProgramFail(NULL, "analog(): invalid channel");
device_id = 0;
switch (ix / 10) {
case 0:
device_id = 0x20; // channels 1-8
break;
case 1:
device_id = 0x23; // channels 11-18
break;
case 2:
device_id = 0x24; // channels 21-28
break;
}
channel = ix % 10; channel = ix % 10;
if ((channel<1) || (channel>8)) if ((channel<1) || (channel>8))
ProgramFail(NULL, "analog(): invalid channel"); ProgramFail(NULL, "analog(): invalid channel");
ReturnValue->Val->Integer = analog(ix);
}
// set timer register 3
i2c_data[0] = 0x03;
i2c_data[1] = 0x01;
i2cwrite(device_id, (unsigned char *)i2c_data, 1, SCCB_ON);
// set analog channel /* read analog channel 0-7 from SRV-4WD (
i2c_data[0] = 0x02; channel 0 = battery level
i2c_data[1] = mask1[channel-1]; channel 1 = 5V gyro
i2c_data[2] = mask2[channel-1]; channel 2 = 3.3V gyro
i2cwritex(device_id, (unsigned char *)i2c_data, 3, SCCB_ON); channel 3 = IR1
channel 4 = IR2
// small delay channel 6 = IR3
delayUS(1000); channel 7 = IR4
*/
// read data void Canalogx(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // return reading from HMC6352 I2C compass
i2c_data[0] = 0x00; {
i2cread(device_id, (unsigned char *)i2c_data, 2, SCCB_ON); int ix;
ix = (((i2c_data[0] & 0x0F) << 8) + i2c_data[1]);
ReturnValue->Val->Integer = 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) void Cgps(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
@ -496,6 +648,15 @@ void Cwritei2c(struct ParseState *Parser, struct Value *ReturnValue, struct Valu
i2cwrite(i2c_device, (unsigned char *)i2c_data, 1, SCCB_OFF); 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) void Csin(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // sin(angle)
{ {
int ix; int ix;
@ -677,7 +838,7 @@ void Cnnlearnblob (struct ParseState *Parser, struct Value *ReturnValue, struct
bloby1[0], bloby2[0], imgWidth, imgHeight); bloby1[0], bloby2[0], imgWidth, imgHeight);
nnpack8x8(ix); nnpack8x8(ix);
nndisplay(ix); nndisplay(ix);
} }
void Cautorun (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) { void Cautorun (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
int ix, t0; int ix, t0;
@ -709,7 +870,14 @@ void Cerrormsg (struct ParseState *Parser, struct Value *ReturnValue, struct Val
struct LibraryFunction PlatformLibrary[] = struct LibraryFunction PlatformLibrary[] =
{ {
{ Csignal, "int signal();" }, { Csignal, "int signal();" },
{ Csignal1, "int signal1();" },
{ Cinput, "int input();" }, { 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);" }, { Cdelay, "void delay(int);" },
{ Crand, "int rand(int);" }, { Crand, "int rand(int);" },
{ Ctime, "int time();" }, { Ctime, "int time();" },
@ -720,9 +888,11 @@ struct LibraryFunction PlatformLibrary[] =
{ Cpoke, "void poke(int, int, int);" }, { Cpoke, "void poke(int, int, int);" },
{ Cmotors, "void motors(int, int);" }, { Cmotors, "void motors(int, int);" },
{ Cmotors2, "void motors2(int, int);" }, { Cmotors2, "void motors2(int, int);" },
{ Cmotorx, "void motorx(int, int);" },
{ Cservos, "void servos(int, int);" }, { Cservos, "void servos(int, int);" },
{ Cservos2, "void servos2(int, int);" }, { Cservos2, "void servos2(int, int);" },
{ Cencoders, "void encoders();" }, { Cencoders, "void encoders();" },
{ Cencoderx, "int encoderx(int);" },
{ Claser, "void laser(int);" }, { Claser, "void laser(int);" },
{ Csonar, "int sonar(int);" }, { Csonar, "int sonar(int);" },
{ Crange, "int range();" }, { Crange, "int range();" },
@ -740,12 +910,16 @@ struct LibraryFunction PlatformLibrary[] =
{ Cvjpeg, "int vjpeg(int);" }, { Cvjpeg, "int vjpeg(int);" },
{ Cvsend, "void vsend(int);" }, { Cvsend, "void vsend(int);" },
{ Ccompass, "int compass();" }, { Ccompass, "int compass();" },
{ Ccompassx, "int compassx();" },
{ Ccompassxcal, "void compassxcal(int, int, int, int, int);" },
{ Canalog, "int analog(int);" }, { Canalog, "int analog(int);" },
{ Canalogx, "int analogx(int);" },
{ Ctilt, "int tilt(int);" }, { Ctilt, "int tilt(int);" },
{ Cgps, "void gps();" }, { Cgps, "void gps();" },
{ Creadi2c, "int readi2c(int, int);" }, { Creadi2c, "int readi2c(int, int);" },
{ Creadi2c2, "int readi2c2(int, int);" }, { Creadi2c2, "int readi2c2(int, int);" },
{ Cwritei2c, "void writei2c(int, int, int);" }, { Cwritei2c, "void writei2c(int, int, int);" },
{ Cabs, "int abs(int);" },
{ Csin, "int sin(int);" }, { Csin, "int sin(int);" },
{ Ccos, "int cos(int);" }, { Ccos, "int cos(int);" },
{ Ctan, "int tan(int);" }, { Ctan, "int tan(int);" },
@ -768,33 +942,3 @@ struct LibraryFunction PlatformLibrary[] =
{ NULL, NULL } { NULL, NULL }
}; };
void PlatformLibraryInit()
{
struct ValueType *IntArrayType;
IntArrayType = TypeGetMatching(NULL, &IntType, TypeArray, 16, StrEmpty);
VariableDefinePlatformVar(NULL, "scanvect", IntArrayType, (union AnyValue *)&ScanVect, FALSE);
VariableDefinePlatformVar(NULL, "neuron", IntArrayType, (union AnyValue *)&NNVect, 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);
LibraryInit(&GlobalTable, "platform library", &PlatformLibrary);
}

5
platform/platform_surveyor.c
View file

@ -7,7 +7,7 @@ void PlatformCleanup()
} }
/* get a line of interactive input */ /* get a line of interactive input */
char *PlatformGetLine(char *Buf, int MaxLen) char *PlatformGetLine(char *Buf, int MaxLen, const char *Prompt)
{ {
int ix; int ix;
char ch, *cp; char ch, *cp;
@ -50,8 +50,9 @@ int PlatformGetCharacter()
int ExitBuf[41]; int ExitBuf[41];
/* exit the program */ /* exit the program */
void PlatformExit() void PlatformExit(int RetVal)
{ {
ExitValue = RetVal;
ExitBuf[40] = 1; ExitBuf[40] = 1;
longjmp(ExitBuf, 1); longjmp(ExitBuf, 1);
} }