c_cmd.iom

乐高机器人的源码,开发平台是IAR_for_AVR.

//
// Date init       14.12.2004
//
// Revision date   $Date: 14-06-06 8:09 $
//
// Filename        $Workfile:: c_cmd.iom                                     $
//
// Version         $Revision: 21 $
//
// Archive         $Archive:: /LMS2006/Sys01/Main/Firmware/Source/c_cmd.iom  $
//
// Platform        C
//

#ifndef   CCMD_IOM
#define   CCMD_IOM

#include "modules.h"

#define   pMapCmd ((IOMAPCMD*)(pHeaders[ENTRY_CMD]->pIOMap))

//
// Status/error codes for the VM internal code and bytecodes, loosely categorized
// Positive values are used for non-error status codes; commonly used by bytecode handlers
//  to affect future execution.
// Negative values are run-time errors, and the first group is considered "fatal" in that
//  program execution cannot continue when these errors are encountered.
//

#define STAT_MSG_EMPTY_MAILBOX 64 //0x40 Specified mailbox contains no new messages

#define STAT_COMM_PENDING 32 //0x20 Pending setup operation in progress

#define STOP_REQ      5 //0x05 Abort current program
#define BREAKOUT_REQ  4 //0x04 Break multi-instruction interpreter loop; give I/O a chance to run
#define PC_OVERRIDE   3 //0x03 Move program counter according to ScratchPC value
#define CLUMP_SUSPEND 2 //0x02 Place clump in stasis; execute others until this one returns to RunQ
#define CLUMP_DONE    1 //0x01 Finish and reset this clump; execute others until this one is rescheduled

#define NO_ERR        0

//Fatal errors
#define ERR_ARG      -1 //0xFF Bad arguments
#define ERR_INSTR    -2 //0xFE Illegal bytecode instruction
#define ERR_FILE     -3 //0xFD Mal-formed file contents
#define ERR_VER      -4 //0xFC Version mismatch between firmware and compiler
#define ERR_MEM      -5 //0xFB Insufficient memory available
#define ERR_BAD_PTR  -6 //0xFA Someone passed us a bad pointer!

//General errors
#define ERR_INVALID_PORT   -16 //0xF0 Bad input or output port specified
#define ERR_INVALID_FIELD  -17 //0xEF Attempted to access invalid field of a structure
#define ERR_INVALID_QUEUE  -18 //0xEE Illegal queue ID specified
#define ERR_INVALID_SIZE   -19 //0xED Illegal size specified
#define ERR_NO_PROG        -20 //0xEC No active program

//Communications specific errors
#define ERR_COMM_CHAN_NOT_READY -32 //0xE0 Specified channel/connection not configured or busy
#define ERR_COMM_CHAN_INVALID   -33 //0xDF Specified channel/connection is not valid
#define ERR_COMM_BUFFER_FULL    -34 //0xDE No room in comm buffer
#define ERR_COMM_BUS_ERR        -35 //0xDD Something went wrong on the communications bus

//Remote control ("direct commands") errors
#define ERR_RC_ILLEGAL_VAL -64 //0xC0 Data contains out-of-range values
#define ERR_RC_BAD_PACKET  -65 //0xBF Clearly insane packet
#define ERR_RC_UNKNOWN_CMD -66 //0xBE Unknown command opcode
#define ERR_RC_FAILED      -67 //0xBD Request failed (i.e. specified file not found)

//NB: Error codes -96 through -128 (0xA0 through 0x80) reserved for loader (file system) errors
//This whole range isn't actually used by current loader code, but it's a reasonable range to reserve

#define IS_ERR(Status)   ((Status) < NO_ERR)

//Errors are considered fatal if they are something we'd consider halting the VM for.
#define IS_FATAL(Status) ((Status) < NO_ERR && (Status) >= ERR_BAD_PTR)

//Direct command protocol opcodes
//!!! These MUST be mutually exclusive with c_comm's protocol opcodes.
// Since all of c_comm's protocol opcodes are above 0x80, we're safe for now.
enum
{
  RC_START_PROGRAM,
  RC_STOP_PROGRAM,
  RC_PLAY_SOUND_FILE,
  RC_PLAY_TONE,
  RC_SET_OUT_STATE,
  RC_SET_IN_MODE,
  RC_GET_OUT_STATE,
  RC_GET_IN_VALS,
  RC_RESET_IN_VAL,
  RC_MESSAGE_WRITE,
  RC_RESET_POSITION,
  RC_GET_BATT_LVL,
  RC_STOP_SOUND,
  RC_KEEP_ALIVE,
  RC_LS_GET_STATUS,
  RC_LS_WRITE,
  RC_LS_READ,
  RC_GET_CURR_PROGRAM,
  RC_GET_BUTTON_STATE,
  RC_MESSAGE_READ,
  NUM_RC_OPCODES
};


//
//Published status of last program to be activated
//This value is published so outside parties (like the UI) can check if a program is running,
//and if not, how the last program ended.  Initial value is "PROG_OK".
//PROG_OK: Last program finished normally.
//PROG_RUNNING: Program currently running
//PROG_ERROR: Last program ended because of an error
//PROG_ABORT: Last program ended because of (user) abort
//
typedef enum
{
  PROG_IDLE,
  PROG_OK,
  PROG_RUNNING,
  PROG_ERROR,
  PROG_ABORT,
  PROG_RESET
} PROGRAM_STATUS;

//Maximum size of memory pool, in bytes
//!!! Code assumes this value is evenly divisible by 4!
#define POOL_MAX_SIZE 32768

//Versioning information
//Format string must exist verbatim in the header of a valid program file.
//Also included in IOMAPCMD for remote identification of the VM
#define VM_FORMAT_STRING "MindstormsNXT"
//Size of format string above, plus version number packed in the last two bytes.
#define VM_FORMAT_STRING_SIZE 16
//Current firmware version defined in c_loader.iom as FIRMWAREVERSION
//This is the oldest compatible version in the same system
#define VM_OLDEST_COMPATIBLE_VERSION 0x0004

//
//IO Map for Command Module
// pRCHandler: Function pointer to handler for remote control protocol
// Tick:       Latest value from 1 ms system timer

//!!! Two offset values below are useful for external debugging.  They are only valid after a program has started!
// OffsetDS: Offset to the dataspace (inside MemoryPool); relative to first byte of IOMapCmd
// OffsetDVA: Offset to the DopeVectorArray (inside MemoryPool); relative to first byte of IOMapCmd

// ProgStatus: Published status of last program to be activated
// Awake:      Boolean is only true after initialization

// ActivateFlag: Set this flag to notify cCmdCtrl to activate new file
// DeactivateFlag: Set this flag to notify cCmdCtrl to deactivate current program

// FileName[]:   Fill in this buffer when using ActivateFlag
// MemoryPool[]: Main memory pool for program data.
//   (Declared as ULONG for portable alignment; used internally via a byte pointer.)
//
typedef struct
{
  UBYTE FormatString[VM_FORMAT_STRING_SIZE];
  UWORD (*pRCHandler)(UBYTE *, UBYTE *, UBYTE *);
  ULONG Tick;

  UWORD OffsetDS;
  UWORD OffsetDVA;

  PROGRAM_STATUS ProgStatus;

  UBYTE Awake;

  UBYTE ActivateFlag;
  UBYTE DeactivateFlag;
  UBYTE FileName[FILENAME_LENGTH + 1];

  ULONG MemoryPool[POOL_MAX_SIZE / 4];
} IOMAPCMD;

#endif //CCMD_IOM