nabaztag_hack_kit 0.0.2

data/ext/mtl/vlog.c

@@ -0,0 +1,589 @@
+// VLISP Virtual Machine - 2006 - by Sylvain Huet
+// Lowcost IS Powerfull
+
+#include <string.h>
+
+#include"vmem.h"
+#include"vloader.h"
+#ifdef VSIMU
+#include <stdlib.h>
+#include<stdio.h>
+#include<time.h>
+#include <sys/time.h>
+#endif
+#ifdef VREAL
+#include "ML674061.h"
+#include "common.h"
+#include "irq.h"
+#include "spi.h"
+#include "led.h"
+#include "mem.h"
+#include "uart.h"
+#include "debug.h"
+#include "usbh.h"
+
+#include "delay.h"
+#include "audio.h"
+#include "motor.h"
+#include "usbctrl.h"
+#include "ml60842.h"
+#include "hcdmem.h"
+#include "hcd.h"
+#include "inarm.h"
+#include "i2c.h"
+#include "rt2501usb.h"
+#include "mem.h"
+#include<stdio.h>
+#include<string.h>
+
+#include"led.h"
+#include"motor.h"
+#include"delay.h"
+#include"rfid.h"
+#endif
+#include"vlog.h"
+
+void logSecho(int p,int nl)
+{
+	if (p==NIL) consolestr("NIL");
+	else consolebin((unsigned char*)VSTARTBIN(VALTOPNT(p)),VSIZEBIN(VALTOPNT(p)));
+	if (nl) consolestr(ENDLINE);
+}
+
+void logIecho(int i,int nl)
+{
+	if (i==NIL) consolestr("NIL");
+	else consoleint(VALTOINT(i));
+	if (nl) consolestr(ENDLINE);
+}
+
+extern int currentop;
+void logGC()
+{
+	consolestr("#GC : sp=");consoleint(-vmem_stack);
+	consolestr(" hp=");consoleint(vmem_heapindex);
+	consolestr(" used=");consoleint((vmem_heapindex-vmem_stack)*100/VMEM_LENGTH);
+	consolestr("%"ENDLINE);
+        consolestr(" b:");consolehx((int)vmem_heap);
+        consolestr(" bc:");consolehx((int)bytecode);
+        consolestr(" st:");consolehx(vmem_start);
+        consolestr(" op:");consolehx(currentop);
+	consolestr(ENDLINE);
+
+}
+
+
+// pour le firmware, le "fichier" ouvert est toujours l'eeprom
+
+int sysLoad(char *dst,int i,int ldst,char *filename,int j,int len)
+{
+#ifdef VSIMU
+	FILE *f;
+	if ((j<0)||(i<0)||(len<=0)) return 0;
+	if (i+len>ldst) len=ldst-i;
+	if (len<=0) return 0;
+	f=fopen(filename,"rb");
+	if (!f) return 0;
+	fseek(f,j,SEEK_SET);
+	len=fread(dst,1,len,f);
+	fclose(f);
+	return len;
+#endif
+#ifdef VREAL
+/*        set_vlsi_volume(0);          //volume on 8bits, 0x00 => maximum
+        encode_adpcm((UBYTE*)dst+i,(ldst-i-256)>>8, j);
+        return 0;
+*/
+	if ((j<0)||(i<0)||(len<=0)) return 0;
+	if (i+len>ldst) len=ldst-i;
+	if (len<=0) return 0;
+	if (j+len>4096) len=4096-j;
+	if (len<=0) return 0;
+        read_uc_flash(j,(unsigned char*)dst,len);
+        return len;
+#endif
+}
+
+uchar buffer_temp[4096];
+
+// pour le firmware, le "fichier" ouvert est toujours l'eeprom
+int sysSave(char *dst,int i,int ldst,char *filename,int j,int len)
+{
+#ifdef VSIMU
+	FILE *f;
+	if ((j<0)||(i<0)||(len<=0)) return 0;
+	if (i+len>ldst) len=ldst-i;
+	if (len<=0) return 0;
+	f=fopen(filename,"rb+");
+	if (!f) f=fopen(filename,"wb+");
+	if (!f) return 0;
+	fseek(f,j,SEEK_SET);
+	len=fwrite(dst,1,len,f);
+	fclose(f);
+	return len;
+#endif
+#ifdef VREAL
+	if ((j<0)||(i<0)||(len<=0)) return 0;
+	if (i+len>ldst) len=ldst-i;
+	if (len<=0) return 0;
+	if (j+len>4096) len=4096-j;
+	if (len<=0) return 0;
+  __disable_interrupt();
+        write_uc_flash(j,(unsigned char*)dst,len,buffer_temp);
+  __enable_interrupt();
+        return len;
+#endif
+}
+
+static int firstTimeSet = 0;
+static struct timeval firstTime;
+
+int sysTimems()
+{
+#ifdef VSIMU
+	int res;
+	struct timeval tv;
+	if (firstTimeSet) {
+		gettimeofday(&tv, NULL);
+		res = (tv.tv_sec - firstTime.tv_sec) * 1000;
+		res += (tv.tv_usec - firstTime.tv_usec) / 1000;
+	} else {
+		gettimeofday(&firstTime, NULL);
+		firstTimeSet = 1;
+		res = 0;
+	}
+	return res;
+#endif // ! VSIMU
+#ifdef VREAL
+        return counter_timer;
+#endif
+}
+
+int sysTime()
+{
+#ifdef VSIMU
+	int res;
+	static int firstTimeSet = 0;
+	static struct timeval firstTime;
+	struct timeval tv;
+	if (firstTimeSet) {
+		gettimeofday(&tv, NULL);
+		res = (tv.tv_sec - firstTime.tv_sec);
+		res += (tv.tv_usec >= firstTime.tv_usec) ? 0 : -1;
+	} else {
+		gettimeofday(&firstTime, NULL);
+		firstTimeSet = 1;
+		res = 0;
+	}
+	return res;
+#endif
+#ifdef VREAL
+	return counter_timer_s;
+#endif
+}
+
+
+int rndval;
+
+// retourne une valeur al�atoire entre 0 et 65535
+int sysRand()
+{
+	rndval=rndval*0x1234567+11;
+	return (rndval>>8)&0xffff;
+}
+void sysSrand(int seed)
+{
+	rndval=seed;
+}
+
+
+void sysCpy(char *dst,int i,int ldst,char *src,int j,int lsrc,int len)
+{
+	if ((i<0)||(j<0)||(len<=0)) return;
+        if (i+len>ldst) len=ldst-i;
+        if (len<=0) return;
+	if (j+len>lsrc) len=lsrc-j;
+        if (len<=0) return;
+	dst+=i;
+	src+=j;
+	while((len--)>0) *(dst++)=*(src++);
+}
+
+int sysCmp(char *dst,int i,int ldst,char *src,int j,int lsrc,int len)
+{
+	if ((i<0)||(j<0)||(len<=0)) return 0;
+	if ((i+len>ldst)&&(j+len>lsrc))
+        {
+          if (ldst-i>lsrc-j) len=ldst-i;
+          else len=lsrc-j;
+        }
+	dst+=i;
+	src+=j;
+	while((len--)>0) if (((unsigned char)*dst)>((unsigned char)*src)) return 1;
+	else  if (((unsigned char)*(dst++))<((unsigned char)*(src++))) return -1;
+	return 0;
+}
+
+int mystrcmp(char *dst,char *src,int len)
+{
+	while((len--)>0) if ((*(dst++))!=(*(src++))) return 1;
+	return 0;
+}
+
+void mystrcpy(char *dst,char *src,int len)
+{
+	while((len--)>0) *(dst++)=*(src++);
+}
+
+int sysFind(char *dst,int i,int ldst,char *src,int j,int lsrc,int len)
+{
+	if ((j<0)||(j+len>lsrc)) return NIL;
+	src+=j;
+	if (i<0) i=0;
+	while(i+len<=ldst)
+	{
+		if (!mystrcmp(dst+i,src,len)) return INTTOVAL(i);
+		i++;
+	}
+	return NIL;
+}
+
+int sysFindrev(char *dst,int i,int ldst,char *src,int j,int lsrc,int len)
+{
+	if ((j<0)||(j+len>lsrc)) return NIL;
+	src+=j;
+	if(i+len>ldst) i=ldst-len;
+	while(i>=0)
+	{
+		if (!mystrcmp(dst+i,src,len)) return INTTOVAL(i);
+		i--;
+	}
+	return NIL;
+}
+
+int sysStrgetword(unsigned char *src,int len,int ind)
+{
+	int n;
+  if ((ind<0)||(ind+2>len)) return -1;
+  n=(src[ind]<<8)+src[ind+1];
+  return n;
+}
+
+void sysStrputword(unsigned char *src,int len,int ind,int val)
+{
+  if ((ind<0)||(ind+2>len)) return;
+  src[ind+1]=val; val>>=8;
+  src[ind]=val;
+}
+
+// lecture d'une cha�ne d�cimale (s'arr�te au premier caract�re incorrect)
+int sysAtoi(char* src)
+{
+  int x,c,s;
+  x=s=0;
+  if ((*src)=='-') { s=1; src++; }
+  while(c=*src++)
+  {
+    if ((c>='0')&&(c<='9')) x=(x*10)+c-'0';
+    else return (s?(-x):x);
+  }
+  return (s?(-x):x);
+}
+
+// lecture d'une cha�ne hexad�cimale (s'arr�te au premier caract�re incorrect)
+int sysHtoi(char* src)
+{
+	int x,c;
+	x=0;
+	while(c=*src++)
+	{
+		if ((c>='0')&&(c<='9')) x=(x<<4)+c-'0';
+		else if ((c>='A')&&(c<='F')) x=(x<<4)+c-'A'+10;
+		else if ((c>='a')&&(c<='f')) x=(x<<4)+c-'a'+10;
+		else return x;
+	}
+	return x;
+}
+void sysCtoa(int c)
+{
+  unsigned char res[1];
+  res[0]=c;
+  VPUSH(PNTTOVAL(VMALLOCSTR((char*)res,1)));
+}
+
+const int itoarsc[10]={
+  1000000000,100000000,10000000,
+  1000000   ,100000   ,10000,
+  1000      ,100      ,10,
+  1
+};;
+void sysItoa(int v)
+{
+  char res[16];
+  int ires=0;
+  if (v==0)
+  {
+    res[ires++]='0';
+  }
+  else
+  {
+    int start=1;
+    int imul=0;
+    if (v<0)
+    {
+      v=-v;
+      res[ires++]='-';
+    }
+    while(imul<10)
+    {
+      int k=0;
+      while(v>=itoarsc[imul])
+      {
+        k++;
+        v-=itoarsc[imul];
+      }
+      if ((k)||(!start))
+      {
+        start=0;
+        res[ires++]='0'+k;
+      }
+      imul++;
+    }
+  }
+
+  VPUSH(PNTTOVAL(VMALLOCSTR(res,ires)));
+
+}
+
+void sysItoh(int v)
+{
+  char res[16];
+  int ires=0;
+  if (v==0)
+  {
+    res[ires++]='0';
+  }
+  else
+  {
+    int start=1;
+    int imul=28;
+    while(imul>=0)
+    {
+      int c=(v>>imul)&15;
+      if ((c)||(!start))
+      {
+        start=0;
+        res[ires++]=(c<10)?'0'+c:'a'+c-10;
+      }
+      imul-=4;
+    }
+  }
+  VPUSH(PNTTOVAL(VMALLOCSTR(res,ires)));
+}
+
+void sysCtoh(int c)
+{
+  unsigned char res[2];
+  int v=(c>>4)&15;
+  res[0]=(v<10)?'0'+v:'a'+v-10;
+  v=c&15;
+  res[1]=(v<10)?'0'+v:'a'+v-10;
+  VPUSH(PNTTOVAL(VMALLOCSTR((char*)res,2)));
+}
+
+void sysItobin2(int c)
+{
+  unsigned char res[2];
+  res[1]=c;
+  c>>=8;
+  res[0]=c;
+  VPUSH(PNTTOVAL(VMALLOCSTR((char*)res,2)));
+}
+
+int sysListswitch(int p,int key)
+{
+  while(p!=NIL)
+  {
+    int q=VALTOPNT(VFETCH(p,0));
+    if ((q!=NIL)&&(VFETCH(q,0)==key)) return VFETCH(q,1);
+    p=VALTOPNT(VFETCH(p,1));
+  }
+  return NIL;
+}
+
+int sysListswitchstr(int p,char* key)
+{
+  while(p!=NIL)
+  {
+    int q=VALTOPNT(VFETCH(p,0));
+    if (q!=NIL)
+    {
+      int r=VALTOPNT(VFETCH(q,0));
+      if ((r!=NIL)&&(!strcmp(VSTARTBIN(r),key))) return VFETCH(q,1);
+    }
+    p=VALTOPNT(VFETCH(p,1));
+  }
+  return NIL;
+}
+
+void simuSetLed(int i,int val);
+void set_motor_dir(int num_motor, int sens);
+int get_motor_val(int i);
+int getButton();
+int get_button3();
+char* get_rfid();
+
+void sysLed(int led,int col)
+{
+#ifdef VSIMU
+	simuSetLed(led,col);
+#endif
+#ifdef VREAL
+        set_led((UWORD)led,(UWORD)col);
+#endif
+}
+
+void sysMotorset(int motor,int sens)
+{
+#ifdef VSIMU
+	set_motor_dir(motor,sens);
+#endif
+#ifdef VREAL
+//        char buffer[256];
+        motor=1+(motor&1);
+
+//        sprintf(buffer,"setmotor %d sens %d\r\n",motor,sens);
+//        consolestr(buffer);
+
+        if (sens==0) stop_motor(motor);
+        else run_motor(motor,255,(sens>0)?REVERSE:FORWARD/*:REVERSE*/);
+#endif
+}
+
+int kmotor[3];
+int kvmotor[3];
+
+int sysMotorget(int motor)
+{
+#ifdef VSIMU
+	return get_motor_val(motor);
+#endif
+#ifdef VREAL
+//        char buffer[256];
+        int k,kx;
+        motor=1+(motor&1);
+        kx=(int)get_motor_position(motor);
+/*        k=(int)get_motor_position(motor);
+        if (kmotor[motor]!=k)
+        {
+          kmotor[motor]=k;
+          kvmotor[motor]++;
+        }
+        kx=kvmotor[motor];
+*/
+
+//        sprintf(buffer,"getmotor %d pos %x / %x\r\n",motor,k,kx);
+//        if(motor==2)
+//        consolestr(buffer);
+        return kx;
+#endif
+}
+
+int sysButton2()
+{
+#ifdef VSIMU
+	return getButton();
+#endif
+#ifdef VREAL
+        return push_button_value();
+#endif
+}
+
+int sysButton3()
+{
+#ifdef VSIMU
+	return get_button3();
+#endif
+#ifdef VREAL
+	return 255-get_adc_value();
+#endif
+}
+
+char* sysRfidget()
+{
+#ifdef VSIMU
+        return get_rfid();
+#endif
+#ifdef VREAL
+        return get_rfid_first_device();
+#endif
+}
+
+void sysReboot()
+{
+#ifdef VSIMU
+    printf("REBOOT NOW.....");
+    getchar();
+    exit(0);
+#endif
+#ifdef VREAL
+    reset_uc();
+#endif
+
+}
+
+void sysFlash(char* firmware,int len)
+{
+#ifdef VSIMU
+    printf("REBOOT AND FLASH NOW.....");
+    getchar();
+    exit(0);
+#endif
+#ifdef VREAL
+  __disable_interrupt();
+  flash_uc((unsigned char*)firmware,len,buffer_temp);
+#endif
+
+}
+
+const uchar inv8[128]=
+{
+1,171,205,183,57,163,197,239,241,27,61,167,41,19,53,223,225,139,173,151,25,131,165,207,209,251,29,135,9,243,21,191,193,107,141,119,249,99,133,175,177,219,253,103,233,211,245,159,161,75,109,87,217,67,101,143,145,187,221,71,201,179,213,127,129,43,77,55,185,35,69,111,113,155,189,39,169,147,181,95,97,11,45,23,153,3,37,79,81,123,157,7,137,115,149,63,65,235,13,247,121,227,5,47,49,91,125,231,105,83,117,31,33,203,237,215,89,195,229,15,17,59,93,199,73,51,85,255
+};
+
+int decode8(uchar* src,int len,uchar key,uchar alpha)
+{
+	while(len--)
+	{
+		uchar v=((*src)-alpha)*key;
+		*(src++)=v;
+		key=v+v+1;
+	}
+	return key;
+}
+
+int encode8(uchar* src,int len,uchar key,uchar alpha)
+{
+	while(len--)
+	{
+		uchar v=*src;
+		*(src++)=alpha+(v*inv8[key>>1]);
+		key=v+v+1;
+	}
+	return key;
+}
+
+
+
+int sysCrypt(char* src,int indexsrc,int len,int lensrc,unsigned int key,int alpha)
+{
+  if ((indexsrc<0)||(indexsrc+len>lensrc)||(len<=0)) return -1;
+  return encode8(src+indexsrc,len,key,alpha);
+}
+int sysUncrypt(char* src,int indexsrc,int len,int lensrc,unsigned int key,int alpha)
+{
+  if ((indexsrc<0)||(indexsrc+len>lensrc)||(len<=0)) return -1;
+  return decode8(src+indexsrc,len,key,alpha);
+}
+
+

data/ext/mtl/vlog.h

@@ -0,0 +1,69 @@
+// VLISP Virtual Machine - 2006 - by Sylvain Huet
+// Lowcost IS Powerfull
+
+#ifndef _LOGGER_
+#define _LOGGER_
+
+#include "log.h"
+
+#ifdef VSIMU
+#define consolestr(val) my_printf(LOG_VM, "%s",val)
+#define consolebin(val,len) my_printf(LOG_VM, "%s",val)
+#define consoleint(val) my_printf(LOG_VM, "%d",val)
+#define consolehx(val) my_printf(LOG_VM, "%x",val)
+#endif
+#ifdef VREAL
+#define consolestr(val) putst_uart(val)
+#define consolebin(val,len) putbin_uart(val,len)
+#define consoleint(val) putint_uart(val)
+#define consolehx(val) puthx_uart(val)
+#endif
+
+void logSecho(int p,int nl);
+void logIecho(int i,int nl);
+void logGC();
+
+void dump(uchar *src,int len);
+
+int sysLoad(char *dst,int i,int ldst,char *filename,int j,int len);
+int sysSave(char *dst,int i,int ldst,char *filename,int j,int len);
+
+int sysTimems();
+int sysTime();
+int sysRand();
+void sysSrand(int seed);
+void sysReboot();
+void sysFlash(char* firmware,int len);
+
+void mystrcpy(char *dst,char *src,int len);
+
+void sysCpy(char *dst,int i,int ldst,char *src,int j,int lsrc,int len);
+int sysCmp(char *dst,int i,int ldst,char *src,int j,int lsrc,int len);
+int sysFind(char *dst,int i,int ldst,char *src,int j,int lsrc,int len);
+int sysFindrev(char *dst,int i,int ldst,char *src,int j,int lsrc,int len);
+int sysStrgetword(unsigned char *src,int len,int ind);
+void sysStrputword(unsigned char *src,int len,int ind,int val);
+int sysAtoi(char* src);
+int sysHtoi(char* src);
+void sysCtoa(int c);
+void sysItoa(int v);
+void sysItoh(int v);
+void sysCtoh(int c);
+void sysItobin2(int c);
+int sysListswitch(int p,int key);
+int sysListswitchstr(int p,char* key);
+
+
+void sysLed(int led,int col);
+void sysMotorset(int motor,int sens);
+int sysMotorget(int motor);
+int sysButton2();
+int sysButton3();
+
+char* sysRfidget();
+
+int sysCrypt(char* src,int indexsrc,int len,int lensrc,unsigned int key,int alpha);
+int sysUncrypt(char* src,int indexsrc,int len,int lensrc,unsigned int key,int alpha);
+
+#endif
+