sm64

motor.c (5061B)

---

 #include "PR/os_message.h"
 #include "PR/os_pi.h"
 #include "libultra_internal.h"
 #include "controller.h"
 #include "macros.h"
 
 #ifdef VERSION_CN
 
 s32 __osMotorAccess(UNUSED OSPfs *pfs, UNUSED s32 action) {
     return PFS_ERR_INVALID;
 }
 
 s32 osMotorInit(UNUSED OSMesgQueue *mq, UNUSED OSPfs *pfs, UNUSED int channel) {
     return PFS_ERR_DEVICE;
 }
 
 #else
 
 void _MakeMotorData(int channel, u16 address, u8 *buffer, OSPifRam *mdata);
 u32 __osMotorinitialized[MAXCONTROLLERS] = { 0, 0, 0, 0 };
 OSPifRam _MotorStopData[MAXCONTROLLERS];
 OSPifRam _MotorStartData[MAXCONTROLLERS];
 u8 _motorstopbuf[32];
 u8 _motorstartbuf[32];
 
 s32 osMotorStop(OSPfs *pfs) {
     int i;
     s32 ret;
     u8 *ptr;
     __OSContRamReadFormat ramreadformat;
     ptr = (u8 *) &__osPfsPifRam;
 
     if (!__osMotorinitialized[pfs->channel]) {
         return PFS_ERR_INVALID;
     }
     __osSiGetAccess();
 
     __osContLastCmd = CONT_CMD_WRITE_MEMPACK;
     __osSiRawStartDma(OS_WRITE, &_MotorStopData[pfs->channel]);
     osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
     ret = __osSiRawStartDma(OS_READ, &__osPfsPifRam);
     osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
     ptr = (u8 *) &__osPfsPifRam;
 
     if (pfs->channel != 0) {
         for (i = 0; i < pfs->channel; i++) {
             ptr++;
         }
     }
 
     ramreadformat = *(__OSContRamReadFormat *) ptr;
     ret = CHNL_ERR(ramreadformat);
     if (ret == 0 && ramreadformat.datacrc != __osContDataCrc((u8 *) &_motorstopbuf)) {
         ret = PFS_ERR_CONTRFAIL;
     }
     __osSiRelAccess();
     return ret;
 }
 
 s32 osMotorStart(OSPfs *pfs) {
     int i;
     s32 ret;
     u8 *ptr;
     __OSContRamReadFormat ramreadformat;
 
     ptr = (u8 *) &__osPfsPifRam;
 
     if (!__osMotorinitialized[pfs->channel]) {
         return PFS_ERR_INVALID;
     }
 
     __osSiGetAccess();
 
     __osContLastCmd = CONT_CMD_WRITE_MEMPACK;
     __osSiRawStartDma(OS_WRITE, &_MotorStartData[pfs->channel]);
     osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
     ret = __osSiRawStartDma(OS_READ, &__osPfsPifRam);
     osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
     ptr = (u8 *) &__osPfsPifRam;
 
     if (pfs->channel != 0) {
         for (i = 0; i < pfs->channel; i++) {
             ptr++;
         }
     }
 
     ramreadformat = *(__OSContRamReadFormat *) ptr;
     ret = CHNL_ERR(ramreadformat);
     if (ret == 0 && ramreadformat.datacrc != __osContDataCrc((u8 *) &_motorstartbuf)) {
         ret = PFS_ERR_CONTRFAIL;
     }
     __osSiRelAccess();
     return ret;
 }
 
 void _MakeMotorData(int channel, u16 address, u8 *buffer, OSPifRam *mdata) {
     u8 *ptr;
     __OSContRamReadFormat ramreadformat;
     int i;
 
     ptr = (u8 *) mdata->ramarray;
     for (i = 0; i < ARRAY_COUNT(mdata->ramarray); i++) {
         mdata->ramarray[i] = 0;
     }
     mdata->pifstatus = CONT_CMD_EXE;
     ramreadformat.dummy = CONT_CMD_NOP;
     ramreadformat.txsize = CONT_CMD_WRITE_MEMPACK_TX;
     ramreadformat.rxsize = CONT_CMD_WRITE_MEMPACK_RX;
     ramreadformat.cmd = CONT_CMD_WRITE_MEMPACK;
 
     ramreadformat.address = (address << 0x5) | __osContAddressCrc(address);
     ramreadformat.datacrc = CONT_CMD_NOP;
     for (i = 0; i < ARRAY_COUNT(ramreadformat.data); i++) {
         ramreadformat.data[i] = *buffer++;
     }
     if (channel != 0) {
         for (i = 0; i < channel; i++) {
             *ptr++ = 0;
         }
     }
     *(__OSContRamReadFormat *) ptr = ramreadformat;
     ptr += sizeof(__OSContRamReadFormat);
     ptr[0] = CONT_CMD_END;
 }
 
 s32 osMotorInit(OSMesgQueue *mq, OSPfs *pfs, int channel) {
     int i;
     s32 ret;
     u8 temp[32];
     pfs->queue = mq;
     pfs->channel = channel;
     pfs->status = 0;
     pfs->activebank = 128;
 
     for (i = 0; i < ARRAY_COUNT(temp); i++) {
         temp[i] = 254;
     }
 
     ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
     if (ret == 2) { // TODO: remove magic constant
         ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
     }
     if (ret != 0) {
         return ret;
     }
 
     ret = __osContRamRead(mq, channel, 1024, temp);
     if (ret == 2) {
         ret = PFS_ERR_CONTRFAIL; // is this right?
     }
     if (ret != 0) {
         return ret;
     }
     if (temp[31] == 254) {
         return PFS_ERR_DEVICE;
     }
 
     for (i = 0; i < ARRAY_COUNT(temp); i++) {
         temp[i] = 128;
     }
 
     ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
     if (ret == 2) {
         ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
     }
     if (ret != 0) {
         return ret;
     }
 
     ret = __osContRamRead(mq, channel, 1024, temp);
     if (ret == 2) {
         ret = PFS_ERR_CONTRFAIL;
     }
     if (ret != 0) {
         return ret;
     }
     if (temp[31] != 128) {
         return PFS_ERR_DEVICE;
     }
 
     if (!__osMotorinitialized[channel]) {
         for (i = 0; i < ARRAY_COUNT(_motorstartbuf); i++) {
             _motorstartbuf[i] = 1;
             _motorstopbuf[i] = 0;
         }
         _MakeMotorData(channel, 1536, _motorstartbuf, &_MotorStartData[channel]);
         _MakeMotorData(channel, 1536, _motorstopbuf, &_MotorStopData[channel]);
         __osMotorinitialized[channel] = 1;
     }
     return 0;
 }
 
 #endif