Fix bugs.

diff --git a/IODaemon/IODaemon.java b/IODaemon/IODaemon.java
index 023354f..5edbf7b 100644 (file)
--- a/IODaemon/IODaemon.java
+++ b/IODaemon/IODaemon.java
@@ -32,7 +32,7 @@ import java.lang.*;
 class IODaemon extends Thread
 {
        static final int BASE=0x800000;
-       static final int ST=50;
+       static final int ST=500;
 
        static AIC aic;
        static Host host;

diff --git a/MotorTest/MotorTest.java b/MotorTest/MotorTest.java
index fb2b079..18f321b 100644 (file)
--- a/MotorTest/MotorTest.java
+++ b/MotorTest/MotorTest.java
@@ -62,12 +62,12 @@ class MotorTest
 
                aic.brake.release();
 
-               for(i=0;(i <= 24) && run;i++) iter(i);
+               for(i=0;(i <= 12) && run;i++) iter(i);
 
                while(run)
                {
-                       for(i=24;(i >= -24) && run;i--) iter(i);
-                       for(i=-24;(i <= 24) && run;i++) iter(i);
+                       for(i=12;(i >= -12) && run;i--) iter(i);
+                       for(i=-12;(i <= 12) && run;i++) iter(i);
                }
                aic.off();
        }

diff --git a/lib/Makefile b/lib/Makefile
index 5c14870..a24cb12 100644 (file)
--- a/lib/Makefile
+++ b/lib/Makefile
@@ -105,10 +105,15 @@ encoder.tlib: encoder.mpp
        ${ASM} ${ASMOPT} encoder.mpp
 
 pwm.mpp: pwm.a51 ${TINIINC} ${ASMINC}/aicpld.inc
-       ${ASMMACRO} -I${ASMINC} pwm.a51
+       ${ASMMACRO} -I${ASMINC} -e- pwm.a51
 
-pwm.tlib: pwm.mpp
-       ${ASM} ${ASMOPT} pwm.mpp
+pwm.tlib: pwm.mpp tlib/pwm.mpp 
+       cat tlib/pwm.mpp pwm.mpp > pwm.tmp.mpp
+       echo end >> pwm.tmp.mpp
+       ${ASM} ${ASMOPT} pwm.tmp.mpp
+
+tlib/pwm.mpp: tlib/pwm.a51
+       $(MAKE) -C tlib pwm.mpp
 
 AIC.jar: ${PKGPATH}/PLD.class\
        ${PKGPATH}/CtrlRegister.class\
@@ -163,7 +168,7 @@ clean:
        $(MAKE) -C tlib clean
 
 distclean: clean
-       rm -rf AIC.jar *.a
+       rm -rf AIC.jar *.a aicio.mpp.lib
        $(MAKE) -C tlib distclean
 
 uninstall:

diff --git a/lib/pwm.a51 b/lib/pwm.a51
index 7370e5b..1c551fa 100644 (file)
--- a/lib/pwm.a51
+++ b/lib/pwm.a51
@@ -31,6 +31,8 @@ $include(i8254.inc)
 $include(aicpld.inc)
 $include(aicmacro.inc)
 
+_bpx EQU 01Eh           ; _bpx (frame pointer) mapped to R8_B3:R7_B3
+_ap  EQU 01Dh           ; _ap mapped to R6_B3
 
 ; data saved in big-endian mode
 ; PWM base address
@@ -119,8 +121,17 @@ duty50:            inc     dptr                    ; point dptr to timer 1
 ; Initializes PWM
 ; void pwm_initialize(unsigned long base,unsigned int min_count,unsigned int count);
 pwm_initialize:
-               clr     a
-               lcall   Natlib_LoadPrimitive    ; get first parameter in R3:R2:R1:R0
+               push    _bpx                    ; SDCC style preface code 
+               push    _bpx+1   
+               mov     _bpx,sp
+               mov     _bpx+1,esp
+               anl     _bpx+1,#3
+
+
+               mov     r0,dpl                  ; parameter in b:dpx:dph:dpl
+               mov     r1,dph                  ; BUG IN SDCC MANUAL!
+               mov     r2,dpx
+               mov     r3,b
 
                push    R0_B0
                push    R1_B0
@@ -140,18 +151,49 @@ pwm_initialize:
 
                STORE24 #pwm_base               ; store PWM address
 
-               mov     a,#1h
-               lcall   Natlib_LoadPrimitive    ; get second parameter in R3:R2:R1:R0
-               mov     dptr,#pwm_min_count     ; stores it
-               mov     a,r1
-               movx    @dptr,a
+               mov     a,_bpx
+               clr     c
+               subb    a,#06                   ; second parameter is base pointer-6
+               mov     b,a                     ; point dpx:dptr to it
+               mov     a,_bpx+1        
+               subb    a,#0 
+               mov     dpx,#40h
+               mov     dph,a
+               mov     dpl,b
+
+               movx    a,@dptr                 ; min_count LSB
+               mov     b,a
                inc     dptr
-               mov     a,r0
-               movx    @dptr,a
-
-               mov     a,#2h
-               lcall   Natlib_LoadPrimitive    ; get third parameter in R3:R2:R1:R0
+               movx    a,@dptr                 ; min_count MSB
 
+               mov     dptr,#pwm_min_count     ; stores it
+               movx    @dptr,a 
+               inc     dptr
+               mov     a,b
+               movx    @dptr,a  
+
+               mov     a,_bpx
+               clr     c
+               subb    a,#8                    ; third parameter is base pointer-8
+               mov     b,a                     ; point dpx:dptr to it
+               mov     a,_bpx+1        
+               subb    a,#0 
+               mov     dpx,#040h
+               mov     dph,a
+               mov     dpl,b
+
+               movx    a,@dptr                 ; store in dph:dpl
+               inc     dptr
+               mov     b,a
+               movx    a,@dptr
+               mov     dph,a
+               mov     dpl,b
+
+               mov     sp,_bpx                 ; SDCC style epilogue code
+               mov     esp,_bpx+1
+               pop     _bpx+1 
+               pop     _bpx 
+                                               ; to fall over max count should be in dph:dpl
                ljmp    pwm_set_count           ; fall over to native_setCount
 
 

diff --git a/lib/tlib/Makefile b/lib/tlib/Makefile
index b7a128d..7de5da2 100644 (file)
--- a/lib/tlib/Makefile
+++ b/lib/tlib/Makefile
@@ -51,7 +51,7 @@ encoder.mpp: encoder.a51 ${TINIINC}
        ${ASMMACRO} -I${ASMINC} encoder.a51
 
 pwm.mpp: pwm.a51 ${TINIINC}
-       ${ASMMACRO} -I${ASMINC} pwm.a51
+       ${ASMMACRO} -I${ASMINC} -e- pwm.a51
 
 install:
 

diff --git a/lib/tlib/pwm.a51 b/lib/tlib/pwm.a51
index ff7601d..d335686 100644 (file)
--- a/lib/tlib/pwm.a51
+++ b/lib/tlib/pwm.a51
@@ -48,7 +48,7 @@ native_setCount:
                lcall   Natlib_LoadPrimitive    ; get parameter in R3:R2:R1:R0
                                                ; only the lower 16 bits are usefull
 
-               mov     dph,r1                  ; SDCC parameters in dph:dpl
+               mov     dph,r1                  ; SDCC parameter in dph:dpl
                mov     dpl,r0                  ; BUG IN SDCC MANUAL!
 
                lcall   pwm_set_count
@@ -59,46 +59,44 @@ native_setCount:
 ; Initializes PWM
 ; private static native void initialize(int base,int min_count,int count);
 native_initialize:
-               clr     a
-               lcall   Natlib_LoadPrimitive    ; get first parameter in R3:R2:R1:R0
-
+               mov     a,#2h
+               lcall   Natlib_LoadPrimitive    ; get third parameter in R3:R2:R1:R0
+               
                push    R0_B0
                push    R1_B0
-               push    R2_B0
 
-               mov     dptr,#CONTROL           ; compute Control address
-               lcall   Add_Dptr1_24            ; dptr=dptr+R2:R1:R0
+               mov     a,#1h
+               lcall   Natlib_LoadPrimitive    ; get second parameter in R3:R2:R1:R0
 
-               STORE24 #ctrlbase               ; store Control register address
+               push    R0_B0
+               push    R1_B1
 
-               pop     R2_B0
-               pop     R1_B0
-               pop     R0_B0
+               clr     a
+               lcall   Natlib_LoadPrimitive    ; get first parameter in R3:R2:R1:R0
 
-               mov     dptr,#PWM               ; compute PWM address
-               lcall   Add_Dptr1_24            ; dptr=dptr+R2:R1:R0
+               mov     b,r3                    ; SDCC parameter in b:dpx:dph:dpl
+               mov     dpx,r2                  ; BUG IN SDCC MANUAL!
+               mov     dph,r1
+               mov     dpl,r0
 
-               STORE24 #pwmbase                ; store PWM address
 
-               mov     a,#1h
-               lcall   Natlib_LoadPrimitive    ; get second parameter in R3:R2:R1:R0
-               mov     dptr,#min_count         ; stores it
-               mov     a,r1
-               movx    @dptr,a
-               inc     dptr
-               mov     a,r0
-               movx    @dptr,a
+               lcall   pwm_initialize
 
-               mov     a,#2h
-               lcall   Natlib_LoadPrimitive    ; get third parameter in R3:R2:R1:R0
+               pop     ACC                     ; fix-up stack
+               pop     ACC
+               pop     ACC
+               pop     ACC
 
-               ljmp    set_count               ; fall over to native_setCount
+               clr     a                       ; sucess
+               ret     
 
 
 ; Finalizes PWM
 ; public native void finalize()
 native_finalize:
                lcall   pwm_finalize
+               
+               clr     a                       ; sucess
                ret
 
 ; Sets the duty-cycle of PWM
@@ -107,7 +105,7 @@ native_setDuty:
                clr     a
                lcall   Natlib_LoadPrimitive    ; get parameter in R3:R2:R1:R0
 
-               mov     b,r3                    ; SDCC parameters in b:dpx:dph:dpl
+               mov     b,r3                    ; SDCC parameter in b:dpx:dph:dpl
                mov     dpx,r2                  ; BUG IN SDCC MANUAL!
                mov     dph,r1
                mov     dpl,r0
@@ -128,12 +126,16 @@ native_setDuty:
 
 native_on: 
                lcall   pwm_on
+
+               clr     a                       ; sucess
                ret
 
 ; Turns the PWM off
 ; public static native void off()
 native_off: 
                lcall   pwm_off
+
+               clr     a                       ; sucess
                ret
 
                end

diff --git a/motortst/motortst.cpp b/motortst/motortst.cpp
index 42a5071..ff4da51 100644 (file)
--- a/motortst/motortst.cpp
+++ b/motortst/motortst.cpp
@@ -73,19 +73,19 @@ int main(int argc,char *argv[])
        aic->motor.on();
        aic->brake.release();
 
-       for(i=0;(i <= 24) && run;i++)
+       for(i=0;(i <= 12) && run;i++)
        {
                if(kbhit()) run=0;
                iter(aic,i);
        }
        while(run)
        {
-               for(i=24;(i > -24) && run;i--)
+               for(i=12;(i > -12) && run;i--)
                {
                        if(kbhit()) run=0;
                        iter(aic,i);
                }
-               for(i=-24;(i <= 24) && run;i++)
+               for(i=-12;(i <= 12) && run;i++)
                {
                        if(kbhit()) run=0;
                        iter(aic,i);