| LEGO Mindstorms EV3 |
//**********************************************************************
define appv 'Debug V1.02' //
//**********************************************************************
//
define MAX_COMMAND_BYTECODES 64 //
define MAX_COMMAND_GLOBALS 64 //
//
DATA32 pDirectGlobals //
DATA32 pDirectImage //
DATA16 hDirectImage //
DATA8 OldStatus //
DATA8 OldTermStatus //
//
//******************************************************************************************************
// Main
//******************************************************************************************************
//
vmthread Main // void Main(void)
{ // {
DATA8 ShowVersion //
//
UI_BUTTON(PRESSED,RIGHT_BUTTON,ShowVersion) // UI_BUTTON(PRESSED,RIGHT_BUTTON,ShowVersion)
JR_FALSE(ShowVersion,DontShowVersion) // if (ShowVersion)
// {
UI_DRAW(FILLRECT,BG_COLOR,4,50,170,28) // UI_DRAW(FILLRECT,BG_COLOR,4,50,170,28)
UI_DRAW(RECT,FG_COLOR,6,52,166,24) // UI_DRAW(RECT,FG_COLOR,6,52,166,24)
UI_DRAW(TEXT,FG_COLOR,13,60,appv) // UI_DRAW(TEXT,FG_COLOR,13,60,appv)
UI_DRAW(UPDATE) // UI_DRAW(UPDATE)
//
ShowVersionWait: // do
// {
UI_BUTTON(PRESSED,RIGHT_BUTTON,ShowVersion) // UI_BUTTON(PRESSED,RIGHT_BUTTON,ShowVersion)
// }
JR_TRUE(ShowVersion,ShowVersionWait) // while (ShowVersion)
//
UI_BUTTON(FLUSH) // UI_BUTTON(FLUSH)
DontShowVersion: // }
//
UI_DRAW(RESTORE,0) // UI_DRAW(RESTORE,0)
//
CALL(StartupScreen) // StartupScreen()
OBJECT_START(BackgroundTask) // OBJECT_START(BackgroundTask)
CALL(Scheduler) // Scheduler()
} // }
//
//******************************************************************************************************
// BackgroundTask
//******************************************************************************************************
//
vmthread BackgroundTask // void BackgroundTask(void)
{ // {
DATA8 TermStatus // DATA8 TermStatus
DATA8 Reply // DATA8 Reply
//
PROGRAM_INFO(GET_STATUS,TERM_SLOT,TermStatus) // PROGRAM_INFO(GET_STATUS,TERM_SLOT,TermStatus)
MOVE8_8(TermStatus,OldTermStatus) // OldTermStatus = TermStatus
// do
Loop: // {
PROGRAM_INFO(GET_STATUS,TERM_SLOT,TermStatus) // PROGRAM_INFO(GET_STATUS,TERM_SLOT,TermStatus)
JR_EQ8(TermStatus,OldTermStatus,NoChange) // if (TermStatus != OldTermsStatus)
// {
MOVE8_8(TermStatus,OldTermStatus) // OldTermStatus = TermStatus
JR_NEQ8(TermStatus,STOPPED,NotStopped) // if (TermStatus == STOPPED)
// {
PROGRAM_INFO(GET_PRGRESULT,TERM_SLOT,Reply) // PROGRAM_INFO(GET_PRGRESULT,TERM_SLOT,Reply)
JR_NEQ8(Reply,FAIL,Ok) // if (Reply == FAIL)
// {
UI_WRITE(PUT_STRING,'FAIL\r\n') // UI_WRITE(PUT_STRING,'FAIL\r\n')
Ok: // }
UI_WRITE(CODE,pDirectGlobals,MAX_COMMAND_GLOBALS) // UI_WRITE(CODE,pDirectGlobals,MAX_COMMAND_GLOBALS)
UI_WRITE(PUT_STRING,'\r\n') // UI_WRITE(PUT_STRING,'\r\n')
UI_WRITE(WRITE_FLUSH) // UI_WRITE(WRITE_FLUSH)
//
NotStopped: // }
NoChange: // }
// }
JR(Loop) // while (1)
} // }
//
//******************************************************************************************************
// StartupScreen
//******************************************************************************************************
//
define STARTUPSCREEN 'startup_screen' //
//
subcall StartupScreen // void StartupScreen(void)
{ // {
UI_WRITE(LED,LED_GREEN) // UI_WRITE(LED,LED_GREEN)
UI_DRAW(FILLWINDOW,BG_COLOR,0,0) // UI_DRAW(FILLWINDOW,BG_COLOR,0,0)
UI_DRAW(TEXT,FG_COLOR,48,45,'Debug Mode') // UI_DRAW(TEXT,FG_COLOR,48,30,'Debug Mode')
UI_DRAW(TEXT,FG_COLOR,40,65,'use terminal') // UI_DRAW(TEXT,FG_COLOR,40,50,'use terminal')
UI_DRAW(UPDATE) // UI_DRAW(UPDATE)
} // }
//
//******************************************************************************************************
// Scheduler
//******************************************************************************************************
//
subcall Scheduler // void Scheduler(void)
{ // {
DATA32 Ips //
DATA8 Status //
DATA8 Key //
//
UI_WRITE(TERMINAL,1) // UI_WRITE(TERMINAL,1)
FILE(GET_POOL,MAX_COMMAND_BYTECODES,hDirectImage,pDirectImage) // FILE(GET_POOL,MAX_COMMAND_BYTECODES,hDirectImage,pDirectImage)
PROGRAM_INFO(GET_STATUS,USER_SLOT,Status) // PROGRAM_INFO(GET_STATUS,USER_SLOT,Status)
MOVE8_8(Status,OldStatus) // OldStatus = Status
CALL(Help) // Help()
//
// do
Loop: // {
//
UI_READ(KEY,Key) // UI_READ(KEY,Key)
//
JR_NEQ8(Key,'h',NotHelp) // if (Key == 'h')
// {
CALL(Help) // Help()
NotHelp: // }
//
JR_NEQ8(Key,'f',NotFilenameHelp) // if (Key == 'h')
// {
CALL(FilenameHelp) // FilenameHelp()
NotFilenameHelp: // }
//
JR_NEQ8(Key,'w',NotDebugHelp) // if (Key == 'w')
// {
CALL(DebugHelp) // DebugHelp()
NotDebugHelp: // }
//
JR_NEQ8(Key,'q',NotQuit) // if (Key == 'q')
// {
CALL(ExitToLinux) // ExitToLinux()
NotQuit: // }
//
JR_NEQ8(Key,'s',NotStop) // if (Key == 's')
// {
CALL(StopUserProgram) // StopUserProgram()
NotStop: // }
//
JR_NEQ8(Key,'r',NotRun) // if (Key == 'r')
// {
CALL(RunUserProgram) // RunUserProgram()
NotRun: // }
//
JR_NEQ8(Key,'x',NotTst) // if (Key == 'x')
// {
CALL(RunTstProgram) // RunTstProgram()
NotTst: // }
//
JR_NEQ8(Key,'b',NotBreakPoint) // if (Key == 'b')
// {
CALL(SetBreakPoint) // SetBreakPoint()
NotBreakPoint: // }
//
JR_NEQ8(Key,'c',NotCommand) // if (Key == 'c')
// {
CALL(DirectCommand) // DirectCommand()
NotCommand: // }
//
JR_NEQ8(Key,'p',NotProbe) // if (Key == 'p')
// {
CALL(Probe) // Probe()
NotProbe: // }
//
JR_NEQ8(Key,'d',NotDebug) // if (Key == 'd')
// {
CALL(Debug) // Debug()
NotDebug: // }
//
JR_NEQ8(Key,'t',NotTrig) // if (Key == 't')
// {
CALL(SetTrigger) // SetTrigger()
NotTrig: // }
//
PROGRAM_INFO(GET_STATUS,USER_SLOT,Status) // PROGRAM_INFO(GET_STATUS,USER_SLOT,Status)
//
JR_EQ8(Status,OldStatus,NoChange) // if (Status != OldStatus)
// {
MOVE8_8(Status,OldStatus) // OldStatus = Status
//
JR_NEQ8(Status,STOPPED,NotStopped) // if (Status == STOPPED)
// {
UI_WRITE(PUT_STRING,'\r }\r\n [') // UI_WRITE(PUT_STRING,'\r }\r\n [')
PROGRAM_INFO(GET_SPEED,USER_SLOT,Ips) // PROGRAM_INFO(GET_SPEED,USER_SLOT,Ips)
UI_WRITE(VALUE32,Ips) // UI_WRITE(VALUE32,Ips)
UI_WRITE(PUT_STRING,' IPS]\r\n') // UI_WRITE(PUT_STRING,' IPS]\r\n')
//
UI_WRITE(WRITE_FLUSH) // UI_WRITE(WRITE_FLUSH)
CALL(StartupScreen) // StartupScreen()
//
//
NotStopped: // }
NoChange: // }
// }
JR(Loop) // while (1)
} // }
//
//******************************************************************************************************
// Help
//******************************************************************************************************
//
//
subcall Help // void Help(void)
{ // {
DATAS Version 40 //
//
UI_READ(GET_VERSION,40,Version) //
UI_WRITE(PUT_STRING,'\r\n') //
UI_WRITE(PUT_STRING,Version) //
UI_WRITE(PUT_STRING,'\r\n\n\n') //
UI_WRITE(PUT_STRING,' BYTECODE DEBUGGER \r\n') //
UI_WRITE(PUT_STRING,' ------------------------- \r\n') //
UI_WRITE(PUT_STRING,' h - this help screen \r\n') //
UI_WRITE(PUT_STRING,' f - help on file/path \r\n') //
UI_WRITE(PUT_STRING,' w - help on debugging \r\n') //
UI_WRITE(PUT_STRING,' \r\n') //
UI_WRITE(PUT_STRING,' rFILE - run file \r\n') //
UI_WRITE(PUT_STRING,' dFILE - debug file \r\n') //
UI_WRITE(PUT_STRING,' s - stop \r\n') //
UI_WRITE(PUT_STRING,' \r\n') //
UI_WRITE(PUT_STRING,' bADDR - set breakpoint \r\n') //
UI_WRITE(PUT_STRING,' p - probe \r\n') //
UI_WRITE(PUT_STRING,' tADDR - set triggerpoint \r\n') //
UI_WRITE(PUT_STRING,' \r\n') //
UI_WRITE(PUT_STRING,' cCODE - direct command \r\n') //
UI_WRITE(PUT_STRING,' q - quit to Linux \r\n') //
UI_WRITE(PUT_STRING,' ------------------------- \r\n\n') //
UI_WRITE(WRITE_FLUSH) //
} // }
//
//
//******************************************************************************************************
// FilenameHelp
//******************************************************************************************************
//
//
subcall FilenameHelp // void FilenameHelp(void)
{ // {
UI_WRITE(PUT_STRING,'\r\n\n\n') //
UI_WRITE(PUT_STRING,' FILENAME / PATH HELP \r\n')//
UI_WRITE(PUT_STRING,' ----------------------------------------\r\n')//
UI_WRITE(PUT_STRING,' Run file located in specific folder use:\r\n')//
UI_WRITE(PUT_STRING,' \r\n')//
UI_WRITE(PUT_STRING,' r../prjs/prg1/prg1.rbf \r\n')//
UI_WRITE(PUT_STRING,' \r\n')//
UI_WRITE(PUT_STRING,' Run file located in sys/ui folder use:\r\n')//
UI_WRITE(PUT_STRING,' \r\n')//
UI_WRITE(PUT_STRING,' rprg1 \r\n')//
UI_WRITE(PUT_STRING,' \r\n')//
UI_WRITE(PUT_STRING,' ----------------------------------------\r\n\n')//
UI_WRITE(WRITE_FLUSH) //
} // }
//
//
//******************************************************************************************************
// DebugHelp
//******************************************************************************************************
//
//
subcall DebugHelp // void DebugHelp(void)
{ // {
UI_WRITE(PUT_STRING,'\r\n\n\n') //
UI_WRITE(PUT_STRING,' DEBUGGING HELP \r\n') //
UI_WRITE(PUT_STRING,' ----------------------------------------\r\n') //
UI_WRITE(PUT_STRING,' Run file with the d command and the \r\n') //
UI_WRITE(PUT_STRING,' file will load and be ready to single \r\n') //
UI_WRITE(PUT_STRING,' step, run or breakpoint set. \r\n') //
UI_WRITE(PUT_STRING,' \r\n') //
UI_WRITE(PUT_STRING,' spacebar - will step one byte code \r\n') //
UI_WRITE(PUT_STRING,' bADDR - insert break point at ADDR \r\n') //
UI_WRITE(PUT_STRING,' < - run the program \r\n') //
UI_WRITE(PUT_STRING,' s - stop and terminate \r\n') //
UI_WRITE(PUT_STRING,' ----------------------------------------\r\n\n') //
UI_WRITE(WRITE_FLUSH) //
} // }
//
//
//******************************************************************************************************
// Exit to Linux
//******************************************************************************************************
//
//
subcall ExitToLinux // void ExitToLinux(void)
{ // {
UI_DRAW(TOPLINE,0) // UI_DRAW(TOPLINE,0)
UI_DRAW(FILLWINDOW,BG_COLOR,0,0) // UI_DRAW(FILLWINDOW,BG_COLOR,0,0)
UI_DRAW(TEXT,FG_COLOR,48,30,'Linux Mode') // UI_DRAW(TEXT,FG_COLOR,48,30,'Linux Mode')
UI_DRAW(TEXT,FG_COLOR,40,50,'use terminal') // UI_DRAW(TEXT,FG_COLOR,40,50,'use terminal')
UI_DRAW(UPDATE) // UI_DRAW(UPDATE)
//
FILE(CLOSE,hDirectImage) // FILE(CLOSE,hDirectImage)
//
PROGRAM_STOP(GUI_SLOT) // PROGRAM_STOP(GUI_SLOT)
} // }
//
//
//******************************************************************************************************
// Stop user program
//******************************************************************************************************
//
//
subcall StopUserProgram // void StopUserProgram(void)
{ // {
DATA8 Status //
//
PROGRAM_INFO(GET_STATUS,USER_SLOT,Status) // PROGRAM_INFO(GET_STATUS,USER_SLOT,Status)
//
JR_EQ8(Status,STOPPED,Stopped) // if (Status != STOPPED)
// {
PROGRAM_STOP(USER_SLOT) // PROGRAM_STOP(USER_SLOT)
//
Stopped: // }
} // }
//
//
//******************************************************************************************************
// Run user program
//******************************************************************************************************
//
//
subcall RunUserProgram // void RunUserProgram(void)
{ // {
DATA32 ISize //
DATA32 Image //
DATA8 Status //
DATAS Filename FILENAMESIZE //
//
UI_READ(GET_STRING,FILENAMESIZE,Filename) // UI_READ(GET_STRING,FILENAMESIZE,Filename)
//
PROGRAM_INFO(GET_STATUS,USER_SLOT,Status) // PROGRAM_INFO(GET_STATUS,USER_SLOT,Status)
//
JR_NEQ8(Status,STOPPED,NotStopped) // if (Status == STOPPED)
// {
UI_WRITE(PUT_STRING,'\r\n Starting "') // UI_WRITE(PUT_STRING,'\r\n Starting "')
UI_WRITE(PUT_STRING,Filename) // UI_WRITE(PUT_STRING,Filename)
UI_WRITE(PUT_STRING,'"\r\n {\r\n') // UI_WRITE(PUT_STRING,'"\r\n {\r\n')
//
FILE(LOAD_IMAGE,USER_SLOT,Filename,ISize,Image) // FILE(LOAD_IMAGE,USER_SLOT,Filename,ISize,Image)
PROGRAM_START(USER_SLOT,0,Image,0) // PROGRAM_START(USER_SLOT,0,Image,0)
MOVE8_8(RUNNING,OldStatus) // OldStatus = RUNNING
//
UI_WRITE(WRITE_FLUSH) // UI_WRITE(WRITE_FLUSH)
//
NotStopped: // }
} // }
//
//
//******************************************************************************************************
// Run tst program
//******************************************************************************************************
//
//
subcall RunTstProgram // void RunTstProgram(void)
{ // {
DATA32 ISize //
DATA32 Image //
DATA8 Status //
//
PROGRAM_INFO(GET_STATUS,USER_SLOT,Status) // PROGRAM_INFO(GET_STATUS,USER_SLOT,Status)
//
JR_NEQ8(Status,STOPPED,NotStopped) // if (Status == STOPPED)
// {
UI_WRITE(PUT_STRING,'\r\n Starting "') // UI_WRITE(PUT_STRING,'\r\n Starting "')
UI_WRITE(PUT_STRING,'performance') // UI_WRITE(PUT_STRING,'performance')
UI_WRITE(PUT_STRING,'"\r\n {\r\n') // UI_WRITE(PUT_STRING,'"\r\n {\r\n')
//
FILE(LOAD_IMAGE,USER_SLOT,'performance',ISize,Image) // FILE(LOAD_IMAGE,USER_SLOT,'performance',ISize,Image)
PROGRAM_START(USER_SLOT,0,Image,0) // PROGRAM_START(USER_SLOT,0,Image,0)
MOVE8_8(RUNNING,OldStatus) // OldStatus = RUNNING
//
UI_WRITE(WRITE_FLUSH) // UI_WRITE(WRITE_FLUSH)
//
NotStopped: // }
} // }
//
//
//******************************************************************************************************
// Set break point
//******************************************************************************************************
//
//
subcall SetBreakPoint // void SetBreakPoint(void)
{ // {
DATA32 Address //
//
UI_READ(GET_ADDRESS,Address) // UI_READ(GET_ADDRESS,Address)
BP_SET(USER_SLOT,0,Address) // BP_SET(USER_SLOT,0,Address)
} // }
//
//
//******************************************************************************************************
// Direct command
//******************************************************************************************************
//
//
subcall DirectCommand // void DirectCommand(void)
{ // {
DATA8 Ready //
//
UI_READ(GET_CODE,MAX_COMMAND_BYTECODES,pDirectImage,pDirectGlobals,Ready) // UI_READ(GET_CODE,MAX_COMMAND_BYTECODES,pDirectImage,pDirectGlobals,Ready)
//
JR_FALSE(Ready,NotReady) // if (Ready)
// {
DO(TERM_SLOT,pDirectImage,pDirectGlobals) // DO(TERM_SLOT,pDirectImage,pDirectGlobals)
MOVE8_8(RUNNING,OldTermStatus) // OldTermStatus = RUNNING
//
NotReady: // }
} // }
//
//
//******************************************************************************************************
// Probe
//******************************************************************************************************
//
//
subcall Probe // void Probe(void)
{ // {
PROBE(USER_SLOT,0,0,0) // PROBE(USER_SLOT,0,0,0)
PROBE(USER_SLOT,1,0,0) // PROBE(USER_SLOT,1,0,0)
} // }
//
//
//******************************************************************************************************
// Debug
//******************************************************************************************************
//
//
subcall Debug // void Debug(void)
{ // {
DATA32 ISize //
DATA32 Image //
DATA8 Status //
DATAS Filename FILENAMESIZE //
//
UI_READ(GET_STRING,FILENAMESIZE,Filename) // UI_READ(GET_STRING,FILENAMESIZE,Filename)
//
PROGRAM_INFO(GET_STATUS,USER_SLOT,Status) // PROGRAM_INFO(GET_STATUS,USER_SLOT,Status)
//
JR_NEQ8(Status,STOPPED,NotStopped) // if (Status == STOPPED)
// {
UI_WRITE(PUT_STRING,'\r\n Debugging "') // UI_WRITE(PUT_STRING,'\r\n Debugging "')
UI_WRITE(PUT_STRING,Filename) // UI_WRITE(PUT_STRING,Filename)
UI_WRITE(PUT_STRING,'"\r\n {\r\n') // UI_WRITE(PUT_STRING,'"\r\n {\r\n')
//
UI_WRITE(WRITE_FLUSH) // UI_WRITE(WRITE_FLUSH)
//
FILE(LOAD_IMAGE,USER_SLOT,Filename,ISize,Image) // FILE(LOAD_IMAGE,USER_SLOT,Filename,ISize,Image)
PROGRAM_START(USER_SLOT,0,Image,1) // PROGRAM_START(USER_SLOT,0,Image,1)
//
NotStopped: // }
} // }
//
//
//******************************************************************************************************
// Set trigger
//******************************************************************************************************
//
//
subcall SetTrigger // void SetTrigger(void)
{ // {
DATA32 Address //
//
UI_READ(GET_ADDRESS,Address) // UI_READ(GET_ADDRESS,Address)
BP_SET(USER_SLOT,3,Address) // BP_SET(USER_SLOT,3,Address)
} // }
//
//
//!