**March 16 Simulator + Lego HW with eCos+

Line Follower Simulator - using sub-applications seems to have destroyed what I had - which was simulated polling reading the light sensor using a slider. With I/O to verify/simulate reaction, the application was cluttered with Function Blocks not needed for the application using Lego HW.


17 Mar.Update - Workspace is still ok, except ReadLightValue simulator.Havn't tried to flatten to subapps.

 Dual Bot V2 document update in Wiki:

Improvements 

- not back heavy so doesn't almost tip over in curves

- light sensors can easily to moved up

4DIAC 
error log in .metadata in workspace
problem viewing system configuration for device with readLight application with subapps
questions:
Service Sequence - in SI FB type - delete works fine, add adds but can't rename it

Lego HW with eCos
goal: create SI type 4DIAC FBs for each sensor + motors 


SI types / interfaces created so far in 4diac:
shutdown; ltsensor.led; ltsensor.rd; touch; motor.basic


HW Interface Functions:

cyg_uint32 SetInputPower(cyg_uint32 pa_nInputPort, cyg_uint32 pa_nPowerType);

cyg_uint32 SetOutputPower(cyg_uint32 pa_nOutputPort, 
                          cyg_int32  pa_nPercent,  
                          cyg_int32 pa_brake);

cyg_uint32 SetSambaMode(void);

cyg_uint32 SetShutdownMode(void);

cyg_uint32 GetInputPower(cyg_uint32 pa_nInputPort);

cyg_int32  GetOutputPower(cyg_uint32 pa_nOutputPort);

cyg_uint32 GetBrakeMode(cyg_uint32 pa_nOutputPort);

externC cyg_uint32 InitAVR(void);

cyg_uint32 GetButtonState(void);

cyg_uint32 GetBatteryVoltage(void);

cyg_uint32 GetFirmwareVersion(void);

cyg_uint32 GetAccupack(void);

cyg_uint32 GetSensorState(cyg_uint32 pa_nInputPort);

cyg_int32  ReceiveFromAVR(void);

cyg_uint32 SendToAVR(void); 

ARM HW info 
annotated logic part of blinker cpp from Alois
Is zur zeit so programmiert dass es nur in 1 sensor port geht. Für die anderen mußt du es wie folgt an passen:
 

#27. PIO   Parallel

Portpins für LMS_LED

Nxt-ports	Port-pins
1	PA23 (DIGIA0)
2	PA28 (DIGIB0)
3	PA29 (DIGIC0)
4	PA30 (DIGID0)

Also see p.65 in LEGO_MINDSTORMS_TUTORIAL.pdf

ref.s are to AT91 ARM HW pdf


 switch(pa_nEIID){
    case scm_nEventINITID:
      if(true == QI){
        HAL_WRITE_UINT32(AT91_PMC+AT91_PMC_PCER, AT91_PMC_PCER_PIOA); // enable parallel io-controller clock and power
PMC = Power Mgt Cntlr under advanced power mgt in doc
PCER = Power cntl enable Register
PIOA = PIO port A= PA  (there is also a port B)
see Table 27-2 for more abbrv.s
27.6.10 / 11 PIO Cntlr Set & Clear Output Data Reg (PIO_CODR /PIO_SODR)

#include // from eCos has constants and HAL_WRITE (hw abstraction layer)





....

        HAL_WRITE_UINT32(AT91_PIOA+AT91_PIO_IDR, (1<
        HAL_WRITE_UINT32(AT91_PIOA+AT91_PIO_OER, (1<
        HAL_WRITE_UINT32(AT91_PIOA+AT91_PIO_PER, (1<
        HAL_WRITE_UINT32(AT91_PIOA+AT91_PIO_SODR, (1<
      }
      sendOutputEvent(scm_nEventINITOID);
      break;
    case scm_nEventREQID:
      if(true == QI){
        if(true == Q){
          HAL_WRITE_UINT32(AT91_PIOA+AT91_PIO_CODR, (1<
        }
        else{
          HAL_WRITE_UINT32(AT91_PIOA+AT91_PIO_SODR, (1<
        }
      }
      sendOutputEvent(scm_nEventCNFID);
      break;

Need for Ultrasound sensor:
Lejos source code  http://lejos.svn.sourceforge.net/viewvc/lejos/