// ----------------------------------------------------
// TEST application for
// Cruise Control application for Panther Electro-Steer
//
// -- TEST9/10 -- Display/Load EEPROM
//
// Copyright 2005,2006, Mike Noel, All Rights Reserved
// ----------------------------------------------------

#include <aCore.tea>
#include <aCmd.tea>
#include <aPad.tea>
#include <aPrint.tea>

// Moto 1.0 EEPROM File Slots and Process Slots
//
// A BrainStem module stores TEA files in an EEPROM.  The Moto 1.0 module
// contains 12 file slots numbered 0-11.  Files slots 0-10 are 1K in size.  
// File slot 11 is 16K in size.
//
// Programs can run in any of 3 "virtual machine" (VM) process slots
// numbered 0-2.  Each process has a private stack space of 112 bytes.  
// These processes can run concurrently.  A 32 byte scratchpad RAM buffer 
// may be used for sharing data between processes.
//
// There is additional space on the EEPROM dedicated to storing reflexes.  
// The Moto 1.0 stores 128 reflex vectors and 128 reflex commands.  For 
// simple tasks, it may be possible to use a reflex instead of a TEA program 
// and conserve process slots and/or file slots.
//
// Starting from TEA slot 0, the program slots are on 1K boundaries starting 
// at address 5K (0x1400). So the high byte of the start address for each TEA
// file slot is: 14, 18, 1C, 20, 24, 28, 2C, 30, 34, 38, 3C, 40"
//                0   1   2   3   4   5   6   7   8   9  10  11
//
// PowerTrool eeprom locations for various parameters -  put them at the top
// of file slot 2 (just under start of slot 3)


#define		pt_eep_file_slot		0x2000
// general parameters
#define		pt_eep_SerialNum		pt_eep_file_slot-0x02
#define		pt_eep_buildnum			pt_eep_file_slot-0x04
#define		pt_eep_SwitchBits		pt_eep_file_slot-0x06
// rudder parameters
#define		pt_eep_RudderMax		pt_eep_file_slot-0x08
#define		pt_eep_CumRudNumSet		pt_eep_file_slot-0x0A
// autosteer parameters
#define 	pt_eep_PID_P			pt_eep_file_slot-0x0C
#define 	pt_eep_PID_I			pt_eep_file_slot-0x0E
#define 	pt_eep_PID_D			pt_eep_file_slot-0x10
#define 	pt_eep_Swing_OK_First		pt_eep_file_slot-0x12
#define 	pt_eep_Swing_OK_Second		pt_eep_file_slot-0x14
#define		pt_eep_Min_Rudder_Change	pt_eep_file_slot-0x16
// compass parameters
#define 	pt_eep_compass_offset		pt_eep_file_slot-0x18
#define 	pt_eep_compass_threshold	pt_eep_file_slot-0x1A
// compass calibration parameters
#define		pt_eep_compass_xmax		pt_eep_file_slot-0x1C
#define		pt_eep_compass_xmin		pt_eep_file_slot-0x1E
#define		pt_eep_compass_ymax		pt_eep_file_slot-0x20
#define		pt_eep_compass_ymin		pt_eep_file_slot-0x22
// next parameter...
#define 	pt_eep_NEXT			pt_eep_file_slot-0x24


int local_eep_read_int(int address) {
//
  int val=0;
  asm
	{
	pushss	6		/* address */
	popsm	aPortEEPROMRead	/* read byte */
	popbs	2		/* hi byte of result */
	pushss	6
	incs	2		/* address + 1 */
	popsm	aPortEEPROMRead	/* read byte */
	popbs	1		/* lo byte of result */
	}
  return val;
}


void local_eep_write_int(int address, int towrite)
//
{
  asm
	{
	pushmb	aPortAddress	/* address of self */
	pushlb	5		/* length of rest of command */
	pushlb	cmdMEM_WR	/* write from eeprom */
	pushss	9		/* address */
	pushss	9		/* int to store */
	pushlb	7		/* packet length */
	popcmd
	}
}


// ********************* Test Routine ********************

void main () {

// print pgm header msg
aPrint_String("Test 9/10 - Display/Load EEPROM...\n"); aCore_Sleep(1000);


#ifdef LOADIT
// set eeprom defaults

local_eep_write_int(pt_eep_SerialNum, 101);	// <====== change this...

local_eep_write_int(pt_eep_buildnum, 256);

local_eep_write_int(pt_eep_SwitchBits, 256+512+1024);

local_eep_write_int(pt_eep_RudderMax, 40);
local_eep_write_int(pt_eep_CumRudNumSet, 30);

local_eep_write_int(pt_eep_PID_P, 20);
local_eep_write_int(pt_eep_PID_I, 100);
local_eep_write_int(pt_eep_PID_D, 5);
local_eep_write_int(pt_eep_Swing_OK_First, 0);
local_eep_write_int(pt_eep_Swing_OK_Second, 0);
local_eep_write_int(pt_eep_Min_Rudder_Change, 2);

local_eep_write_int(pt_eep_compass_offset, 0);
local_eep_write_int(pt_eep_compass_threshold, 0);

//local_eep_write_int(pt_eep_compass_xmax, -8000);
//local_eep_write_int(pt_eep_compass_xmin, +8000);
//local_eep_write_int(pt_eep_compass_ymax, -8000);
//local_eep_write_int(pt_eep_compass_ymin, +8000);
#endif


#ifndef LOADIT
// print eeprom info
aPrint_String("\nSerial # ");
aPrint_IntDec(local_eep_read_int(pt_eep_SerialNum)); 
aPrint_Char('\n'); aCore_Sleep(1000);
aPrint_String("Build  # ");
aPrint_IntDec(local_eep_read_int(pt_eep_buildnum)); 
aPrint_Char('\n'); aCore_Sleep(1000);

aPrint_String("SwitchBits ");
aPrint_IntDec(local_eep_read_int(pt_eep_SwitchBits)); 
aPrint_Char('\n'); aCore_Sleep(1000);

aPrint_String("RudderMax ");
aPrint_IntDec(local_eep_read_int(pt_eep_RudderMax)); 
aPrint_Char('\n'); aCore_Sleep(1000);
aPrint_String("CumRudNumSet ");
aPrint_IntDec(local_eep_read_int(pt_eep_CumRudNumSet)); 
aPrint_Char('\n'); aCore_Sleep(1000);

aPrint_String("PID_P ");
aPrint_IntDec(local_eep_read_int(pt_eep_PID_P)); 
aPrint_Char('\n'); aCore_Sleep(1000);
aPrint_String("PID_I ");
aPrint_IntDec(local_eep_read_int(pt_eep_PID_I)); 
aPrint_Char('\n'); aCore_Sleep(1000);
aPrint_String("PID_D ");
aPrint_IntDec(local_eep_read_int(pt_eep_PID_D)); 
aPrint_Char('\n'); aCore_Sleep(1000);

aPrint_String("Swing OK 1st ");
aPrint_IntDec(local_eep_read_int(pt_eep_Swing_OK_First)); 
aPrint_Char('\n'); aCore_Sleep(1000);
aPrint_String("Swing OK 2nd ");
aPrint_IntDec(local_eep_read_int(pt_eep_Swing_OK_Second)); 
aPrint_Char('\n'); aCore_Sleep(1000);
aPrint_String("Min Rudder Change ");
aPrint_IntDec(local_eep_read_int(pt_eep_Min_Rudder_Change)); 
aPrint_Char('\n'); aCore_Sleep(1000);

aPrint_String("compass offset ");
aPrint_IntDec(local_eep_read_int(pt_eep_compass_offset)); 
aPrint_Char('\n'); aCore_Sleep(1000);
aPrint_String("compass threshold ");
aPrint_IntDec(local_eep_read_int(pt_eep_compass_threshold)); 
aPrint_Char('\n');
aPrint_Char('\n'); aCore_Sleep(1000);
#endif


// Print sign off message
aPrint_String("Test 9/10 finished\n"); aCore_Sleep(1000);

}