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#include "PR/controller.h"
#include "siint.h"
OSPifRam _MotorStopData[MAXCONTROLLERS] ALIGNED(8);
OSPifRam _MotorStartData[MAXCONTROLLERS] ALIGNED(8);
u8 _motorstopbuf[32] ALIGNED(8);
u8 _motorstartbuf[32] ALIGNED(8);
s32 osMotorStop(OSPfs* pfs) {
s32 i;
s32 ret;
u8* ptr = (u8*) &__osPfsPifRam;
__OSContRamReadFormat ramreadformat;
__osSiGetAccess();
__osContLastCmd = CONT_CMD_WRITE_PAK;
__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 != 0)) {
ret = PFS_ERR_CONTRFAIL;
}
__osSiRelAccess();
return ret;
}
s32 osMotorStart(OSPfs* pfs) {
s32 i;
s32 ret;
u8* ptr = (u8*) &__osPfsPifRam;
__OSContRamReadFormat ramreadformat;
__osSiGetAccess();
__osContLastCmd = CONT_CMD_WRITE_PAK;
__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 != 0xEB)) {
ret = PFS_ERR_CONTRFAIL;
}
__osSiRelAccess();
return ret;
}
void _MakeMotorData(s32 channel, u16 address, u8* buffer, OSPifRam* mdata) {
u8* ptr = (u8*) mdata->ramarray;
__OSContRamReadFormat ramreadformat;
s32 i;
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_PAK_TX;
ramreadformat.rxsize = CONT_CMD_WRITE_PAK_RX;
ramreadformat.cmd = CONT_CMD_WRITE_PAK;
ramreadformat.address = __osContAddressCrc(address) | (address << 5);
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 = CONT_CMD_END;
}
s32 osMotorInit(OSMesgQueue* mq, OSPfs* pfs, int channel) {
s32 i;
s32 ret;
u8 buffer[0x20];
pfs->queue = mq;
pfs->channel = channel;
pfs->status = 0;
pfs->activebank = 0x80;
for (i = 0; i < ARRAY_COUNT(buffer); i++) {
buffer[i] = 0x80;
}
ret = __osContRamWrite(mq, channel, CONT_BLOCK_DETECT, buffer, 0);
if (ret == PFS_ERR_NEW_PACK) {
ret = __osContRamWrite(mq, channel, CONT_BLOCK_DETECT, buffer, 0);
}
if (ret != 0) {
return ret;
}
ret = __osContRamRead(mq, channel, CONT_BLOCK_DETECT, buffer);
if (ret == PFS_ERR_NEW_PACK) {
ret = PFS_ERR_CONTRFAIL;
}
if (ret != 0) {
return ret;
}
if (buffer[0x1F] != 0x80) {
return 0xB;
}
for (i = 0; i < ARRAY_COUNT(_motorstartbuf); i++) {
_motorstartbuf[i] = 1;
_motorstopbuf[i] = 0;
}
_MakeMotorData(channel, CONT_BLOCK_RUMBLE, _motorstartbuf, &_MotorStartData[channel]);
_MakeMotorData(channel, CONT_BLOCK_RUMBLE, _motorstopbuf, &_MotorStopData[channel]);
return 0;
}
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