int main(void)
{
init_MCU();
LED_R_ON;
speed(0,0);
while(1)
{
ctrrobot();
}
}
//
// Function : MAIN
//
int main(void) {
init_MCU();
// Main Loop
for(;;) {
// Computer Starts
initgame();
for(;;) {
getcomputurn();
// Wait to give the impression it is taking some time to think.
wait(150);
// Load display buffer
display_red=play_red;
display_rg_ex = play_rg_ex;
if (check()) break;
gethumanturn();
if (check()) break;
}
// Human Starts
initgame();
for(;;) {
gethumanturn();
if (check()) break;
getcomputurn();
// Wait to give the impression it is taking some time to think.
wait(150);
display_red=play_red; // Load display buffer
display_rg_ex = play_rg_ex;
if (check()) break;
}
}
}
int main()
{
init_MCU();
sel_mode();
while (1)
{
switch (pattern)
{
case 1:
if ( check_crossline() ) //Be 90
{
pattern = 21;
break;
}
if ( check_rightline() ) // Chuyen lan phai
{
pattern = 51;
break;
}
if ( check_leftline() ) // Chuyen lan trai
{
pattern = 61;
break;
}
led7(10);
set_encoder(19);
switch (doc_cam_bien(0b01111110))
{
case 0b01111110:
toc_do(0, 0);
goc(0);
break;
case 0b00011000: // Chay thang
goc( 0 );
toc_do( 100 , 100 );
break;
//lech phai
case 0b00011100:
case 0b00001000:
toc_do(90, 80);
goc(8);
break;
case 0b00001100:
toc_do(90, 70);
goc(10);
break;
case 0b00001110:
case 0b00000100:
toc_do(90, 60);
goc(12);
break;
case 0b00000110:
toc_do(90, 50);
goc(15);
break;
case 0b00000010:
toc_do(90, 30);
goc(20);
pattern = 11; //Lệch phải góc lớn
break;
//////////////////////////////////////////
//lech trai
case 0b00111000:
case 0b00010000:
toc_do(80, 90);
goc(-8);
break;
case 0b00110000:
toc_do(70, 90);
goc(-10);
break;
case 0b01110000:
case 0b00100000:
toc_do(60, 90);
goc(-12);
break;
case 0b01100000:
toc_do(50, 90);
goc(-15);
break;
case 0b01000000:
toc_do(30, 90);
goc(-20);
pattern = 12; //Lệch trái góc lớn
break;
default:
break;
}
break;
case 11: //Lệch phải góc lớn
led7(11);
set_encoder(23);
switch (doc_cam_bien(0b11001100))
{
case 0b11000000:
toc_do(95, 15);
goc(75);
break;
case 0b10000000:
toc_do(95, 20);
goc(51);
break;
case 0b00000000:
toc_do(95, 25);
goc(48);
break;
case 0b00000100:
toc_do(95, 25);
goc(37);
break;
case 0b00001100:
toc_do(95, 25);
goc(29);
pattern = 1;
break;
default: pattern = 11;
}
break;
case 12: //Lệch trái góc lớn
led7(12);
set_encoder(23);
switch (doc_cam_bien(0b00110011))
{
case 0b00000011:
toc_do(15, 95);
goc(-73);
break;
case 0b00000001:
toc_do(20, 95);
goc(-50);
break;
case 0b00000000:
toc_do(25, 95);
goc(-47);
break;
case 0b00100000:
toc_do(25, 95);
goc(-36);
break;
case 0b00110000:
toc_do(25, 95);
goc(-28);
pattern = 1;
break;
default: pattern = 12;
}
break;
case 21: //Xử lý khi gặp vạch tín hiệu cua vuông đầu tiên
led7(18);
set_encoder(20);
goc( 0 );
toc_do( 60 , 60);
pattern = 22;
cnt_1ms = 0;
xung = 0;
break;
case 22: // Delay hết vạch
led7(22);
set_encoder(20);
goc( 0 );
toc_do( 60 , 60);
if ( cnt_1ms > 150 || xung > 10 )
{
pattern = 23;
cnt_1ms = 0;
xung = 0;
}
break;
case 23:
led7(23);
//cua trái
if ( (xung > 100) && ((doc_cam_bien(0b11111111) == 0b11111000) || (doc_cam_bien(0b11111111) == 0b11110000) || (doc_cam_bien(0b11111111) == 0b11100000) || (doc_cam_bien(0b11111111) == 0b11111100))) // Neu gap tin hieu nay la goc cua 90 trai thi be
{
pattern = 24;
xung = 0;
cnt_1ms = 0;
break;
}
//cua phải
if ( (xung > 100) && ((doc_cam_bien(0b11111111) == 0b00011111 ) || (doc_cam_bien(0b11111111) == 0b00000111) || (doc_cam_bien(0b11111111) == 0b00001111) || (doc_cam_bien(0b11111111) == 0b00111111))) // Neu gap tin hieu nay la goc cua 90 phai thi be
{
pattern = 25;
xung = 0;
cnt_1ms = 0;
break;
}
if ( (xung > 30) && (xung < 100) && check_crossline() == 1)
{
pattern = 71;
xung = 0;
cnt_1ms = 0;
break;
}
// Nguoc lai thi chinh thang cho xe
switch (doc_cam_bien(0b01111110))
{
case 0b00011000:
goc( 0 );
toc_do(30, 30 );
break;
//lech phai
case 0b00001000:
toc_do(23, 3);
goc(8);
break;
case 0b00001100:
toc_do(23, -3);
goc(10);
break;
case 0b00000100:
toc_do(23, -8);
goc(13);
break;
case 0b00000110:
case 0b00000010:
toc_do(23, -13);
goc(18);
break;
////////////////////////////////
case 0b00010000:
toc_do(5, 20);
goc(-8);
break;
case 0b00110000:
toc_do(0, 20);
goc(-10);
break;
case 0b00100000:
toc_do(-5, 20);
goc(-13);
break;
case 0b01100000:
case 0b01000000:
toc_do(10, 20);
goc(-18);
break;
default:
break;
}
break;
case 24://delay het vach line TRAI
set_encoder(10);
toc_do(50, 50);
if ( (xung > 100) && ((doc_cam_bien(0b00000111) == 0b00000111) || (doc_cam_bien(0b00001111) == 0b00001111)))
{
pattern = 23 ;
break;
}
if (cnt_1ms > 100 || xung > 1)
{
pattern = 26;
break;
}
break;
case 25: //delay het vach line PHAI
set_encoder(10);
toc_do(50, 50);
if ( (xung > 100 ) && ((doc_cam_bien(0b11100000) == 0b11100000) || (doc_cam_bien(0b11110000) == 0b11110000)))
{
pattern = 23 ;
break;
}
if (cnt_1ms > 100 || xung > 1)
{
pattern = 27;
break;
}
break;
case 26: //vuông trái
led7(24);
goc( - 140 );
set_encoder(8);
toc_do( -20 , 90 );
led7(1);
pattern = 31;
cnt_1ms = 0;
break;
case 27://vuông phải
led7(25);
goc( 140 );
set_encoder(8);
toc_do( 90 , -20 );
led7(2);
pattern = 41;
cnt_1ms = 0;
break;
case 31: //delay cho xe kịp bẻ vuông trái
led7(31);
if ( cnt_1ms > 50 )
{
pattern = 32;
cnt_1ms = 0;
}
break;
case 32: //chờ tín hiệu để về trường hợp chạy thẳng
led7(32);
if ( doc_cam_bien(0b11100111) == 0b00100000 )
{
pattern = 1;
cnt_1ms = 0;
}
break;
case 41: //delay cho xe kịp bẻ vuông phải
led7(41);
if ( cnt_1ms > 50 )
{
pattern = 42;
cnt_1ms = 0;
}
break;
case 42: //chờ tín hiệu để về trường hợp chạy thẳng
led7(42);
if ( doc_cam_bien(0b11100111) == 0b00000100 )
{
pattern = 1;
cnt_1ms = 0;
}
break;
case 51: //xử lý khi gặp vạch tín hiệu chuyển làn PHẢI
set_encoder(20);
if ((doc_cam_bien(0b11100000) == 0b11100000) || (doc_cam_bien(0b11110000) == 0b11110000))
{
pattern = 21 ;
break;
}
led7(51);
goc( 0 );
toc_do( 70 , 70 );
pattern = 52;
cnt_1ms = 0;
xung = 0;
break;
case 52: //delay hết vạch
if ( cnt_1ms > 100 || xung > 10)
{
pattern = 53;
cnt_1ms = 0;
}
if ((doc_cam_bien(0b11100000) == 0b11100000) || (doc_cam_bien(0b11110000) == 0b11110000))
{
pattern = 21 ;
break;
}
break;
case 53: //hết vạch trắng
if ( doc_cam_bien(0b11111111) == 0b00000000 )
{
goc( 75 );
toc_do( 60 , 50 );
pattern = 54;
cnt_1ms = 0;
break;
}
switch ( doc_cam_bien(0b11100111) )
{
case 0x00:
goc( 0 );
toc_do( 30 , 30 );
break;
case 0x04:
case 0x06:
case 0x07:
case 0x03:
goc( 15 );
toc_do( 30 , 20 );
break;
case 0x20:
case 0x60:
case 0xe0:
case 0xc0:
goc( -15 );
toc_do( 20 , 30 );
break;
default:
break;
}
break;
case 54: //bắt được line, chuyển về chạy thẳng
if ( doc_cam_bien( 0b00001100 ) == 0b00001100 )
{
pattern = 1;
cnt_1ms = 0;
led7(0);
}
break;
case 61: //xử lý khi gặp vạch tín hiệu chuyển làn TRÁI
set_encoder(20);
if ( (doc_cam_bien(0b00000111) == 0b00000111) || (doc_cam_bien(0b00001111) == 0b00001111) )
{
pattern = 21 ;
break;
}
led7(61);
goc( 0 );
toc_do( 90 , 90 );
pattern = 62;
cnt_1ms = 0;
xung = 0;
break;
case 62: //delay hết vạch
if ( cnt_1ms > 100 || xung > 10)
{
pattern = 63;
cnt_1ms = 0;
}
if ((doc_cam_bien(0b00000111) == 0b00000111) || (doc_cam_bien(0b00001111) == 0b00001111))
{
pattern = 21 ;
break;
}
break;
case 63: //hết vạch trắng
if ( doc_cam_bien(0b11111111) == 0x00 )
{
goc( -75 );
toc_do( 50 , 60 );
pattern = 64;
cnt_1ms = 0;
break;
}
switch ( doc_cam_bien(0b11100111) )
{
case 0x00:
goc( 0 );
toc_do( 30 , 30 );
break;
case 0x04:
case 0x06:
case 0x07:
case 0x03:
goc( 15 );
toc_do( 30 , 20 );
break;
case 0x20:
case 0x60:
case 0xe0:
case 0xc0:
goc( -15 );
toc_do( 20 , 30 );
break;
default:
break;
}
break;
case 64: //bắt được line, chuyển về chạy thẳng
if ( doc_cam_bien( 0b00110000 ) == 0b00110000 )
{
pattern = 1;
cnt_1ms = 0;
led7(0);
}
break;
case 71: // Delay het vach
set_encoder(30);
toc_do(100, 100);
led7(71);
if ( cnt_1ms > 100 || xung > 10)
{
pattern = 72;
cnt_1ms = 0;
}
break;
case 72:
if (doc_cam_bien(0xff) == 0b00000000)
{
goc(0);
toc_do(100, 100);
pattern = 73;
break;
}
switch (doc_cam_bien(0b01111110))
{
case 0b00011000:
goc( 0 );
toc_do(100, 100 );
break;
//lech phai
case 0b00001000:
toc_do(90, 17);
goc(8);
break;
case 0b00001100:
toc_do(90, 70);
goc(13);
break;
case 0b00000100:
toc_do(90, 65);
goc(18);
break;
case 0b00000110:
case 0b00000010:
toc_do(90, 60);
goc(26);
break;
//////////////////////////////////////////////////////////////////////////
case 0b00010000:
toc_do(75, 90);
goc(-8);
break;
case 0b00110000:
toc_do(70, 90);
goc(-13);
break;
case 0b00100000:
toc_do(65, 90);
goc(-18);
break;
case 0b01100000:
case 0b01000000:
toc_do(60, 90);
goc(-26);
break;
default:
break;
}
break;
case 73:
goc(0);
toc_do(100, 100);
if (doc_cam_bien(0b11111111) > 0)
{
pattern = 1;
}
break;
default:
pattern = 1;
break;
}
}
}
int JpegToBmp()
{
unsigned int aux, mark;
int n_restarts, restart_interval, leftover; /* RST check */
int i, j;
int turn;
int temp;
int xmsize;
/* First find the SOI marker: */
//mk_mon_debug_info(9999);
aux = get_next_MK();
if (aux != SOI_MK)
aborted_stream(0);
//if (verbose)
//fprintf(stderr, "%ld:\tINFO:\tFound the SOI marker!\n", ftell(fi));
//;
in_frame = 0;
restart_interval = 0;
for (i = 0; i < 4; i++)
QTvalid[i] = 0;
/* Now process segments as they appear: */
do {
mark = get_next_MK();
switch (mark) {
case SOF_MK: //ffc0 start of the frame
//if (verbose);
//fprintf(stderr, "%ld:\tINFO:\tFound the SOF marker!\n", ftell(fi));
in_frame = 1;
//get_size(fi); /* header size, don't care */
get_size(); //0011 17
/* load basic image parameters */
//fgetc(fi); /* precision, 8bit, don't care */
FGETC(); //8
y_size = get_size();//FGETC() twice
x_size = get_size();
mk_mon_debug_info(x_size);
mk_mon_debug_info(y_size);
//if (verbose);
//fprintf(stderr, "\tINFO:\tImage size is %d by %d\n", x_size, y_size);
//n_comp = fgetc(fi); /* # of components */
n_comp = FGETC();
mk_mon_debug_info(123456);
mk_mon_debug_info(n_comp);
mk_mon_debug_info(654321);
//if (1) {
//fprintf(stderr, "\tINFO:\t");
////switch (n_comp) {
//case 1:
//printf( "Monochrome\n");
//break;
//case 3:
//printf( "Color\n");
// break;
////default:
// printf( "Not a picture!\n");
//break;
//}
//fprintf(stderr, " JPEG image!\n");
//}
for (i = 0; i < n_comp; i++) {
/* component specifiers */
//comp[i].CID = fgetc(fi);
comp[i].CID = FGETC();
//aux = fgetc(fi);
aux = FGETC();
comp[i].HS = first_quad(aux); //0x11 >> 4 1
comp[i].VS = second_quad(aux); //&15 1
//comp[i].QT = fgetc(fi);
comp[i].QT = FGETC();
}
//if ((n_comp > 1) && verbose);
/*fprintf(stderr,
"\tINFO:\tColor format is %d:%d:%d, H=%d\n",
comp[0].HS * comp[0].VS, comp[1].HS * comp[1].VS, comp[2].HS * comp[2].VS,
comp[1].HS);*/
if (init_MCU() == -1)
aborted_stream(1);
/* dimension scan buffer for YUV->RGB conversion */
//FrameBuffer = (unsigned char *)mk_malloc((size_t) x_size * y_size * n_comp);
ColorBuffer = (unsigned char *)mk_malloc((size_t) MCU_sx * MCU_sy * n_comp);
FBuff = (FBlock *) mk_malloc(sizeof(FBlock));
PBuff = (PBlock *) mk_malloc(sizeof(PBlock));
if ( (ColorBuffer == NULL) || (FBuff == NULL) || (PBuff == NULL)) {
//fprintf(stderr, "\tERROR:\tCould not allocate pixel storage!\n");
aborted_stream(2);
}
break;
case DHT_MK:
//if (verbose)
//fprintf(stderr, "%ld:\tINFO:\tDefining Huffman Tables\n", ftell(fi));
if (load_huff_tables() == -1)
aborted_stream(2);
break;
case DQT_MK: //FFDB, the following 0084 shows the table length 132
//if (verbose)
//fprintf(stderr, "%ld:\tINFO:\tDefining Quantization Tables\n", ftell(fi));
if (load_quant_tables() == -1)
aborted_stream(3);
break;
case DRI_MK:
get_size(); /* skip size */
restart_interval = get_size();
mk_mon_debug_info(00000000);
mk_mon_debug_info(restart_interval);
mk_mon_debug_info(00000000);
//if (verbose)
//fprintf(stderr, "%ld:\tINFO:\tDefining Restart Interval %d\n", ftell(fi),
//restart_interval);
//;
break;
case SOS_MK: /* lots of things to do here */ //ffda
//if (verbose);
//fprintf(stderr, "%ld:\tINFO:\tFound the SOS marker!\n", ftell(fi));
get_size(); /* don't care */
//aux = fgetc(fi);
aux = FGETC(); //03
if (aux != (unsigned int)n_comp) {
//fprintf(stderr, "\tERROR:\tBad component interleaving!\n");
aborted_stream(4);
}
for (i = 0; i < n_comp; i++) {
//aux = fgetc(fi);
aux = FGETC();
if (aux != comp[i].CID) {
//fprintf(stderr, "\tERROR:\tBad Component Order!\n");
aborted_stream(5);
}
//aux = fgetc(fi);
aux = FGETC();
comp[i].DC_HT = first_quad(aux);
comp[i].AC_HT = second_quad(aux);
}
get_size();
//fgetc(fi); /* skip things */
FGETC();
MCU_column = 0;
MCU_row = 0;
clear_bits();
reset_prediction();
/* main MCU processing loop here */
if (restart_interval) {
n_restarts = ceil_div(mx_size * my_size, restart_interval) - 1;
leftover = mx_size * my_size - n_restarts * restart_interval;
/* final interval may be incomplete */
for (i = 0; i < n_restarts; i++) {
//temp = restart_interval*i;
for (j = 0; j < restart_interval; j++){
//turn = (temp+j) & 0x3;
process_MCU();}
/* proc till all EOB met */
aux = get_next_MK();
if (!RST_MK(aux)) {
//fprintf(stderr, "%ld:\tERROR:\tLost Sync after interval!\n", ftell(fi));
aborted_stream(6);
} else if (verbose);
//fprintf(stderr, "%ld:\tINFO:\tFound Restart Marker\n", ftell(fi));
reset_prediction();
clear_bits();
} /* intra-interval loop */
} else
leftover = mx_size * my_size; //picture size in units of MCUs
/* process till end of row without restarts */
for (i = 0; i < leftover; i++){
//turn = i & 0x3;
process_MCU();
}
in_frame = 0;
break;
case EOI_MK:
//if (verbose);
//fprintf(stderr, "%ld:\tINFO:\tFound the EOI marker!\n", ftell(fi));
if (in_frame)
aborted_stream(7);
//if (verbose);
/*fprintf(stderr, "\tINFO:\tTotal skipped bytes %d, total stuffers %d\n", passed,
stuffers);*/
//fclose(fi);
//mk_mon_debug_info(8888);
//write_bmp();
// mk_mon_debug_info(6666);
//printf("%ld,%ld", x_size * y_size * n_comp,MCU_sx * MCU_sy * n_comp);
//free_structures();
return 0;
break;
case COM_MK: //ffee
//if (verbose);
//fprintf(stderr, "%ld:\tINFO:\tSkipping comments\n", ftell(fi));
skip_segment();
break;
case EOF:
//if (verbose);
//fprintf(stderr, "%ld:\tERROR:\tRan out of input data!\n", ftell(fi));
aborted_stream(8);
default:
if ((mark & MK_MSK) == APP_MK) {//when read from FFEC, this will hold again
//if (verbose);
//fprintf(stderr, "%ld:\tINFO:\tSkipping application data\n", ftell(fi));
skip_segment();
break;
}
if (RST_MK(mark)) {
reset_prediction();
break;
}
/* if all else has failed ... */
//fprintf(stderr, "%ld:\tWARNING:\tLost Sync outside scan, %d!\n", ftell(fi), mark);
aborted_stream(9);
break;
} /* end switch */
} while (1);
return 0;
}
int JpegToBmp()
{
unsigned int aux, mark;
int n_restarts, restart_interval, leftover; /* RST check */
int i, j;
/* First find the SOI marker: */
aux = get_next_MK();
if (aux != SOI_MK)
aborted_stream(0);
in_frame = 0;
restart_interval = 0;
for (i = 0; i < 4; i++)
QTvalid[i] = 0;
/* Now process segments as they appear: */
do {
mark = get_next_MK();
switch (mark) {
case SOF_MK: //ffc0 start of the frame
in_frame = 1;
get_size(); //0011 17
/* load basic image parameters */
FGETC(); //8
y_size = get_size();//FGETC() twice
x_size = get_size();
n_comp = FGETC();
for (i = 0; i < n_comp; i++) {
comp[i].CID = FGETC();
aux = FGETC();
comp[i].HS = first_quad(aux); //0x11 >> 4 1
comp[i].VS = second_quad(aux); //&15 1
comp[i].QT = FGETC();
}
if (init_MCU() == -1)
aborted_stream(1);
/* dimension scan buffer for YUV->RGB conversion */
ColorBuffer = (unsigned char *)mk_malloc((size_t) MCU_sx * MCU_sy * n_comp);
// ColorBuffer = (unsigned int*)mk_malloc(sizeof(unsigned int) * MCU_sy * x_size);
FBuff = (FBlock *) mk_malloc(sizeof(FBlock));
if ( (ColorBuffer == NULL) || (FBuff == NULL)) {
aborted_stream(2);
}
break;
case DHT_MK:
if (load_huff_tables() == -1)
aborted_stream(2);
break;
case DQT_MK: //FFDB, the following 0084 shows the table length 132
if (load_quant_tables() == -1)
aborted_stream(3);
break;
case DRI_MK:
get_size(); /* skip size */
restart_interval = get_size();
break;
case SOS_MK: /* lots of things to do here */ //ffda
get_size(); /* don't care */
aux = FGETC(); //03
if (aux != (unsigned int)n_comp) {
aborted_stream(4);
}
for (i = 0; i < n_comp; i++) {
aux = FGETC();
if (aux != comp[i].CID) {
aborted_stream(5);
}
aux = FGETC();
comp[i].DC_HT = first_quad(aux);
comp[i].AC_HT = second_quad(aux);
}
get_size();
FGETC();
MCU_column = 0;
MCU_row = 0;
clear_bits();
reset_prediction();
/* main MCU processing loop here */
if (restart_interval) {
n_restarts = ceil_div(mx_size * my_size, restart_interval) - 1;
leftover = mx_size * my_size - n_restarts * restart_interval;
/* final interval may be incomplete */
for (i = 0; i < n_restarts; i++) {
for (j = 0; j < restart_interval; j++)
{
process_MCU();
/* proc till all EOB met */
}
aux = get_next_MK();
if (!RST_MK(aux)) {
aborted_stream(6);
} else if (verbose);
reset_prediction();
clear_bits();
} /* intra-interval loop */
} else
leftover = mx_size * my_size; //picture size in units of MCUs
/* process till end of row without restarts */
for (i = 0; i < leftover; i++){
process_MCU();
}
in_frame = 0;
break;
case EOI_MK:
if (in_frame)
aborted_stream(7);
return 0;
break;
case COM_MK: //ffee
skip_segment();
break;
case EOF:
aborted_stream(8);
default:
if ((mark & MK_MSK) == APP_MK) {//when read from FFEC, this will hold again
skip_segment();
break;
}
if (RST_MK(mark)) {
reset_prediction();
break;
}
/* if all else has failed ... */
aborted_stream(9);
break;
} /* end switch */
} while (1);
return 0;
}
int JpegToBmp()
{
unsigned int aux, mark;
int n_restarts, restart_interval, leftover; /* RST check */
int i, j;
/*No Need to do the file operation operation*/
#ifdef FILE_IO
fi = fopen(file1, "rb");
if (fi == NULL)
{
return 0;
}
#else
#ifdef INPUT_DMA
// wait for input data to arrive
//mk_mon_debug_info(0xFF);
// read input file DRAM (via my cmem-out)
ddr_input = (unsigned int*)(shared_pt_REMOTEADDR + 1024*1024*4);
cmem_input_circ_buff = (unsigned int*) (mb1_cmemout0_BASEADDR);
hw_dma_receive_addr((int*)(cmem_input_circ_buff + buff_sel * INPUT_READ_SIZE_INT), (void*)(&ddr_input[ddr_input_chunck_offset*INPUT_READ_SIZE_INT]), INPUT_READ_SIZE_INT, (void*)mb1_dma0_BASEADDR);
ddr_input_chunck_offset++;
buff_sel = CHANGE_BUFFER(buff_sel);
for (i = 0 ; i < NUM_OF_INIT_BUFF_LOAD-1; i++)
{
while(hw_dma_status_addr( (void *) mb1_dma0_BASEADDR));
hw_dma_receive_addr((unsigned int*)(cmem_input_circ_buff + buff_sel * INPUT_READ_SIZE_INT), (void*)(&ddr_input[ddr_input_chunck_offset*INPUT_READ_SIZE_INT]), INPUT_READ_SIZE_INT, (void*)mb1_dma0_BASEADDR);
ddr_input_chunck_offset++;
buff_sel = CHANGE_BUFFER(buff_sel);
}
fi = (unsigned char *)(cmem_input_circ_buff);
#else
fi = (volatile unsigned int *)(shared_pt_REMOTEADDR+1024*1024*4);
#endif
#endif
/* First find the SOI marker: */
aux = get_next_MK(fi);
if (aux != SOI_MK)
aborted_stream(fi);
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tFound the SOI marker!\n", ftell(fi));
#else
//printf("%d:\tINFO:\tFound the SOI marker!\n", FTELL());
#endif
}
in_frame = 0;
restart_interval = 0;
for (i = 0; i < 4; i++)
QTvalid[i] = 0;
/* Now process segments as they appear: */
do {
mark = get_next_MK(fi);
//mk_mon_debug_info(0XFFF);
//mk_mon_debug_info(mark);
//mk_mon_debug_info(bit_counter);
//mk_mon_debug_info(0XFFF);
switch (mark) {
case SOF_MK:
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tFound the SOF marker!\n", ftell(fi));
#else
//printf("%d:\tINFO:\tFound the SOF marker!\n", FTELL());
#endif
}
in_frame = 1;
get_size(fi); /* header size, don't care */
/* load basic image parameters */
#ifdef FILE_IO
fgetc(fi); /* precision, 8bit, don't care */
#else
FGETC(fi); /* precision, 8bit, don't care */
#endif
y_size = get_size(fi);
x_size = get_size(fi);
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "\tINFO:\tImage size is %d by %d\n", x_size, y_size);
#else
//printf("\tINFO:\tImage size is %d by %d\n", x_size, y_size);
#endif
}
#ifdef FILE_IO
n_comp = fgetc(fi); /* # of components */
#else
n_comp = FGETC(fi); /* # of components */
#endif
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "\tINFO:\t");
#else
//printf("\tINFO:\t");
#endif
switch (n_comp)
{
#ifdef FILE_IO
case 1:
fprintf(stderr, "Monochrome");
break;
case 3:
fprintf(stderr, "Color");
break;
default:
fprintf(stderr, "Not a");
break;
#else
case 1:
//printf("Monochrome");
break;
case 3:
//printf("Color");
break;
default:
//printf("Not a");
break;
#endif
}
#ifdef FILE_IO
fprintf(stderr, " JPEG image!\n");
#else
//printf(" JPEG image!\n");
#endif
}
for (i = 0; i < n_comp; i++)
{
#ifdef FILE_IO
/* component specifiers */
comp[i].CID = fgetc(fi);
aux = fgetc(fi);
comp[i].HS = first_quad(aux);
comp[i].VS = second_quad(aux);
comp[i].QT = fgetc(fi);
#else
/* component specifiers */
comp[i].CID = FGETC(fi);
aux = FGETC(fi);
comp[i].HS = first_quad(aux);
comp[i].VS = second_quad(aux);
comp[i].QT = FGETC(fi);
#endif
}
if ((n_comp > 1) && verbose)
{
#ifdef FILE_IO
fprintf(stderr,
"\tINFO:\tColor format is %d:%d:%d, H=%d\n",
comp[0].HS * comp[0].VS, comp[1].HS * comp[1].VS, comp[2].HS * comp[2].VS,
comp[1].HS);
#else
#if 0
//printf("\tINFO:\tColor format is %d:%d:%d, H=%d\n",
comp[0].HS * comp[0].VS, comp[1].HS * comp[1].VS, comp[2].HS * comp[2].VS,
comp[1].HS);
#endif
#endif
}
if (init_MCU() == -1)
aborted_stream(fi);
/* dimension scan buffer for YUV->RGB conversion */
/* TODO */
#if 0
FrameBuffer = (volatile unsigned char *)mk_malloc((size_t) x_size * y_size * n_comp);
#else
FrameBuffer = (unsigned int *) mb1_cmemout1_BASEADDR;
#endif
//ColorBuffer = (volatile unsigned char *)mk_malloc((size_t) MCU_sx * MCU_sy * n_comp);
#if 0
FBuff = (FBlock *) mk_malloc(sizeof(FBlock));
#else
MY_MK_MALLOC(FBuff,FBlock,1);
#endif
#if 0
PBuff = (PBlock *) mk_malloc(sizeof(PBlock));
#else
MY_MK_MALLOC(PBuff,PBlock,1);
#endif
if ((FrameBuffer == NULL) /*|| (ColorBuffer == NULL)*/ || (FBuff == NULL) || (PBuff == NULL))
{
#ifdef FILE_IO
fprintf(stderr, "\tERROR:\tCould not allocate pixel storage!\n");
#else
//printf("\tERROR:\tCould not allocate pixel storage!\n");
#endif
}
break;
case DHT_MK:
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tDefining Huffman Tables\n", ftell(fi));
#else
//printf("%d:\tINFO:\tDefining Huffman Tables\n", FTELL());
#endif
}
if (load_huff_tables(fi) == -1)
aborted_stream(fi);
break;
case DQT_MK:
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tDefining Quantization Tables\n", ftell(fi));
#else
//printf("%d:\tINFO:\tDefining Quantization Tables\n", FTELL());
#endif
}
if (load_quant_tables(fi) == -1)
aborted_stream(fi);
break;
case DRI_MK:
get_size(fi); /* skip size */
restart_interval = get_size(fi);
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tDefining Restart Interval %d\n", ftell(fi),restart_interval);
#else
//printf("%d:\tINFO:\tDefining Restart Interval %d\n", FTELL(), restart_interval);
#endif
}
break;
case SOS_MK: /* lots of things to do here */
//mk_mon_debug_info(01);
//mk_mon_debug_info(bit_counter);
//mk_mon_debug_info(02);
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tFound the SOS marker!\n", ftell(fi));
#else
//printf("%d:\tINFO:\tFound the SOS marker!\n", FTELL(fi));
#endif
}
get_size(fi); /* don't care */
#ifdef FILE_IO
aux = fgetc(fi);
#else
aux = FGETC(fi);
#endif
if (aux != (unsigned int)n_comp)
{
#ifdef FILE_IO
fprintf(stderr, "\tERROR:\tBad component interleaving!\n");
#else
//printf("\tERROR:\tBad component interleaving!\n");
#endif
aborted_stream(fi);
}
for (i = 0; i < n_comp; i++)
{
#ifdef FILE_IO
aux = fgetc(fi);
#else
aux = FGETC(fi);
#endif
if (aux != comp[i].CID)
{
#ifdef FILE_IO
fprintf(stderr, "\tERROR:\tBad Component Order!\n");
#else
//printf("\tERROR:\tBad Component Order!\n");
#endif
aborted_stream(fi);
}
#ifdef FILE_IO
aux = fgetc(fi);
#else
aux = FGETC(fi);
#endif
comp[i].DC_HT = first_quad(aux);
comp[i].AC_HT = second_quad(aux);
}
get_size(fi);
#ifdef FILE_IO
fgetc(fi); /* skip things */
#else
FGETC(fi); /* skip things */
#endif
MCU_column = 0;
MCU_row = 0;
clear_bits();
reset_prediction();
/* main MCU processing loop here */
if (restart_interval)
{
n_restarts = ceil_div(mx_size * my_size, restart_interval) - 1;
leftover = mx_size * my_size - n_restarts * restart_interval;
/* final interval may be incomplete */
for (i = 0; i < n_restarts; i++)
{
for (j = 0; j < restart_interval; j++)
{
process_MCU(fi);
}
/* proc till all EOB met */
aux = get_next_MK(fi);
if (!RST_MK(aux))
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tERROR:\tLost Sync after interval!\n", ftell(fi));
#else
//printf("%d:\tERROR:\tLost Sync after interval!\n", FTELL());
#endif
aborted_stream(fi);
}
else if (verbose)
{
//printf("%d:\tINFO:\tFound Restart Marker\n", FTELL());
}
reset_prediction();
clear_bits();
} /* intra-interval loop */
}
else
{
leftover = mx_size * my_size;
}
/* process till end of row without restarts */
for (i = 0; i < leftover; i++)
{
process_MCU(fi);
}
in_frame = 0;
//mk_mon_debug_info(0XFEFE);
//mk_mon_debug_info(0XFEFE);
break;
case EOI_MK:
//mk_mon_debug_info(0XDEADBEE2);
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tFound the EOI marker!\n", ftell(fi));
#else
//printf("%d:\tINFO:\tFound the EOI marker!\n", FTELL());
#endif
}
if (in_frame)
{
aborted_stream(fi);
}
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "\tINFO:\tTotal skipped bytes %d, total stuffers %d\n", passed, stuffers);
#else
//printf("\tINFO:\tTotal skipped bytes %d, total stuffers %d\n", passed, stuffers);
#endif
}
#ifdef FILE_IO
fclose(fi);
#else
/*Check if something has to be done!!*/
#endif
#ifdef FILE_IO
// write_bmp(file2);
#else
/*Need to implement the function to write in DDR*/
// write_bmp_to_ddr_1();
//printf_frame_buffer();
#endif
#ifdef FILE_IO
free_structures();
#else
/*No Need to do anything as structures are static*/
//mk_mon_debug_info(0XDEADBEE1);
//free_structures();
//mk_mon_debug_info(0XDEADBEE2);
#endif
/* signal to core 2 that the FIFO is initialized and can be read from. */
while(cheap_is_empty(producer) != 1)
{
#if 0
mk_mon_debug_info(producer->readc);
mk_mon_debug_info(producer->writec);
#endif
}
*fifo_sync_data = 0;
DMA_SEND_BLOCKING((void *)fifo_sync, (int*)fifo_sync_data, sizeof(int),(void *)mb1_dma0_BASEADDR,DMA_flag);
return 0;
break;
case COM_MK:
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tSkipping comments\n", ftell(fi));
#else
//printf("%d:\tINFO:\tSkipping comments\n", FTELL());
#endif
}
skip_segment(fi);
break;
case 0XD9:
//case 0XD9:
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tERROR:\tRan out of input data!\n", ftell(fi));
#else
//printf("%d:\tERROR:\tRan out of input data!\n", FTELL());
#endif
}
aborted_stream(fi);
default:
if ((mark & MK_MSK) == APP_MK)
{
if (verbose)
{
#ifdef FILE_IO
fprintf(stderr, "%ld:\tINFO:\tSkipping application data\n", ftell(fi));
#else
//printf("%d:\tINFO:\tSkipping application data\n", FTELL());
#endif
}
skip_segment(fi);
break;
}
if (RST_MK(mark))
{
reset_prediction();
break;
}
/* if all else has failed ... */
#ifdef FILE_IO
fprintf(stderr, "%ld:\tWARNING:\tLost Sync outside scan, %d!\n", ftell(fi), mark);
#else
//printf("%d:\tWARNING:\tLost Sync outside scan, %d!\n", FTELL(), mark);
#endif
aborted_stream(fi);
break;
} /* end switch */
} while (1);
return 0;
}