void symbolTableInit(tSymbolTable* symbolTable){
btInit(&(symbolTable->mainFunc.symbols));
initList(&(symbolTable->mainFunc.constants));
initList(&(symbolTable->mainFunc.instructions));
btInit(&(symbolTable->functions));
symbolTable->mainFunc.called=0;
symbolTable->currentFunc=&(symbolTable->mainFunc);
}
int main(void)
{
SPI_MasterInit();
btInit();
interruptINT1_init();
sei();
btTransmit(0);
//moveRobot(ACTIVATE_HIT);
while(1)
{
BT_SensorValues();
getSensorValues();
setVariables();
dataValues[LIFE] = lifeCount;
//Start of AI program that should keep the robot within the boundaries of the tape track
moveRobot(LED | lifeCount);
if(!lifeCount) {
sensorControlDead();
if(TapeFlag >= 0x03 && counting == 0) {
counting = 1;
timerValue = TIMER_1A_SECOND;
timer_init();
} else if(counting == 2) {
while(1) {
moveRobot(STOP);
}
}
} else {
if(hit == 0) {
activateHitFlag = 0;
hitFlag = 1;
}
if (hit == 1 && activateHitFlag)
{
moveRobot(IR_ON);
moveRobot(ACTIVATE_HIT);
}
else if(hit == 1 && hitFlag == 1) {
hitFlag = 0;
lifeCount = lifeCount >> 1;
timer0_init();
}
else if (hit == 1 && !activateHitFlag) {
moveRobot(IR_OFF);
}
if(!sprayPray) {
idle();
}
}
void menuGeneralHardware(uint8_t event)
{
MENU(STR_HARDWARE, menuTabDiag, e_Hardware, ITEM_SETUP_HW_MAX+1, {0, 0, (uint8_t)-1, 0, 0, 0, 0, IF_BLUETOOTH(0)});
uint8_t sub = m_posVert - 1;
for (uint8_t i=0; i<LCD_LINES-1; i++) {
uint8_t y = 1 + 1*FH + i*FH;
uint8_t k = i+s_pgOfs;
uint8_t blink = ((s_editMode>0) ? BLINK|INVERS : INVERS);
uint8_t attr = (sub == k ? blink : 0);
switch(k) {
case ITEM_SETUP_HW_OPTREX_DISPLAY:
g_eeGeneral.optrexDisplay = selectMenuItem(GENERAL_HW_PARAM_OFS, y, STR_LCD, STR_VLCD, g_eeGeneral.optrexDisplay, 0, 1, attr, event);
break;
case ITEM_SETUP_HW_STICKS_GAINS_LABELS:
lcd_putsLeft(y, PSTR("Sticks"));
break;
case ITEM_SETUP_HW_STICK_LV_GAIN:
case ITEM_SETUP_HW_STICK_LH_GAIN:
case ITEM_SETUP_HW_STICK_RV_GAIN:
case ITEM_SETUP_HW_STICK_RH_GAIN:
{
lcd_putsiAtt(INDENT_WIDTH, y, PSTR("\002LVLHRVRH"), k-ITEM_SETUP_HW_STICK_LV_GAIN, 0);
lcd_puts(INDENT_WIDTH+3*FW, y, PSTR("Gain"));
uint8_t mask = (1<<(k-ITEM_SETUP_HW_STICK_LV_GAIN));
uint8_t val = (g_eeGeneral.sticksGain & mask ? 1 : 0);
lcd_putcAtt(GENERAL_HW_PARAM_OFS, y, val ? '2' : '1', attr);
if (attr) {
CHECK_INCDEC_GENVAR(event, val, 0, 1);
if (checkIncDec_Ret) {
g_eeGeneral.sticksGain ^= mask;
setSticksGain(g_eeGeneral.sticksGain);
}
}
break;
}
case ITEM_SETUP_HW_ROTARY_ENCODER:
g_eeGeneral.rotarySteps = selectMenuItem(GENERAL_HW_PARAM_OFS, y, PSTR("Rotary Encoder"), PSTR("\0062steps4steps"), g_eeGeneral.rotarySteps, 0, 1, attr, event);
break;
#if defined(BLUETOOTH)
case ITEM_SETUP_HW_BT_BAUDRATE:
g_eeGeneral.btBaudrate = selectMenuItem(GENERAL_HW_PARAM_OFS, y, STR_BAUDRATE, PSTR("\005115k 9600 19200"), g_eeGeneral.btBaudrate, 0, 2, attr, event);
if (attr && checkIncDec_Ret) {
btInit();
}
break;
#endif
}
}
}
E_CODE symbolTableInsertFunction(tSymbolTable* symbolTable, tString functionName){
tFunction *func=mmuMalloc(sizeof(tFunction));
strCopyString(&functionName,&(func->name)); // jmeno fce
btInit(&(func->symbols)); // symboly
initList(&(func->instructions)); // instrukce
initList(&(func->constants));
func->called=1;
E_CODE err=BTInsert(&(symbolTable->functions),&(func->name),func);
if (err!=ERROR_OK){strFree(&(func->name));mmuFree(func);}
return err;
}
void adkInit(void){
//bt init
static const BtFuncs myBtFuncs = {this, btVerboseScanCbkF, btConnReqF, btConnStartF, btConnEndF, btPinRequestF, btLinkKeyRequest, btLinkKeyCreated, btAclDataRxF, btSspShowF};
btInit(&myBtFuncs); //BT UART & HCI driver
btSdpRegisterL2capService(); //SDP daemon
btRfcommRegisterL2capService(); //RFCOMM framework
uint8_t mac[BT_MAC_SIZE];
if(btLocalMac(mac)) dbgPrintf("BT MAC: %02X:%02X:%02X:%02X:%02X:%02X\n", mac[5], mac[4], mac[3], mac[2], mac[1], mac[0]);
}
int main(void)
{
btInit();
sei();
val = 'A'; //0x41;
//PORTB = ~val; // set PORTB
while(1)
{
btTransmit(val);
_delay_ms(250);
}
};
void adkInit(void){
//Create the BT functions structure
static const BtFuncs myBtFuncs = {0, btVerboseScanCbkF, btConnReqF, btConnStartF, btConnEndF, btPinRequestF, btLinkKeyRequest, btLinkKeyCreated, btAclDataRxF, btSspShowF};
//Bluetooth initialisation
btInit(&myBtFuncs);
//Start the listener service
btSdpRegisterL2capService(); //SDP daemon
btRfcommRegisterL2capService(); //RFCOMM framework
//Configuration is Event controlled
// Initiate the configuration processe by reset the dongle
btReset_hci();
}
int main()
{
tBTree *T;
tBTNode N;
mmuInit();
T=mmuMalloc(sizeof(tBTree));
btInit(T);
tString str,str1,str2,str3;
void *nic=NULL;
str=strCreate("ahoj");
str1=strCreate("nazdar");
str2=strCreate("valhala");
str3=strCreate("abcd");
if(strCmp(&str1,&str1)!=0)printf("chyba strCmp");
//printf("%s\n",str.data);
BTInsert(T,&str,nic);
BTInsert(T,&str1,nic);
BTInsert(T,&str2,nic);
BTInsert(T,&str3,nic);
printf("%d\n",T->root->height);
printf("%s\n",T->root->left->key->data);
printf("%s\n",T->root->right->key->data);
printf("%s\n",T->root->right->right->key->data);
printf("%s\n",T->root->key->data);
N=btFind(T,&str1);
//BTInsert(T,&str2,nic);
if(N!=NULL)printf("%s\n",N->key->data);
else printf("nic se nenaslo\n");
if(T->root->left==NULL && T->root->right==NULL) printf("chyba\n");
int cmp=strCmp(&str1,&str);
printf("%d\n",cmp);
//btFree(T);
mmuGlobalFree();
return 0;
}
void btFree(tBTree *T){
deleteNodes(T->root);
btInit(T);
}
void btTask(void* pdata)
{
uint8_t byte;
btFlag = CoCreateFlag(true, false);
btTx.size = 0;
// Look for BT module baudrate, try 115200, and 9600
// Already initialised to g_eeGeneral.bt_baudrate
// 0 : 115200, 1 : 9600, 2 : 19200
uint32_t x = g_eeGeneral.btBaudrate;
btStatus = btPollDevice() ; // Do we get a response?
for (int y=0; y<2; y++) {
if (btStatus == 0) {
x += 1 ;
if (x > 2) {
x = 0 ;
}
btSetBaudrate(x) ;
CoTickDelay(1) ; // 2mS
btStatus = btPollDevice() ; // Do we get a response?
}
}
if (btStatus) {
btStatus = x + 1 ;
if ( x != g_eeGeneral.btBaudrate ) {
x = g_eeGeneral.btBaudrate ;
// Need to change Bt Baudrate
btChangeBaudrate( x ) ;
btStatus += (x+1) * 10 ;
btSetBaudrate( x ) ;
}
}
else {
btInit();
}
CoTickDelay(1) ;
btPollDevice(); // Do we get a response?
while (1) {
uint32_t x = CoWaitForSingleFlag(btFlag, 10); // Wait for data in Fifo
if (x == E_OK) {
// We have some data in the Fifo
while (btTxFifo.pop(byte)) {
btTxBuffer[btTx.size++] = byte;
if (btTx.size > 31) {
btSendBuffer();
}
}
}
else if (btTx.size) {
btSendBuffer();
}
}
}
