void create_script_drive(int speed, int direction) {
write_script_byte(OI_DRIVE_DIRECT);
write_script_byte(get_high_byte(direction * speed));
write_script_byte(get_low_byte(direction * speed));
write_script_byte(get_high_byte(direction * speed));
write_script_byte(get_low_byte(direction * speed));
}
void create_spin(int speed, int direction) {
write_byte(OI_DRIVE);
write_byte(get_high_byte(speed));
write_byte(get_low_byte(speed));
if(direction < 0) {
write_byte(255);
write_byte(255);
}
if(direction > 0) {
write_byte(0);
write_byte(1);
}
}
/* returns ?? */
static int dos33_add_file(int fd, char dos_type,
int file_type, int address, int length,
char *filename, char *apple_filename) {
int free_space,file_size,needed_sectors;
struct stat file_info;
int size_in_sectors=0;
int initial_ts_list=0,ts_list=0,i,data_ts,x,bytes_read=0,old_ts_list;
int catalog_track,catalog_sector,sectors_used=0;
int input_fd;
int result;
int first_write=1;
if (apple_filename[0]<64) {
fprintf(stderr,"Error! First char of filename "
"must be ASCII 64 or above!\n");
return ERROR_INVALID_FILENAME;
}
/* Check for comma in filename */
for(i=0;i<strlen(apple_filename);i++) {
if (apple_filename[i]==',') {
fprintf(stderr,"Error! "
"Cannot have , in a filename!\n");
return ERROR_INVALID_FILENAME;
}
}
/* FIXME */
/* check type */
/* and sanity check a/b filesize is set properly */
/* Determine size of file to upload */
if (stat(filename,&file_info)<0) {
fprintf(stderr,"Error! %s not found!\n",filename);
return ERROR_FILE_NOT_FOUND;
}
file_size=(int)file_info.st_size;
if (debug) printf("Filesize: %d\n",file_size);
if (file_type==ADD_BINARY) {
if (debug) printf("Adding 4 bytes for size/offset\n");
if (length==0) length=file_size;
file_size+=4;
}
/* We need to round up to nearest sector size */
/* Add an extra sector for the T/S list */
/* Then add extra sector for a T/S list every 122*256 bytes (~31k) */
needed_sectors=(file_size/BYTES_PER_SECTOR)+ /* round sectors */
((file_size%BYTES_PER_SECTOR)!=0)+/* tail if needed */
1+/* first T/S list */
(file_size/(122*BYTES_PER_SECTOR)); /* extra t/s lists */
/* Get free space on device */
free_space=dos33_free_space(fd);
/* Check for free space */
if (needed_sectors*BYTES_PER_SECTOR>free_space) {
fprintf(stderr,"Error! Not enough free space "
"on disk image (need %d have %d)\n",
needed_sectors*BYTES_PER_SECTOR,free_space);
return ERROR_NO_SPACE;
}
/* plus one because we need a sector for the tail */
size_in_sectors=(file_size/BYTES_PER_SECTOR)+
((file_size%BYTES_PER_SECTOR)!=0);
if (debug) printf("Need to allocate %i data sectors\n",size_in_sectors);
if (debug) printf("Need to allocate %i total sectors\n",needed_sectors);
/* Open the local file */
input_fd=open(filename,O_RDONLY);
if (input_fd<0) {
fprintf(stderr,"Error! could not open %s\n",filename);
return ERROR_IMAGE_NOT_FOUND;
}
i=0;
while (i<size_in_sectors) {
/* Create new T/S list if necessary */
if (i%TSL_MAX_NUMBER==0) {
old_ts_list=ts_list;
/* allocate a sector for the new list */
ts_list=dos33_allocate_sector(fd);
sectors_used++;
if (ts_list<0) return -1;
/* clear the t/s sector */
for(x=0;x<BYTES_PER_SECTOR;x++) {
sector_buffer[x]=0;
}
lseek(fd,DISK_OFFSET((ts_list>>8)&0xff,ts_list&0xff),SEEK_SET);
result=write(fd,sector_buffer,BYTES_PER_SECTOR);
if (i==0) {
initial_ts_list=ts_list;
}
else {
/* we aren't the first t/s list so do special stuff */
/* load in the old t/s list */
lseek(fd,
DISK_OFFSET(get_high_byte(old_ts_list),
get_low_byte(old_ts_list)),
SEEK_SET);
result=read(fd,§or_buffer,BYTES_PER_SECTOR);
/* point from old ts list to new one we just made */
sector_buffer[TSL_NEXT_TRACK]=get_high_byte(ts_list);
sector_buffer[TSL_NEXT_SECTOR]=get_low_byte(ts_list);
/* set offset into file */
sector_buffer[TSL_OFFSET_H]=get_high_byte((i-122)*256);
sector_buffer[TSL_OFFSET_L]=get_low_byte((i-122)*256);
/* write out the old t/s list with updated info */
lseek(fd,
DISK_OFFSET(get_high_byte(old_ts_list),
get_low_byte(old_ts_list)),
SEEK_SET);
result=write(fd,sector_buffer,BYTES_PER_SECTOR);
}
}
/* allocate a sector */
data_ts=dos33_allocate_sector(fd);
sectors_used++;
if (data_ts<0) return -1;
/* clear sector */
for(x=0;x<BYTES_PER_SECTOR;x++) sector_buffer[x]=0;
/* read from input */
if ((first_write) && (file_type==ADD_BINARY)) {
first_write=0;
sector_buffer[0]=address&0xff;
sector_buffer[1]=(address>>8)&0xff;
sector_buffer[2]=(length)&0xff;
sector_buffer[3]=((length)>>8)&0xff;
bytes_read=read(input_fd,sector_buffer+4,
BYTES_PER_SECTOR-4);
bytes_read+=4;
}
static void create_write_int(int decimal) {
// [high byte][low byte]
create.write_byte(get_high_byte(decimal));
create.write_byte(get_low_byte(decimal));
}
__interrupt void Timer_A (void)
{
timer_counter++;
//while (!(IFG2&UCA0TXIFG));
//UCA0TXBUF = timer_counter;
if(isFlowing == 1){
isFlowing = 0;
flowing_time++;
//while (!(IFG2&UCA0TXIFG));
//UCA0TXBUF = flowing_time;
}
// If water flow has stopped
else{
// Pulse characteristic: 7Q L/MIN (Q is flow rate in L/MIN)
// Flow-pulse: 1L/MIN = 8Hz;
// Dividing it by 60 to get the flow pulse per second
// Multiplying it by flowing time to get the amount of water flowed
/*water_used += ((pulse_counter / 0.125) * (flowing_time));
water_used += pulse_counter;
if(pulse_counter != 0){
int data = (pulse_counter * flowing_time)/0.12;
while (!(IFG2&UCA0TXIFG));
UCA0TXBUF = data;
}
//UCA0TXBUF = water_used;
//pulse_counter = 0;
//flowing_time = 0;
*/
//flow_rate = ((float)pulse_counter) / calibration_factor;
flow_rate = (float)pulse_counter / flowing_time;
//flow_rate = (pulse_counter / calibration_factor) * (1000 / 60); // flow rate in ml/s
//water_used = flow_rate * flowing_time;
// Divide the flow rate in litres/minute by 60 to determine how many litres have
// passed through the sensor in this 1 second interval, then multiply by 1000 to
// convert to millilitres. After that multiplying by flowing_time will give the total
// amount of water flowed in this time duration.
//flow_milli_litres = ((flow_rate / 60)) * flowing_time;
/*
* 7Hz -> 60 second -> 1 Litre
* 1Hz -> 01 second -> 1 / (7 * 60)
* flow_rate Hz -> flowing_time second -> (flow_rate * flowing_time) / (7 * 60)
*/
//water_used = ((flow_rate * flowing_time) / (calibration_factor * 60)) * 1000;
flow_milli_litres = ((flow_rate * flowing_time) / (calibration_factor * 60)) * 1000;
// Calculate total amount of water flowed for a certain period (i.e. for 10 minute)
total_flow_milli_litres += flow_milli_litres;
total_flow_litres = total_flow_milli_litres / 1000;
int_part = (unsigned int)total_flow_milli_litres;
decimal_part = (total_flow_milli_litres - int_part) * 10;
if(pulse_counter != 0){
//int data = (pulse_counter * flowing_time)/0.12;
while (!(IFG2&UCA0TXIFG));
//UCA0TXBUF = int_part;
//total_flow_milli_litres = 0;
}
pulse_counter = 0;
flowing_time = 0;
flow_milli_litres = 0;
water_used = 0;
flow_rate = 0;
}
// Send data to the server in every 1 min
if(timer_counter == 10){
timer_counter = 0; // reset timer counter
unsigned char low_byte = get_low_byte(10004);
unsigned char high_byte = get_high_byte(10004);
//pulse_counter = 0;
//flowing_time = 0;
while (!(IFG2&UCA0TXIFG)); // Wait until TX buffer is ready
UCA0TXBUF = high_byte; // Send amount of water used to the server(to UART)
//water_used = 0; // reset the amount of water used to 0
//total_flow_milli_litres = 0;
}
}
/* returns ?? */
static int dos33_add_file(int fd,char type,char *filename,
char *apple_filename) {
int free_space,file_size,needed_sectors;
struct stat file_info;
int size_in_sectors=0;
int initial_ts_list=0,ts_list=0,i,data_ts,x,bytes_read=0,old_ts_list;
int catalog_track,catalog_sector,sectors_used=0;
int input_fd;
int result;
if (apple_filename[0]<64) {
fprintf(stderr,"Error! First char of filename must be ASCII 64 or above!\n");
exit(3);
}
{
int i;
for(i=0;i<strlen(apple_filename);i++) {
if (apple_filename[i]==',') {
fprintf(stderr,"Error! Cannot have , in a filename!\n");
exit(3);
}
}
}
/* FIXME */
/* check type */
/* and sanity check a/b filesize is set properly */
/* Determine size of file to upload */
if (stat(filename,&file_info)<0) {
fprintf(stderr,"Error! %s not found!\n",filename);
exit(3);
}
file_size=(int)file_info.st_size;
/* We need to round up to nearest sector size */
/* Add an extra sector for the T/S list */
/* Then add extra sector for a T/S list every 122*256 bytes (~31k) */
needed_sectors=(file_size/BYTES_PER_SECTOR)+ /* round sectors */
((file_size%BYTES_PER_SECTOR)!=0)+/* tail if needed */
1+/* first T/S list */
(file_size/(122*BYTES_PER_SECTOR)); /* extra t/s lists */
/* Get free space on device */
free_space=dos33_free_space(fd);
/* Check for free space */
if (needed_sectors*BYTES_PER_SECTOR>free_space) {
fprintf(stderr,"Error! Not enough free space on disk image (need %d have %d)\n",
needed_sectors*BYTES_PER_SECTOR,free_space);
exit(4);
}
/* plus one because we need a sector for the tail */
size_in_sectors=(file_size/BYTES_PER_SECTOR)+
((file_size%BYTES_PER_SECTOR)!=0);
// printf("Need to allocate %i data sectors\n",size_in_sectors);
// printf("Need to allocate %i total sectors\n",needed_sectors);
/* Open the local file */
input_fd=open(filename,O_RDONLY);
if (input_fd<0) {
fprintf(stderr,"Error! could not open %s\n",filename);
return -1;
}
i=0;
while (i<size_in_sectors) {
/* Create new T/S list if necessary */
if (i%TSL_MAX_NUMBER==0) {
old_ts_list=ts_list;
/* allocate a sector for the new list */
ts_list=dos33_allocate_sector(fd);
sectors_used++;
if (ts_list<0) return -1;
/* clear the t/s sector */
for(x=0;x<BYTES_PER_SECTOR;x++) sector_buffer[x]=0;
lseek(fd,DISK_OFFSET((ts_list>>8)&0xff,ts_list&0xff),SEEK_SET);
result=write(fd,sector_buffer,BYTES_PER_SECTOR);
if (i==0) initial_ts_list=ts_list;
else {
/* we aren't the first t/s list so do special stuff */
/* load in the old t/s list */
lseek(fd,
DISK_OFFSET(get_high_byte(old_ts_list),
get_low_byte(old_ts_list)),
SEEK_SET);
result=read(fd,§or_buffer,BYTES_PER_SECTOR);
/* point from old ts list to new one we just made */
sector_buffer[TSL_NEXT_TRACK]=get_high_byte(ts_list);
sector_buffer[TSL_NEXT_SECTOR]=get_low_byte(ts_list);
/* set offset into file */
sector_buffer[TSL_OFFSET_H]=get_high_byte((i-122)*256);
sector_buffer[TSL_OFFSET_L]=get_low_byte((i-122)*256);
/* write out the old t/s list with updated info */
lseek(fd,
DISK_OFFSET(get_high_byte(old_ts_list),
get_low_byte(old_ts_list)),
SEEK_SET);
result=write(fd,sector_buffer,BYTES_PER_SECTOR);
}
}
/* allocate a sector */
data_ts=dos33_allocate_sector(fd);
sectors_used++;
if (data_ts<0) return -1;
/* clear sector */
for(x=0;x<BYTES_PER_SECTOR;x++) sector_buffer[x]=0;
/* read from input */
bytes_read=read(input_fd,sector_buffer,BYTES_PER_SECTOR);
if (bytes_read<0) fprintf(stderr,"Error reading bytes!\n");
/* write to disk image */
lseek(fd,DISK_OFFSET((data_ts>>8)&0xff,data_ts&0xff),SEEK_SET);
result=write(fd,sector_buffer,BYTES_PER_SECTOR);
// printf("Writing %i bytes to %i/%i\n",bytes_read,(data_ts>>8)&0xff,
// data_ts&0xff);
/* add to T/s table */
/* read in t/s list */
lseek(fd,DISK_OFFSET((ts_list>>8)&0xff,ts_list&0xff),SEEK_SET);
result=read(fd,sector_buffer,BYTES_PER_SECTOR);
/* point to new data sector */
sector_buffer[((i%TSL_MAX_NUMBER)*2)+TSL_LIST]=(data_ts>>8)&0xff;
sector_buffer[((i%TSL_MAX_NUMBER)*2)+TSL_LIST+1]=(data_ts&0xff);
/* write t/s list back out */
lseek(fd,DISK_OFFSET((ts_list>>8)&0xff,ts_list&0xff),SEEK_SET);
result=write(fd,sector_buffer,BYTES_PER_SECTOR);
i++;
}
void _wait_degrees(int degrees) {
write_byte(OI_WAIT_ANGLE);
write_byte(get_high_byte(degrees));
write_byte(get_low_byte(degrees));
}
void _wait_script_distance(int distance) {
write_script_byte(OI_WAIT_DISTANCE);
write_script_byte(get_high_byte(distance));
write_script_byte(get_low_byte(distance));
}
