static void shell_cmd_load(char *args, void *data)
{
struct shell_argval argval[SHELL_CMD_LOAD_ARGS+1], *idx, *tab;
unsigned char t, j;
t = shell_arg_parser(args, argval, SHELL_CMD_LOAD_ARGS);
idx = shell_get_argval(argval, 'i');
tab = shell_get_argval(argval, 't');
if ((t != 1) && ((idx == NULL) && (tab == NULL))) {
shell_printf("load tab: [-i <tab index> | -t <tab number>]\n");
shell_printf(" -i <tab index> tab index (0 to %d)\n", tab_list[0]-1);
shell_printf(" -t <tab id> tab id\n");
} else {
if (idx != NULL) {
j = atoi(idx->val);
if (j < tab_list[0]) {
shell_printf("Loading tab index %d of %d\n", j, tab_list[0]-1);
load_tab(tab_list[j+1]);
} else {
shell_printf("Out of range [0 ... %d]\n", tab_list[0]-1);
}
} else {
j = atoi(tab->val);
shell_printf("Loading tab id %d\n", j);
load_tab(j);
}
}
}
static void build_tab_list(void)
{
struct widget_config *wcfg = &config.widgets[0];
unsigned char *p = &tab_list[1];
/* build tab list */
tab_list[0] = 0;
while (wcfg->tab != TABS_END) {
if (!search_on_list(tab_list, wcfg->tab)) {
*p++ = wcfg->tab;
tab_list[0]++;
}
wcfg++;
if (tab_list[0] > (MAX_TABS-2))
break;
}
/* add an empty tab (tab 255) at the end */
*p++ = 255;
tab_list[0]++;
#if 0
DTABS("found %d tabs\n", tab_list[0]);
int i;
for (i = 0; i < tab_list[0]; i++)
DTABS(" tab%d = %d\n", i, tab_list[i+1]);
#endif
/* load first tab */
load_tab(tab_list[1]);
}
void tabs_init(void)
{
/* add mavlink parameters */
params_add(params_tabs);
/* build tab list from config */
build_tab_list();
/* 5 seconds on tab 0 */
load_tab(0);
add_timer(TIMER_ONCE, 5000, start_tab_switch_task, &config.tab_sw);
}
static void tab_switch_flightmode_cbk(mavlink_message_t *msg, void *d)
{
unsigned char mav_type;
val = mavlink_msg_heartbeat_get_custom_mode(msg);
mav_type = mavlink_msg_heartbeat_get_type(msg);
if (mav_type != MAV_TYPE_FIXED_WING)
val += 100;
/* don't switch tab in case failsafe triggers */
switch (val) {
case PLANE_MODE_CIRCLE:
case PLANE_MODE_AUTO:
case PLANE_MODE_RTL:
case PLANE_MODE_LOITER:
case COPTER_MODE_AUTO:
case COPTER_MODE_LOITER:
case COPTER_MODE_RTL:
case COPTER_MODE_CIRCLE:
return;
default:
break;
}
if (val != prev_val) {
/* mode changed */
DTABS("flightmode_cbk: mode has changed: tmr=%d source_mode=%d mode=%d\n",
tmr, source_mode, val);
if (tmr != TAB_TIMER_IDLE) {
if (source_mode == val) {
/* change to next tab */
DTABS("flightmode_cbk: back to the same mode in less than 2 sec\n");
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
}
tmr = TAB_TIMER_IDLE;
} else {
DTABS("flightmode_cbk: starting timer\n");
tmr = 0;
source_mode = prev_val;
}
prev_val = val;
}
}
int
main (void)
{
mp_int p, q;
char buf[4096];
int k, li;
clock_t t1;
srand (time (NULL));
load_tab();
printf ("Enter # of bits: \n");
fgets (buf, sizeof (buf), stdin);
sscanf (buf, "%d", &k);
printf ("Enter number of bases to try (1 to 8):\n");
fgets (buf, sizeof (buf), stdin);
sscanf (buf, "%d", &li);
mp_init (&p);
mp_init (&q);
t1 = clock ();
pprime (k, li, &p, &q);
t1 = clock () - t1;
printf ("\n\nTook %ld ticks, %d bits\n", t1, mp_count_bits (&p));
mp_toradix (&p, buf, 10);
printf ("P == %s\n", buf);
mp_toradix (&q, buf, 10);
printf ("Q == %s\n", buf);
return 0;
}
static void tab_switch_task(struct timer *t, void *d)
{
struct tab_change_config *cfg = (struct tab_change_config*) d;
unsigned int idx;
unsigned char new_tab;
if (get_millis() < 5000) {
if (active_tab != 0)
load_tab(0);
return;
} else if (active_tab == 0) {
load_tab(1);
}
switch (cfg->mode) {
case TAB_CHANGE_CHANNEL:
default:
idx = ((val * tab_list[0]) / 101) + 1;
new_tab = tab_list[idx];
if (new_tab != active_tab) {
DTABS("tab_change_channel: change to tab %d\n", new_tab);
load_tab((unsigned char) new_tab);
}
break;
case TAB_CHANGE_FLIGHTMODE:
/* idle */
if (tmr == TAB_TIMER_IDLE) {
break;
} else if (tmr < cfg->time_window) {
tmr++;
} else {
tmr = TAB_TIMER_IDLE;
}
break;
case TAB_CHANGE_TOGGLE:
/* idle val not acquired */
if (val == 0)
break;
/* idle */
if (tmr == TAB_TIMER_IDLE) {
break;
} else if (tmr < cfg->time_window) {
tmr++;
/* switch returned to idle position */
if (prev_val == val) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = TAB_TIMER_IDLE;
}
} else if (tmr == cfg->time_window) {
tmr++;
/* previous tab */
if (active_tab_idx == 0)
active_tab_idx = tab_list[0]-1;
else
active_tab_idx--;
load_tab(tab_list[active_tab_idx+1]);
} else {
/* wait until switch returns to idle state */
if (val == prev_val)
tmr = TAB_TIMER_IDLE;
}
break;
case TAB_CHANGE_DEMO:
tmr++;
if (tmr > cfg->time_window) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = 0;
}
break;
}
}
void start_tab_switch_task(struct timer *t, void *d)
{
load_tab(1);
/* tab switching task (100ms) */
add_timer(TIMER_ALWAYS, 100, tab_switch_task, d);
}
static void tab_switch_task(struct timer *t, void *d)
{
static unsigned char tmr = TAB_TIMER_IDLE;
static unsigned char prev_val = 255, active_tab_idx = 0, source_mode = 0xff;
struct ch_switch *cfg = d;
unsigned int val;
u32 ch_age;
switch (cfg->mode) {
case SW_MODE_CHANNEL:
default:
val = get_sw_state(cfg, &ch_age);
val = ((val * tab_list[0]) / 101) + 1;
if ((unsigned char) val != prev_val) {
DTABS("tab_change_channel: change to tab %d\n", tab_list[val]);
load_tab((unsigned char) tab_list[val]);
prev_val = (unsigned char) val;
}
break;
case SW_MODE_TOGGLE:
val = get_sw_state(cfg, &ch_age);
if (ch_age > 2000)
break;
if (val < 50)
val = 1;
else
val = 2;
/* store idle position */
if (prev_val == 255)
prev_val = (unsigned char) val;
/* idle */
if (tmr == TAB_TIMER_IDLE) {
if ((unsigned char) val != prev_val)
tmr = 0;
} else if (tmr < cfg->time) {
tmr++;
/* switch returned to idle position */
if (prev_val == (unsigned char) val) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = TAB_TIMER_IDLE;
}
} else if (tmr == cfg->time) {
tmr++;
/* previous tab */
if (active_tab_idx == 0)
active_tab_idx = tab_list[0]-1;
else
active_tab_idx--;
load_tab(tab_list[active_tab_idx+1]);
} else {
/* wait until switch returns to idle state */
if ((unsigned char) val == prev_val)
tmr = TAB_TIMER_IDLE;
}
break;
case SW_MODE_FLIGHTMODE:
{
mavlink_heartbeat_t *hb = mavdata_get(MAVLINK_MSG_ID_HEARTBEAT);
unsigned char i;
const unsigned char mode_ignore_list[] = {
PLANE_MODE_CIRCLE, PLANE_MODE_AUTO,
PLANE_MODE_RTL, PLANE_MODE_LOITER,
COPTER_MODE_AUTO, COPTER_MODE_LOITER,
COPTER_MODE_RTL, COPTER_MODE_CIRCLE,
};
if (tmr < cfg->time)
tmr++;
else
tmr = TAB_TIMER_IDLE;
val = (unsigned char) hb->custom_mode;
if (hb->type != MAV_TYPE_FIXED_WING)
val += 100;
/* don't switch tab in case failsafe triggers */
for (i = 0; i < sizeof(mode_ignore_list); i++)
if (mode_ignore_list[i] == (unsigned char) val)
return;
if ((unsigned char) val != prev_val) {
/* mode changed */
DTABS("flightmode_cbk: mode has changed: tmr=%d source_mode=%d mode=%d\n",
tmr, source_mode, val);
if (tmr != TAB_TIMER_IDLE) {
if (source_mode == (unsigned char) val) {
/* change to next tab */
DTABS("flightmode_cbk: back to the same mode in less than 2 sec\n");
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
}
tmr = TAB_TIMER_IDLE;
} else {
DTABS("flightmode_cbk: starting timer\n");
tmr = 0;
source_mode = prev_val;
}
prev_val = (unsigned char) val;
}
break;
}
case SW_MODE_DEMO:
tmr++;
if (tmr > cfg->time) {
/* next tab */
active_tab_idx++;
if (active_tab_idx >= tab_list[0])
active_tab_idx = 0;
load_tab(tab_list[active_tab_idx+1]);
tmr = 0;
}
break;
}
}
