int
main (int argc, char *args[])
{
int i, n, r, c, ch;
FILE *inf;
marklistptr library = NULL, list = NULL, step = NULL;
marklistptr symbol_list = NULL;
marktype d, d2;
Pixel **bitmap, **recon, **bitmapcopy;
char *splitfilename = NULL;
int cols, rows, count, librarysize, lossy = 1;
int quick = 0;
int ticencode = 0, ticdecode = 0, external = 0;
char *libraryname = NULL, *infile = NULL;
char *s1 = NULL, *s2 = NULL;
char bufferin[BUFSIZ], bufferout[BUFSIZ];
if (argc < 2)
usage ();
while ((ch = getopt (argc, args, "edlLQhvXR:")) != -1)
switch (ch)
{
case 'e':
ticencode = 1;
break;
case 'd':
ticdecode = 1;
break;
case 'l':
lossy = 1;
break;
case 'L':
lossy = 0;
break;
case 'Q':
quick = 1;
break;
case 'v':
V = 1;
break;
case 'X':
external = 1;
break;
case 'R':
splitfilename = optarg;
break;
case 'h':
case '?':
usage ();
}
for (i = 1; i < argc; i++)
if (args[i][0] != '-')
if (strcmp (args[i - 1], "-R"))
{ /* ignore arg following -R, ie. -R <filename> */
if (!s1)
s1 = args[i];
else if (!s2)
s2 = args[i];
else
error_msg (args[0], "too many filenames", "");
}
if (ticencode == ticdecode)
error_msg (args[0], "please specify either encode XOR decode", "");
if (ticencode)
{
/*****************
ENCODING STAGE
*****************/
long PrevBits = 0;
long BITS_header = 0, BITS_symbols = 0, BITS_offsets = 0, BITS_residue = 0,
BITS_footer = 0, BITS_library = 0;
libraryname = s1;
if (!libraryname)
error_msg (args[0], "please specify a library file", "");
infile = s2;
if (!infile)
error_msg (args[0], "please specify a file name", "");
inf = fopen (infile, "rb");
if (inf == NULL)
error_msg (args[0], "Trouble opening file:", infile);
setbuf (inf, bufferin);
count = librarysize = read_library (libraryname, &library);
if (V)
fprintf (stderr, "%s: processing...\n", args[0]);
if (pbm_isapbmfile (inf))
{
if (V)
fprintf (stderr, "reading file %s...\n", infile);
bitmap = pbm_readfile (inf, &cols, &rows);
fclose (inf);
bitmapcopy = pbm_copy (bitmap, cols, rows);
if (V)
fprintf (stderr, "extracting...");
ExtractAllMarks (bitmap, &list, cols, rows);
if (V)
fprintf (stderr, "(%d marks)\n", marklist_length (list));
/* sort into reading order */
if (V)
fprintf (stderr, "sorting...\n");
list = sortmarks (list);
pbm_freearray (&bitmap, rows); /* clear old version */
bitmap = bitmapcopy; /* point to the copy */
recon = pbm_allocarray (cols, rows);
if (V)
fprintf (stderr, "matching...");
match_sequence (list, library, &symbol_list, recon, quick);
PrevBits = 0;
setbuf (stdout, bufferout);
/* start output */
magic_write (stdout, MAGIC_TIC);
InitArithEncoding ();
EncodeGammaDist (1); /* version 1 of the program */
EncodeGammaDist (lossy); /* lossy=1 = no residue */
EncodeGammaDist (external); /* 1== external file */
count = marklist_length (symbol_list);
if (V)
fprintf (stderr, "encoding cols, rows, and number of symbols=%d\n", count);
EncodeGammaDist (cols);
EncodeGammaDist (rows);
EncodeGammaDist (count);
EncodeGammaDist (librarysize);
BITS_header = CountOfBitsOut - PrevBits;
PrevBits = CountOfBitsOut;
/* output the library sequence */
if (external == 0)
{
if (V)
fprintf (stderr, "encoding library\n");
bl_clearmodel ();
bl_writetemplate (library_template);
for (step = library; step; step = step->next)
bl_compress_mark (step->data);
bl_freemodel ();
BITS_library = CountOfBitsOut - PrevBits;
PrevBits = CountOfBitsOut;
}
/* output the symbol sequence */
if (V)
fprintf (stderr, "encoding symbol sequence\n");
InitPPM ();
EncodeSymbols (symbol_list, count);
BITS_symbols = CountOfBitsOut - PrevBits;
PrevBits = CountOfBitsOut;
/* output the offset sequence */
if (V)
fprintf (stderr, "encoding offset sequence\n");
EncodeOffsets (symbol_list, count);
BITS_offsets = CountOfBitsOut - PrevBits;
PrevBits = CountOfBitsOut;
EncodeChecksum (); /* code lossy checksum */
/* calculate the residue...and compress it---if need be! */
if (!lossy)
{
if (V)
fprintf (stderr, "encoding residue...\n");
d.bitmap = bitmap;
d.h = rows;
d.w = cols;
d2.bitmap = recon;
d2.h = rows;
d2.w = cols;
if (splitfilename)
{
FILE *temp;
CloseDownArithEncoding ();
fclose (stdout);
/* no residue result */
BITS_footer = CountOfBitsOut - PrevBits;
temp = fopen (splitfilename, "wb");
if (temp == NULL)
error_msg (args[0], "Trouble creating file:", splitfilename);
arith_out = temp;
InitArithEncoding ();
bl_clair_compress (d, d2);
CloseDownArithEncoding ();
BITS_residue = CountOfBitsOut;
fclose (temp);
}
else
{
bl_clair_compress (d, d2);
BITS_residue = CountOfBitsOut - PrevBits;
PrevBits = CountOfBitsOut;
EncodeChecksum (); /* code lossless checksum */
CloseDownArithEncoding ();
BITS_footer = CountOfBitsOut - PrevBits;
}
}
else
{
if (V)
fprintf (stderr, "not encoding residue..lossy mode\n");
CloseDownArithEncoding ();
BITS_footer = CountOfBitsOut - PrevBits;
}
/* because we edit the values above */
CountOfBitsOut = BITS_header + BITS_library + BITS_symbols + BITS_offsets + BITS_residue + BITS_footer;
fprintf (stderr, "bits: header=%ld, library=%ld, "
"symbols=%ld, offsets=%ld, residue=%ld, footer=%ld\n",
BITS_header, BITS_library, BITS_symbols,
BITS_offsets, BITS_residue, BITS_footer);
fprintf (stderr, "total bits: %ld, ", CountOfBitsOut);
fprintf (stderr, "Lossy CR: %4.2f", (cols * rows) / (float) (CountOfBitsOut - BITS_residue));
if (external)
fprintf (stderr, " (excluding external lib)");
fprintf (stderr, ", Lossless CR: %4.2f\n", (!lossy) * (cols * rows) / (float) (CountOfBitsOut));
}
else
error_msg (args[0], "unknown format of bitmap--expecting PBM.", "");
}
else
{
/*****************
DECODING STAGE
*****************/
int lastx, lasty;
librarysize = 0;
if (external)
{
libraryname = s1;
infile = s2;
count = librarysize = read_library (libraryname, &library);
}
else
{
infile = s1;
if (infile && s2)
error_msg (args[0], "too many filenames", "");
}
if (!freopen (infile, "rb", stdin))
error_msg (args[0], "Trouble opening file:", infile);
if (V)
fprintf (stderr, "decompressing...\n");
setbuf (stdin, bufferin);
magic_check (stdin, MAGIC_TIC);
InitArithDecoding ();
{
int version = DecodeGammaDist ();
if (version != 1)
error_msg (args[0], "Need later version of decompressor.", "");
}
{
int templossy = DecodeGammaDist ();
if (!lossy)
lossy = templossy; /* can only choose if encoded file is lossless */
if (V)
{
if (lossy)
fprintf (stderr, "lossy mode\n");
else
fprintf (stderr, "lossless mode\n");
}
}
if (DecodeGammaDist ())
{ /* if compressed file doesn't contain library */
if (!external)
error_msg (args[0], "compressed file doesn't contain library, specify externally", "");
external = 1;
}
else
{ /* if compressed file contains library */
if (external)
fprintf (stderr, "ignoring external library file\n");
external = 0;
}
cols = DecodeGammaDist ();
rows = DecodeGammaDist ();
count = DecodeGammaDist ();
i = DecodeGammaDist (); /* librarysize */
if (external)
{
if (i > librarysize)
error_msg (args[0], "external library file is too small!", "");
else if (i < librarysize)
fprintf (stderr, "%s: warning, expecting a different (smaller) library.\n", args[0]);
}
librarysize = i;
if (V)
fprintf (stderr, "cols %d, rows %d, num syms %d, library size %d\n", cols, rows, count, librarysize);
/* decode library */
if (external == 0)
{
if (V)
fprintf (stderr, "reading library\n");
bl_clearmodel ();
bl_readtemplate ();
for (n = 0; n < librarysize; n++)
{
bl_decompress_mark (&d);
d.symnum = n;
if (library == NULL)
step = marklist_add (&library, d);
else
step = marklist_add (&step, d);
}
bl_freemodel ();
if (V)
fprintf (stderr, "read %d marks from library\n", marklist_length (library));
}
recon = pbm_allocarray (cols, rows);
/* decode symbols */
InitPPM ();
if (V)
fprintf (stderr, "decompressing %d symbols\n", count);
symbol_list = DecodeSymbols (count);
/* decode offsets */
if (V)
fprintf (stderr, "reading offsets...\n");
DecodeOffsets (symbol_list, count);
lastx = lasty = 0;
for (step = symbol_list; step; step = step->next)
{
lastx = lastx + step->data.xoffset;
lasty = lasty + step->data.yoffset;
marklist_getat (library, step->data.symnum, &d2);
for (r = 0; r < d2.h; r++)
for (c = 0; c < d2.w; c++)
if (pbm_getpixel (d2.bitmap, c, r))
pbm_putpixel_trunc (recon, lastx + c, lasty + r, 1, cols, rows); /* we don't care, already warned them! */
lastx += d2.w;
}
DecodeChecksum (args[0]);
/* decode the residue */
if (!lossy)
{
if (V)
fprintf (stderr, "decoding residue...\n");
bitmap = pbm_allocarray (cols, rows);
d.bitmap = bitmap;
d.w = d2.w = cols;
d.h = d2.h = rows;
d2.bitmap = recon;
/* NOTE: the 2nd argument is clairvoyantly compressed */
if (splitfilename)
{
FILE *temp;
CloseDownArithDecoding ();
fclose (stdin);
temp = fopen (splitfilename, "rb");
if (temp == NULL)
error_msg (args[0], "Trouble opening file:", splitfilename);
arith_in = temp;
InitArithDecoding ();
bl_clair_decompress (d, d2);
CloseDownArithDecoding ();
fclose (temp);
}
else
{
bl_clair_decompress (d, d2);
DecodeChecksum (args[0]);
CloseDownArithDecoding ();
}
pbm_freearray (&recon, rows);
recon = bitmap; /* point to the bitmap */
}
else
{
CloseDownArithDecoding ();
}
if (V)
fprintf (stderr, "writing pbm file...\n");
setbuf (stdout, bufferout);
pbm_writefile (stdout, recon, cols, rows);
pbm_freearray (&recon, rows);
} /* end decoding */
exit(0);
}
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
char altPhase = 0;
int test = 0;
unsigned int Blink,TestschubTimer;
unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer;
DDRC = 0x08; //PC3输出，控制红色led 端口C 数据方向寄存器
PORTC = 0x08; //PC3输出高电平，红色led亮
DDRD = 0x3A; //10111010A-B-C-配置为输出，TXD,LED_GRN(PD7)配置为输出，MITTEL/RXD/INTO为输入
PORTD = 0x00;
DDRB = 0x0E;
PORTB = 0x31;
#if (MOTORADRESSE == 0)
PORTB |= (ADR1 + ADR2); // Pullups für Adresswahl
for(test=0;test<500;test++);
if(PINB & ADR1)
{
if (PINB & ADR2) MotorAdresse = 1;
else MotorAdresse = 2;
}
else
{
if (PINB & ADR2) MotorAdresse = 3;
else MotorAdresse = 4;
}
HwVersion = 11;
#else
MotorAdresse = MOTORADRESSE;
HwVersion = 10;
#endif
if(PIND & 0x80) {HwVersion = 12; IntRef = 0xc0;} //为1.2版本
DDRD = 0xBA;
UART_Init();
Timer0_Init();
sei();//Globale Interrupts Einschalten
// Am Blinken erkennt man die richtige Motoradresse
/*
for(test=0;test<5;test++)
{
if(test == MotorAdresse) PORTD |= GRUEN;
Delay_ms(150);
PORTD &= ~GRUEN;
Delay_ms(250);
}
Delay_ms(500);
*/
// UART_Init(); // war doppelt
PWM_Init();
InitIC2_Slave(0x50);
InitPPM();
Blink = SetDelay(101);
Blink2 = SetDelay(102);
MinUpmPulse = SetDelay(103);
MittelstromTimer = SetDelay(254);
DrehzahlMessTimer = SetDelay(1005);
TestschubTimer = SetDelay(1006);
while(!CheckDelay(MinUpmPulse))
{
if(SollwertErmittlung()) break; // 一旦发现有信号，立刻停止延时
}
GRN_ON;
PWM = 0;
SetPWM();
SFIOR = 0x08; // Analog Comperator ein
ADMUX = 1;
MinUpmPulse = SetDelay(10);
DebugOut.Analog[1] = 1; // 填写一些调试信号
PPM_Signal = 0;
if(!SollwertErmittlung()) MotorTon();
//MotorTon();
PORTB = 0x31; // Pullups wieder einschalten
// zum Test der Hardware; Motor dreht mit konstanter Drehzahl ohne Regelung
if(TEST_MANUELL) Anwerfen(TEST_MANUELL); // kommt von dort nicht wieder
while (1)
{
//ShowSense();
if(!TEST_SCHUB) PWM = SollwertErmittlung();
//I2C_TXBuffer = PWM; // Antwort über I2C-Bus
if(MANUELL_PWM) PWM = MANUELL_PWM;
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(Phase != altPhase) // es gab eine Kommutierung im Interrupt
{
MotorGestoppt = 0;
ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeit
MinUpmPulse = SetDelay(250); // Timeout, falls ein Motor stehen bleibt
altPhase = Phase; // 旧相位 = 新相位
}
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!PWM) // Sollwert == 0 在开机后主控板静默,并没有发任何I2C信号过来
{
MotorAnwerfen = 0; // kein Startversuch MotorAnwerfen means motor start
ZeitFuerBerechnungen = 0; // 指使一些操作的优先级用
// nach 1,5 Sekunden den Motor als gestoppt betrachten
if(CheckDelay(MotorGestopptTimer))
{
DISABLE_SENSE_INT;
MotorGestoppt = 1;
STEUER_OFF;
}
}
else
{
if(MotorGestoppt) MotorAnwerfen = 1; // Startversuch
MotorGestopptTimer = SetDelay(1500);
}
if(MotorGestoppt && !TEST_SCHUB) PWM = 0; //TEST_SCHUB 1为测试模式，0为正常模式
SetPWM();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!ZeitFuerBerechnungen++) //先!,后++
{
if(MotorGestoppt) // 马达停止
{
GRN_ON;
FastADConvert();
}
if(SIO_DEBUG)
{
DebugAusgaben(); // welche Werte sollen angezeigt werden?
if(!UebertragungAbgeschlossen) SendUart();
else DatenUebertragung();
}
// Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzung
if(CheckDelay(MittelstromTimer)) //254ms
{
MittelstromTimer = SetDelay(50); // alle 50ms
if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden 将mittelstorm平缓化
else if(Mittelstrom > Strom) Mittelstrom--;
if(Strom > MAX_STROM) MaxPWM -= MaxPWM / 32; //为什么电流大于最大电流的时候，PWM最大值要减小？
if((Mittelstrom > LIMIT_STROM))// Strom am Limit? 动态调整MaxPWM的值
{
if(MaxPWM) MaxPWM--;// dann die Maximale PWM herunterfahren
PORTC |= ROT;
}
else
{
if(MaxPWM < MAX_PWM) MaxPWM++;
}
}
if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen 1005ms
{
DrehzahlMessTimer = SetDelay(10);
SIO_Drehzahl = CntKommutierungen;//(6 * CntKommutierungen) / (POLANZAHL / 2);
CntKommutierungen = 0;
// if(PPM_Timeout == 0) // keine PPM-Signale
ZeitZumAdWandeln = 1;
}
#if TEST_SCHUB == 1
{
if(CheckDelay(TestschubTimer))
{
TestschubTimer = SetDelay(1500);
switch(test)
{
case 0: PWM = 50; test++; break;
case 1: PWM = 130; test++; break;
case 2: PWM = 60; test++; break;
case 3: PWM = 140; test++; break;
case 4: PWM = 150; test = 0; break;
default: test = 0;
}
}
}
#endif
// Motor Stehen geblieben
if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen) // SIO_Drehzahl 为当前转速值 前面为判断意外停机
{
/* 下面三行代码给电机意外停转用*/
MotorGestoppt = 1;
DISABLE_SENSE_INT; // 取消比较中断
MinUpmPulse = SetDelay(100);
if(MotorAnwerfen)
{
PORTC &= ~ROT; //switch off red led
Strom_max = 0;
MotorAnwerfen = 0;
if(Anwerfen(10)) // 以PMW = 10触发启动程序，期间要换相32次,成功返回1
{
GRN_ON; //绿灯打开
MotorGestoppt = 0; //
Phase--; // Phase = 1
PWM = 1;
SetPWM();
SENSE_TOGGLE_INT; // ?????
ENABLE_SENSE_INT; // ????? 使能比较器中断
MinUpmPulse = SetDelay(20);
while(!CheckDelay(MinUpmPulse)); // kurz Synchronisieren
PWM = 15;
SetPWM();
MinUpmPulse = SetDelay(300);
while(!CheckDelay(MinUpmPulse)) // kurz Durchstarten
{
if(Strom > LIMIT_STROM/2)
{
STEUER_OFF; // Abschalten wegen Kurzschluss
RotBlink(10);
MotorAnwerfen = 1;
}
}
// Drehzahlmessung wieder aufsetzen
DrehzahlMessTimer = SetDelay(50);
altPhase = 7;
}
else if(SollwertErmittlung()) MotorAnwerfen = 1;
}
}
} // ZeitFuerBerechnungen
} // while(1) - Hauptschleife
}
