int main(void)
{
configure_teensy();
configure_LEDs();
configure_usb();
int16_t lastcmd = '\0', cmd = '\0';
while (1)
{
wait_for_usb_connection();
while (1)
{
cmd = usb_serial_getchar();
if(is_valid_control_key(cmd))
{
if(cmd == '+') adjust_speed(-10); // Speed up == less time.
else if(cmd == '-') adjust_speed(10);
}
if( is_valid_cmd(cmd) )
{
lastcmd = cmd;
}
if(lastcmd == 'k') knight_rider();
else if(lastcmd == 's') step();
else if(lastcmd == 'f') follow();
else if(lastcmd == '0') nop();
else demo();
}
}
}
XCamReturn
AiqAwbHandler::analyze (X3aResultList &output)
{
ia_aiq *ia_handle = NULL;
ia_aiq_awb_results *awb_ret = NULL;
ia_err ia_error = ia_err_none;
XCAM_UNUSED (output);
AnalyzerHandler::HanlderLock lock(this);
if (!ensure_ia_parameters ()) {
XCAM_LOG_ERROR ("AIQ AE ensure ia parameters failed");
return XCAM_RETURN_ERROR_PARAM;
}
ia_handle = _aiq_compositor->get_handle ();
XCAM_ASSERT (ia_handle);
ia_error = ia_aiq_awb_run (ia_handle, &_input, &awb_ret);
XCAM_FAIL_RETURN (ERROR, ia_error == ia_err_none, XCAM_RETURN_ERROR_AIQ, "AIQ run AWB failed");
_result = *awb_ret;
if (!_started) {
_history_result = _result;
_started = true;
}
adjust_speed (_history_result);
_history_result = _result;
return XCAM_RETURN_NO_ERROR;
}
// Initialize and start the stepper motor subsystem
void stepper_init() {
// Configure directions of interface pins
STEPPING_DDR |= (STEPPING_MASK | DIRECTION_MASK);
STEPPING_PORT = (STEPPING_PORT & ~(STEPPING_MASK | DIRECTION_MASK)) | INVERT_MASK;
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12);
TCCR1A &= ~(1<<WGM11);
TCCR1A &= ~(1<<WGM10);
// output mode = 00 (disconnected)
TCCR1A &= ~(3<<COM1A0);
TCCR1A &= ~(3<<COM1B0);
// Configure Timer 2
TCCR2A = 0; // Normal operation
TCCR2B = 0; // Disable timer until needed.
TIMSK2 |= (1<<TOIE2); // Enable Timer2 interrupt flag
adjust_speed(MINIMUM_STEPS_PER_MINUTE);
clear_vector(stepper_position);
stepper_set_position( CONFIG_X_ORIGIN_OFFSET,
CONFIG_Y_ORIGIN_OFFSET,
CONFIG_Z_ORIGIN_OFFSET );
acceleration_tick_counter = 0;
current_block = NULL;
stop_requested = false;
stop_status = STATUS_OK;
busy = false;
// start in the idle state
// The stepper interrupt gets started when blocks are being added.
stepper_go_idle();
}
/**
* userspace_adjust_speeds:
* @cpufreq_objs: List with with CPU Freq objects
*
* Returns: Result of the call (TRUE/FALSE)
*
* calculates current cpu load and traverses all existing interfaces
*/
gboolean userspace_adjust_speeds(GSList *cpufreq_objs)
{
GSList *it = NULL;
HAL_DEBUG(("Adjusting speeds..."));
if ((calc_cpu_load(DEFAULT_CONSIDER_NICE) < 0)) {
HAL_DEBUG(("calc_cpu_load failed. Cannot adjust speeds"));
return TRUE;
}
for (it = cpufreq_objs; it != NULL; it = g_slist_next(it)) {
struct cpufreq_obj *obj = it->data;
adjust_speed(obj->iface);
}
return TRUE;
}
LRESULT APIENTRY MainWndProc(HWND hwnd, UINT uMsg, WPARAM wParam, LPARAM lParam)
{
switch (uMsg)
{
case WM_CREATE:
create_toolbar(hwnd);
create_term(hwnd);
create_sysmenu(hwnd);
return 0;
case WM_SIZE:
SendMessage(wndTB, TB_AUTOSIZE, 0, 0);
get_def_size(LOWORD(lParam), HIWORD(lParam));
return 0;
case WM_DESTROY:
PostQuitMessage(0);
return 0;
case WM_COMMAND:
switch (LOWORD(wParam))
{
case BUT_OPEN:
open_file();
break;
case BUT_REWIND:
but_rewind:
if (play_state==-1)
break;
EnterCriticalSection(&vt_mutex);
replay_pause();
tr.tv_sec=0;
tr.tv_usec=0;
set_prog();
replay_seek();
LeaveCriticalSection(&vt_mutex);
play_state=1;
replay_resume();
do_replay();
break;
case BUT_PAUSE:
if (play_state==1)
goto but_unpause;
but_pause:
CancelWaitableTimer(timer);
replay_pause();
set_buttons(1);
break;
case BUT_PLAY:
if (play_state>1)
goto but_pause;
but_unpause:
replay_resume();
do_replay();
set_buttons(1);
break;
case BUT_SELSTART:
if (play_state==-1)
break;
get_pos();
selstart=tr;
set_prog_sel();
break;
case BUT_SELEND:
if (play_state==-1)
break;
selend=tr;
set_prog_sel();
break;
case BUT_EXPORT:
if (play_state==-1)
break;
if (tcmp(selstart, selend)>=0)
break;
export_file();
break;
}
return 0;
case WM_SYSCOMMAND:
switch (LOWORD(wParam))
{
default:
return DefWindowProc(hwnd, uMsg, wParam, lParam);
case BUT_FONT:
choose_font();
}
return 0;
case WM_HSCROLL:
if ((HANDLE)lParam==wndSpeed)
speed_scrolled();
else if ((HANDLE)lParam==wndProg)
prog_scrolled();
return 0;
case WM_KEYDOWN:
switch (wParam)
{
case VK_ADD:
case 'F':
adjust_speed(+1);
break;
case VK_SUBTRACT:
case 'S':
adjust_speed(-1);
break;
case '1':
SendMessage(wndSpeed, TBM_SETPOS, 1, 2);
speed_scrolled();
break;
case 'Q':
DestroyWindow(wndMain);
break;
case 'O':
open_file();
break;
case VK_SPACE:
switch (play_state)
{
case -1:
open_file();
break;
case 0:
play_state=2;
goto but_rewind;
case 1:
goto but_unpause;
case 2:
case 3:
goto but_pause;
}
break;
case 'R':
goto but_rewind;
break;
case VK_RIGHT:
adjust_pos(+10);
break;
case VK_LEFT:
adjust_pos(-10);
break;
case VK_UP:
adjust_pos(+60);
break;
case VK_DOWN:
adjust_pos(-60);
break;
case VK_PRIOR:
adjust_pos(+600);
break;
case VK_NEXT:
adjust_pos(-600);
break;
}
return 0;
case WM_SIZING:
constrain_size((LPRECT)lParam);
return 1;
default:
return DefWindowProc(hwnd, uMsg, wParam, lParam);
}
return 0;
}
