void processcamera()
{ //keypad= getchar1();
int ysize=0;
int y=0;
int xmean=0;
int xmin=0;
int xmax=0;
int xcnt=0;
int xconf=0;
int i = 0;
//Find packet start
while(getchar1()!=0xFE && i < 25) //Wait for packet start
{
//count how many times we loop, time out and reinit if need be
i++;
}
if(i >= 25)
{
g_speed = 3;
initcamera();
return;
}
ysize = getchar1();
//For each line
for(y=0; y<ysize; y++)
{
xmean = getchar1();
xmin = getchar1();
xmax = getchar1();
xcnt = getchar1();
xconf = getchar1();
if(xconf > THRESHOLD)
xmeans[y] = xmean; //change from mean to center if needed
else
xmeans[y]=255;
for(i=0; i<XRES; i++)
{
char printchar = ' ';
if(i>=xmin&&i<=xmax)
printchar = 'X';
if(i==xmean)
printchar = '|';
if(xconf < THRESHOLD)
printchar = ' ';
printf("%c",printchar);
}
printf("\r");
}
calcstats(ysize);
}
int ca3Dbase::run(int argc, char **argv)
{
ca3Dglobal::CurrentCA = this;
initglut(argc, argv);
initspace(size, wrap);
initgraphics();
initcamera();
glutMainLoop(); //call the main loop
return 0;
}
void main(void)
{
unsigned int UBR = XTAL/(16*BAUD) -1;
// USART0 initialization
UBRR0H=(unsigned char)(UBR >>8);
UBRR0L=(unsigned char)(UBR &0xFF);
UCSR0A=0x00;
UCSR0B=0xD8;
UCSR0C=0x06; // 0000 0110 character size reserved, asynchronous operation
// USART1 initialization
UBRR1H=(unsigned char)(UBR >>8);
UBRR1L=(unsigned char)(UBR & 0xFF);
UCSR1A = 0x00; //normal data rate for asynchronous operation
UCSR1B=0xD8; // 1101 1000 enable transmitter, reciever, interupts on transmit and recieve complete
UCSR1C=0x06; // 0000 0110 character size reserved, asynchronous operation
// SPEED PWM - HBRIDGE CONTROL
//B 5,6 output compare
//B 1 SPI clk
DDRB = 0x60; // 0110 0000
// TIMER INTERRUPT
//-11- --00
//outputcompare/timer overflow
TIMSK = 0x01; // 0000 0001
// TIMER 0
//TCCR
//interrupt to update pwm
//---- -xxx
//0: stopped, 1: no scaling, 2: 8, 3: 32, 4: 64, 5:128, 6: 256, 7: 1024
//-000 0---
//no output compare, overflow on max
TCCR0 = 0x07; // 0000 0111
// TIMER 1
// SPEED PWM - HBRIDGE CONTROL
//TCCRA: AABB CC--
//Overflow at top
//Clear OCR1 on compare match
//TCCRA: ---- --xx TCCRB: ---xx---
//Fast PWM
//Top = ICR1
//Update OCR1 at top
//TCCRB: ---- -xxx
//0:stopped 1:no prescaling 2: 8 3:64 4:256 5:1024 6,7: external clock
TCCR1A = 0xF2; // 111100 10
TCCR1B = 0x19; // 00011 001
ICR1H = TOP >> 8;
ICR1L = TOP & 0xFF;
// TIMER 3
// ENCODER TICKS COUNTER
//---- -xxx
//6: clock on Tn pin rising 7: Clock on Tn pin falling
TCCR3A = 0x00;
TCCR3B = 0x07;
//EIMSK = 0b11000000;
//EICRA = 0b00001000;
//TWI_init(TWI_ADDR);
initcamera();
//keypad_init();
get_calibrated_settings(speed_range, speed_slope, speed_height, speed_max_mem);
#asm("sei");
while(1)
{
getstuff();
getSpeedIndex();
updatespeed();
if(testvar ==30)
{
//printf("\rstate: %d maxspeed: %d ticks: %d topspeed: %d\r", state,maxspeed, ticks, topspeed);
printf("keypad: %d",keypad);
printf("index_in: %d Data_in: %d\r", index_in,Data_in);
testvar =0;
}
};
}
//-----------------------------------------------------------------------------------------------------------------------//
// initialization
//-----------------------------------------------------------------------------------------------------------------------//
int init (CMDARGS args, int rank)
{
int rc=0;
// int coords[3] = {0, 0, 0};
// int procdims[3] = {1, 1, 1};
// initialize view
angle = args.angle;
axis[0] = args.axis.x;
axis[1] = args.axis.y;
axis[2] = args.axis.z;
// inititalize window
viewport.tilewid = args.tilewid;
viewport.tilehgt = args.tilehgt;
fprintf(stderr, "rank:%d, viewport.tilewid=%d, viewport.tilehgt=%d\n", rank,viewport.tilewid, viewport.tilehgt);
viewport.tilex = WINDOWWIDTH/viewport.tilewid;
viewport.tiley = WINDOWHEIGHT/viewport.tilehgt;
fprintf(stderr, "rank:%d ,viewport.tilex=%d, viewport.tiley=%d\n", rank,viewport.tilex, viewport.tiley);
viewport.w = viewport.tilex * viewport.tilewid;
viewport.h = viewport.tiley * viewport.tilehgt;
fprintf(stderr, "rank:%d, viewport.w=%f, viewport.h=%f\n", rank,viewport.w, viewport.h);
// init camera
initcamera();
// set window, i.e. portion of window we will render to. Need to fix this whole view mapping mess
setviewport(&viewport, 0, 0, viewport.w, viewport.h);
// initialize attributes of volume both global and local
initvolattrs(args, rank);
// each rank reads the part of the volume it is responsible for processing
if ((rc=readvoldata(args.filename)) < 0) {
fprintf(stderr, "reading volume data input file failed %d\n",rc);
freeall();
exit(0);
};
#ifdef LOCAL
for (int i=0; i<8; i++) {
vertices[i][0] *= scalefactor.x;
vertices[i][1] *= scalefactor.y;
vertices[i][2] *= scalefactor.z;
}
#endif
// initialize colormap function
initcolormap(args.colormap);
// initialize volume color tables
if (args.colormap != -1) initvolluts();
// init init color buffers
initcolbufs(rank);
// initialize xfer function
inittransferfunc(args.xfer);
// initialize xfer function // set to LINEAR or NEAREST, but this should be a client menu option
initsamplefunc(LINEAR);
// initialize timers
RESET_TIME();
return 0;
}
