void gps_out_once(void){
display_line1[0] = 'L';
display_line1[1] = 'A';
display_line1[2] = 'T';
display_line1[3] = ' ';
display_line2[0] = 'L';
display_line2[1] = 'O';
display_line2[2] = 'N';
display_line2[3] = ' ';
lcd_clear();
newFM(50);
lcd_out(display_line1,LCD_LINE_1); // 16 characters max between quotes - line 1
newFM(50);
lcd_out(display_line2,LCD_LINE_2); // 16 characters max between quotes - line 2
}
static
void handle_counts ( SOURCE* s,
CacheProfFile* cpf,
char* fi, char* fn, char* newCountsStr )
{
WordFM* countsMap;
Bool freeNewCounts;
UWord lnno;
Counts* newCounts;
FileFn* topKey;
if (0) printf("%s %s %s\n", fi, fn, newCountsStr );
// parse the numbers
newCounts = splitUpCountsLine( s, &lnno, newCountsStr );
// Did we get the right number?
if (newCounts->n_counts != cpf->n_events)
goto oom;
// allocate the key
topKey = malloc(sizeof(FileFn));
if (topKey) {
topKey->fi_name = strdup(fi);
topKey->fn_name = strdup(fn);
}
if (! (topKey && topKey->fi_name && topKey->fn_name))
mallocFail(s, "handle_counts:");
// search for it
if (lookupFM( cpf->outerMap, (Word*)(&countsMap), (Word)topKey )) {
// found it. Merge in new counts
freeNewCounts = addCountsToMap( s, countsMap, lnno, newCounts );
ddel_FileFn(topKey);
} else {
// not found in the top map. Create new entry
countsMap = newFM( malloc, free, cmp_unboxed_UWord );
if (!countsMap)
goto oom;
addToFM( cpf->outerMap, (Word)topKey, (Word)countsMap );
freeNewCounts = addCountsToMap( s, countsMap, lnno, newCounts );
}
// also add to running summary total
addCounts( s, cpf->summary, newCounts );
// if safe to do so, free up the count vector
if (freeNewCounts)
ddel_Counts(newCounts);
return;
oom:
parseError(s, "# counts doesn't match # events");
}
void gps_wakeup(void){
int kick_out = 1;
//time_pass_by = 0;
//while (time_pass_by <= 10);
newFM(10);
PJOUT |= GPS_PWRCNTL; // GPS_PWRCNTL = GPS_ON;
//time_pass_by = 0;
newFM(20);
//while ((time_pass_by <= 20) & kick_out){
//this is where carlson set trace to show me working gps
while (kick_out){
if (PJIN & GPS_PWRCHK){
kick_out = 0;
}
}
//commented this out to get this working!
PJOUT &= ~GPS_PWRCNTL; // GPS_PWRCNTL = GPS_Off;
//gps_out_once();
}
void GPS_Init()
{
// GPS Initialization
//time_pass_by = 0;
PJOUT &= ~GPS_RESET; // GPS_RESET = GPS in Reset;
//time_pass_by = 0;
//while (time_pass_by <= 200);
newFM(200);
//time_pass_by = 0;
PJOUT |= GPS_RESET; // GPS_RESET = GPS NOT Reset;
newFM(200);
//while (time_pass_by <= 200);
//PJOUT &= ~GPS_PWRCNTL;
newFM(20);
PJOUT |= GPS_PWRCNTL;
newFM(40);
if (PJIN & GPS_PWRCHK)
{
PJOUT &= ~GPS_PWRCNTL;
}
//PJOUT |= GPS_PWRCNTL;
//newFM(210);
//PJOUT &= ~GPS_PWRCNTL;
//I commented this out
return;
gps_wakeup();
while(!(PJIN & GPS_PWRCHK)){
if (!(PJIN & GPS_PWRCHK)){
newFM(210);
//while (time_pass_by <= 210);
gps_wakeup();
}
}
lcd_clear();
lcd_out("GPS_UP", LCD_LINE_1);
}
/* Parse a complete file from the stream in 's'. If a parse error
happens, do not return; instead exit via parseError(). If an
out-of-memory condition happens, do not return; instead exit via
mallocError().
*/
static CacheProfFile* parse_CacheProfFile ( SOURCE* s )
{
#define M_TMP_DESCLINES 10
Int i;
Bool b;
char* tmp_desclines[M_TMP_DESCLINES];
char* p;
int n_tmp_desclines = 0;
CacheProfFile* cpf;
Counts* summaryRead;
char* curr_fn_init = "???";
char* curr_fl_init = "???";
char* curr_fn = curr_fn_init;
char* curr_fl = curr_fl_init;
cpf = new_CacheProfFile( NULL, NULL, NULL, 0, NULL, NULL, NULL );
if (cpf == NULL)
mallocFail(s, "parse_CacheProfFile(1)");
// Parse "desc:" lines
while (1) {
b = readline(s);
if (!b)
break;
if (!streqn(line, "desc: ", 6))
break;
if (n_tmp_desclines >= M_TMP_DESCLINES)
barf(s, "M_TMP_DESCLINES too low; increase and recompile");
tmp_desclines[n_tmp_desclines++] = strdup(line);
}
if (n_tmp_desclines == 0)
parseError(s, "parse_CacheProfFile: no DESC lines present");
cpf->desc_lines = malloc( (1+n_tmp_desclines) * sizeof(char*) );
if (cpf->desc_lines == NULL)
mallocFail(s, "parse_CacheProfFile(2)");
cpf->desc_lines[n_tmp_desclines] = NULL;
for (i = 0; i < n_tmp_desclines; i++)
cpf->desc_lines[i] = tmp_desclines[i];
// Parse "cmd:" line
if (!streqn(line, "cmd: ", 5))
parseError(s, "parse_CacheProfFile: no CMD line present");
cpf->cmd_line = strdup(line);
if (cpf->cmd_line == NULL)
mallocFail(s, "parse_CacheProfFile(3)");
// Parse "events:" line and figure out how many events there are
b = readline(s);
if (!b)
parseError(s, "parse_CacheProfFile: eof before EVENTS line");
if (!streqn(line, "events: ", 8))
parseError(s, "parse_CacheProfFile: no EVENTS line present");
// figure out how many events there are by counting the number
// of space-alphanum transitions in the events_line
cpf->events_line = strdup(line);
if (cpf->events_line == NULL)
mallocFail(s, "parse_CacheProfFile(3)");
cpf->n_events = 0;
assert(cpf->events_line[6] == ':');
for (p = &cpf->events_line[6]; *p; p++) {
if (p[0] == ' ' && isalpha(p[1]))
cpf->n_events++;
}
// create the running cross-check summary
cpf->summary = new_Counts_Zeroed( cpf->n_events );
if (cpf->summary == NULL)
mallocFail(s, "parse_CacheProfFile(4)");
// create the outer map (file+fn name --> inner map)
cpf->outerMap = newFM ( malloc, free, cmp_FileFn );
if (cpf->outerMap == NULL)
mallocFail(s, "parse_CacheProfFile(5)");
// process count lines
while (1) {
b = readline(s);
if (!b)
parseError(s, "parse_CacheProfFile: eof before SUMMARY line");
if (isdigit(line[0])) {
handle_counts(s, cpf, curr_fl, curr_fn, line);
continue;
}
else if (streqn(line, "fn=", 3)) {
if (curr_fn != curr_fn_init)
free(curr_fn);
curr_fn = strdup(line+3);
continue;
}
else if (streqn(line, "fl=", 3)) {
if (curr_fl != curr_fl_init)
free(curr_fl);
curr_fl = strdup(line+3);
continue;
}
else if (streqn(line, "summary: ", 9)) {
break;
}
else
parseError(s, "parse_CacheProfFile: unexpected line in main data");
}
// finally, the "summary:" line
if (!streqn(line, "summary: ", 9))
parseError(s, "parse_CacheProfFile: missing SUMMARY line");
cpf->summary_line = strdup(line);
if (cpf->summary_line == NULL)
mallocFail(s, "parse_CacheProfFile(6)");
// there should be nothing more
b = readline(s);
if (b)
parseError(s, "parse_CacheProfFile: "
"extraneous content after SUMMARY line");
// check the summary counts are as expected
summaryRead = splitUpCountsLine( s, NULL, &cpf->summary_line[8] );
if (summaryRead == NULL)
mallocFail(s, "parse_CacheProfFile(7)");
if (summaryRead->n_counts != cpf->n_events)
parseError(s, "parse_CacheProfFile: wrong # counts in SUMMARY line");
for (i = 0; i < summaryRead->n_counts; i++) {
if (summaryRead->counts[i] != cpf->summary->counts[i]) {
parseError(s, "parse_CacheProfFile: "
"computed vs stated SUMMARY counts mismatch");
}
}
free(summaryRead->counts);
sdel_Counts(summaryRead);
// since the summary counts are OK, free up the summary_line text
// which contains the same info.
if (cpf->summary_line) {
free(cpf->summary_line);
cpf->summary_line = NULL;
}
if (curr_fn != curr_fn_init)
free(curr_fn);
if (curr_fl != curr_fl_init)
free(curr_fl);
// All looks OK
return cpf;
#undef N_TMP_DESCLINES
}
void move(int count)
//===========================================================================
// Function name: move
//
// Description: This function handles car movement shapes
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: None
// Calls: void Init_Timer_B2(void)
//
// Author: Joseph Jarriel
// Date: Sep 2014
// Compiler: Built with IAR Embedded Workbench Version (6.10.5)
// ==========================================================================
{
int i;
if (buttOne == START)
{
newFM(ONE_SEC);
P3OUT &= ~L_FORWARD;
P3OUT &= ~R_FORWARD;
P3OUT &= ~L_REVERSE;
P3OUT &= ~R_REVERSE;
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
newFM(ONE_SEC);
P3OUT &= ~L_FORWARD;
P3OUT &= ~R_FORWARD;
P3OUT &= ~L_REVERSE;
P3OUT &= ~R_REVERSE;
newFM(ONE_SEC);
P3OUT |= L_REVERSE;
P3OUT |= R_REVERSE;
newFM(TWO_SEC);
P3OUT &= ~L_REVERSE;
P3OUT &= ~R_REVERSE;
P3OUT &= ~L_FORWARD;
P3OUT &= ~R_FORWARD;
newFM(ONE_SEC);
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
newFM(ONE_SEC);
P3OUT &= ~L_REVERSE;
P3OUT &= ~R_REVERSE;
P3OUT &= ~L_FORWARD;
P3OUT &= ~R_FORWARD;
newFM(ONE_SEC);
P3OUT |= L_FORWARD;
P3OUT |= R_REVERSE;
newFM(ONE_SEC);
P3OUT &= ~L_REVERSE;
P3OUT &= ~R_REVERSE;
P3OUT &= ~L_FORWARD;
P3OUT &= ~R_FORWARD;
newFM(ONE_SEC);
P3OUT |= R_FORWARD;
P3OUT |= L_REVERSE;
newFM(ONE_SEC);
P3OUT &= ~L_REVERSE;
P3OUT &= ~R_REVERSE;
P3OUT &= ~L_FORWARD;
P3OUT &= ~R_FORWARD;
/*
//straight line
//five_msec_sleep(100);
newFM(100);
for (i=0; i<count; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(65);
newFM(65);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(35);
newFM(35);
//P3OUT &= ~R_FORWARD
}
*/
}
else if (buttOne == 2)
{
//Two Left circles
//five_msec_sleep(100);
newFM(100);
for (i=0; i<62; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(2);
newFM(2);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(12);
newFM(12);
//P3OUT &= ~R_FORWARD
}
}
else if (buttOne == 3)
{
//Right circle
//five_msec_sleep(100);
newFM(100);
//Right circle
for (i=0; i<38; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(2);
newFM(2);
P3OUT &= ~R_FORWARD;
//five_msec_sleep(12);
newFM(12);
//P3OUT &= ~R_FORWARD
}
}
else if (buttOne == 4)
{
//Figure 8
//Left Circle
//five_msec_sleep(100);
newFM(100);
//Left circles
//five_msec_sleep(100);
for (i=0; i<37; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(2);
newFM(2);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(12);
newFM(12);
//P3OUT &= ~R_FORWARD
}
//for (i=0; i<count; i++)
//{
// P3OUT |= L_FORWARD;
// P3OUT |= R_FORWARD;
// five_msec_sleep(10);
// P3OUT &= ~L_FORWARD;
// five_msec_sleep(90);
//P3OUT &= ~R_FORWARD
//}
//Right circle
for (i=0; i<38; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(2);
newFM(2);
P3OUT &= ~R_FORWARD;
//five_msec_sleep(14);
newFM(14);
//P3OUT &= ~R_FORWARD
}
for (i=0; i<40; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(2);
newFM(2);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(12);
newFM(12);
//P3OUT &= ~R_FORWARD
}
//for (i=0; i<count; i++)
//{
// P3OUT |= L_FORWARD;
// P3OUT |= R_FORWARD;
// five_msec_sleep(10);
// P3OUT &= ~L_FORWARD;
// five_msec_sleep(90);
//P3OUT &= ~R_FORWARD
//}
//Right circle
for (i=0; i<38; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(2);
newFM(2);
P3OUT &= ~R_FORWARD;
//five_msec_sleep(14);
newFM(14);
//P3OUT &= ~R_FORWARD
}
}
else if (buttOne == -1)
{
//Triangle
//five_msec_sleep(100);
newFM(100);
for (i=2; i<count; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(40);
newFM(40);
//P3OUT &= ~L_FORWARD;
//five_msec_sleep(5);
}
P3OUT &= ~R_FORWARD;
//five_msec_sleep(110);
newFM(110);
for (i=2; i<count; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(30);
newFM(30);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(10);
newFM(10);
}
P3OUT |= L_FORWARD;
P3OUT &= ~R_FORWARD;
//five_msec_sleep(110);
newFM(110);
for (i=2; i<count; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(40);
//P3OUT &= ~L_FORWARD;
//five_msec_sleep(5);
//five_msec_sleep(30);
newFM(30);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(10);
newFM(10);
}
P3OUT |= L_FORWARD;
P3OUT &= ~R_FORWARD;
//five_msec_sleep(110);
newFM(110);
//Triangle
//five_msec_sleep(100);
for (i=2; i<count; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(40);
//P3OUT &= ~L_FORWARD;
//five_msec_sleep(5);
//five_msec_sleep(30);
newFM(30);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(10);
newFM(10);
}
P3OUT |= L_FORWARD;
P3OUT &= ~R_FORWARD;
//five_msec_sleep(110);
newFM(110);
for (i=2; i<count; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(40);
//P3OUT &= ~L_FORWARD;
//five_msec_sleep(5);
//five_msec_sleep(30);
newFM(30);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(10);
newFM(10);
}
P3OUT |= L_FORWARD;
P3OUT &= ~R_FORWARD;
//five_msec_sleep(110);
newFM(110);
for (i=2; i<count; i++)
{
P3OUT |= L_FORWARD;
P3OUT |= R_FORWARD;
//five_msec_sleep(40);
//P3OUT &= ~L_FORWARD;
//five_msec_sleep(5);
//five_msec_sleep(30);
newFM(30);
P3OUT &= ~L_FORWARD;
//five_msec_sleep(10);
newFM(10);
}
}
P3OUT &= ~R_FORWARD;
P3OUT &= ~L_FORWARD;
}
