static void onNewRawGyroData(msgPump_MsgID_t id, const void *buffer)
{
if ((MSG_ID_GYRO_RAW_DATA == id) &&
(NULL != buffer))
{
/* do post processing */
const l3gd20_gyroDataRaw_t *data = (const l3gd20_gyroDataRaw_t*) buffer;
imuData_t processed;
processed.timestampUS = getSystemTimeUS();
processed.v[0] = ((float)(*data)[0]) * L3GD20_SCALE;
processed.v[1] = ((float)(*data)[1]) * L3GD20_SCALE;
processed.v[2] = ((float)(*data)[2]) * L3GD20_SCALE;
msgPump_postMessage(MSG_ID_GYRO_SCALED_DATA, &processed);
}
}
static void sineSurf_renderingFunction(cubeFrameBuf *buf)
{
static systemTime_t lastUpdateTime = 0U;
systemTime_t curtime = getSystemTimeUS();
if (0 == lastUpdateTime)
{
lastUpdateTime = curtime;
}
if (lastUpdateTime + SINE_SURF_UPDATE_INTERVAL_US < curtime)
{
lastUpdateTime = getCurrentTime();
g_phase += 2.f * M_PI / (SINE_SURF_ROUND_TIME_US / SINE_SURF_UPDATE_INTERVAL_US);
sineSurf_draw(buf);
}
}
static void explosion_renderingFunction(cubeFrameBuf *buf)
{
static systemTime_t lastTickTime = 0U;
static bool isExploded = false;
if (0U == lastTickTime)
{
lastTickTime = getSystemTimeUS();
}
systemTime_t curTime = getSystemTimeUS();
if (lastTickTime + EXPLOSION_UPDATE_INTERVAL_US < curTime)
{
lastTickTime = getSystemTimeUS();
if (false == isExploded)
{
memset(buf, 0, sizeof(*buf));
(*buf)[z][y][x] = 1;
++z;
if (z >= trigger_height)
{
(*buf)[z][y][x] = EXPLOSION_LAST_INTERVAL;
isExploded = true;
x = 0U;
}
} else
{
uint8_t i, j, k;
bool needNoReset = false;
for (i = 0U; i < CUBE_CONFIG_NUMBER_OF_LAYERS; ++i)
{
for (j = 0U; j < CUBE_CONFIG_NUMBER_OF_COLS; ++j)
{
for (k = 0U; k < CUBE_CONFIG_NUMBER_OF_ROWS; ++k)
{
/* spawn if there is a neighbor alive */
if ((0 == (*buf)[i][j][k]) &&
(((i > 0) && (EXPLOSION_LAST_INTERVAL == (*buf)[i - 1][j][k])) ||
((i < 7) && (EXPLOSION_LAST_INTERVAL == (*buf)[i + 1][j][k])) ||
((j > 0) && (EXPLOSION_LAST_INTERVAL == (*buf)[i][j - 1][k])) ||
((j < 7) && (EXPLOSION_LAST_INTERVAL == (*buf)[i][j + 1][k])) ||
((k > 0) && (EXPLOSION_LAST_INTERVAL == (*buf)[i][j][k - 1])) ||
((k < 7) && (EXPLOSION_LAST_INTERVAL == (*buf)[i][j][k + 1]))))
{
(*buf)[i][j][k] = EXPLOSION_LAST_INTERVAL + 1;
} else
{
/* and die */
if (0 < (*buf)[i][j][k])
{
--(*buf)[i][j][k];
if (0 == (*buf)[i][j][k])
{
(*buf)[i][j][k] = -1;
}
}
}
if (0 < (*buf)[i][j][k])
{
needNoReset |= true;
}
}
}
}
if (false == needNoReset) /* we need a reset */
{
isExploded = false;
x = getRandomNumber() % CUBE_CONFIG_NUMBER_OF_COLS;
y = getRandomNumber() % CUBE_CONFIG_NUMBER_OF_ROWS;
trigger_height = getRandomNumber() % CUBE_CONFIG_NUMBER_OF_LAYERS;
x = CLIP_VAL(x, EXPLOSION_LAST_INTERVAL, CUBE_CONFIG_NUMBER_OF_COLS - EXPLOSION_LAST_INTERVAL);
y = CLIP_VAL(y, EXPLOSION_LAST_INTERVAL, CUBE_CONFIG_NUMBER_OF_ROWS - EXPLOSION_LAST_INTERVAL);
trigger_height = CLIP_VAL(trigger_height, EXPLOSION_LAST_INTERVAL, CUBE_CONFIG_NUMBER_OF_LAYERS - EXPLOSION_LAST_INTERVAL);
z = 0;
}
}
}
}
static void rain_renderingFunction(cubeFrameBuf *buf)
{
uint32_t randomNr = getRandomNumber();
uint8_t x, y;
uint8_t choice = randomNr % MAX_NUM_DROPLETS;
static systemTime_t lastUpdateTime = 0U;
static systemTime_t lastSpawnTime = 0U;
systemTime_t curTime = getSystemTimeUS();
memset(buf, 0, sizeof(*buf));
if (0 == lastUpdateTime)
{
lastUpdateTime = getSystemTimeUS();
lastSpawnTime = lastUpdateTime;
}
if (lastUpdateTime + DROPLET_FALL_INTERVALL_US < curTime)
{
lastUpdateTime = curTime;
/* let the rain fall! */
for (x = 0U; x < MAX_NUM_DROPLETS; ++x)
{
if (0xff != g_dropletPositions[x])
{
g_dropletPositions[x] -= 1;
}
}
}
if (lastSpawnTime + DROPLET_SPAWN_INTERVAL_US < curTime)
{
lastSpawnTime = curTime;
if (0xff == g_dropletPositions[choice]) /* this one can be spawned */
{
g_dropletPositions[choice] = CUBE_CONFIG_NUMBER_OF_LAYERS - 1;
}
}
for (x = 0U; x < CUBE_CONFIG_NUMBER_OF_COLS; ++x)
{
for (y = 0U; y < CUBE_CONFIG_NUMBER_OF_ROWS; ++y)
{
const uint8_t dropletNr = x * CUBE_CONFIG_NUMBER_OF_ROWS + y;
if (0xff != g_dropletPositions[dropletNr])
{
uint8_t j;
for (j = 0U; j < DROPLET_HEIGHT; ++j)
{
if (g_dropletPositions[dropletNr] + j < CUBE_CONFIG_NUMBER_OF_LAYERS)
{
(*buf)[g_dropletPositions[dropletNr] + j][x][y] = 1;
}
}
}
}
}
}
