int main() {
bignum l1 = from_str("99"),
l2 = from_str("10");
printf("%s\n", to_str(from_int(666)));
printf("%d\n", to_int(from_str("666")));
bignum sum = plus(l1, l2);
printf("%s\n", to_str(sum));
bignum diff = minus(l1, l2);
printf("%s\n", to_str(diff));
printf("%i\n", lesser(l1, l2));
bignum muli = mul_int(l1, 2);
printf("%s\n", to_str(muli));
printf("%d\n", mod_int(l1, 10));
bignum divi = div_int(l1, 10);
printf("%s\n", to_str(divi));
bignum mul = multiply(l1, l2);
printf("%s\n", to_str(mul));
bignum div = divide(l1, l2);
printf("%s\n", to_str(div));
bignum mod = modulo(l1, l2);
printf("%s\n", to_str(mod));
return 0;
}
bignum multiply (bignum x, bignum y) {
bignum z, zero;
int len = x.len + y.len;
zero.len = 1;
zero.num = calloc(len, sizeof(int));
zero.num[0] = 0;
z.len = 1;
z.num = calloc(len, sizeof(int));
z.num[0] = 0;
while (greater(y, zero)) {
if (mod_int(y, 2) == 1)
z = plus(z, x);
x = mul_int(x, 2);
y = div_int(y, 2);
}
free(zero.num);
if (z.len == len)
return z;
else {
bignum m;
m.len = z.len;
m.num = calloc(m.len, sizeof(int));
memcpy(m.num, z.num, m.len * sizeof(int));
free(z.num);
return m;
}
}
int main(int argc, char *argv[])
{
printf("Testing Int : %ld\n", mul_int(1, 2));
printf("Testing Double : %ld\n", mul_double(1, 2));
return 0;
}
void task_application_intersection(uint16_t input) {
counter++;
P1OUT ^= 0x02; // toggle P1.1 for debug
P4OUT ^= 0x20; // toggle P4.5 for debug
P1OUT |= 0x04;P1OUT &= ~0x04; // pulse P1.2 for debug
if (counter==0) {
leds_circular_shift(); // circular shift LEDs for debug
}
//get RAM space for packet
testIntersection = openqueue_getFreePacketBuffer();
//l1
testIntersection->l1_channel = DEFAULTCHANNEL;
P1OUT ^= 0x02; // toggle P1.1 for debug
magnetometer_get_measurement(mag_reading);
mag_X = 0;
mag_Y = 0;
mag_Z = 0;
mag_X |= mag_reading[0]<<8;
mag_X |= mag_reading[1];
mag_Y |= mag_reading[2]<<8;
mag_Y |= mag_reading[3];
mag_Z |= mag_reading[4]<<8;
mag_Z |= mag_reading[5];
//note: in the following I use functions for simple multiplications
//and divisions for easy replacements in case the number of
//instruction cycles is too large to be acceptable in this application
mag_X = div_int(mag_X, 970);
mag_Y = div_int(mag_Y, 970);
mag_Z = div_int(mag_Z, 970);//970: look in HMC5843 datasheet
XX = mul_int(mag_X,mag_X);
YY = mul_int(mag_Y,mag_Y);
ZZ = mul_int(mag_Z,mag_Z);
mag_norm = XX + YY + ZZ; //no sqrt for faster execution
filt_norm = LPF(mag_norm);
//here we enter the state machine
switch (state) {
case NOCAR:
if (filt_norm>=threshold){
FSMcounter = 1;
state = PERHAPS;
}
break; //else you break
case PERHAPS:
if (filt_norm >= threshold && FSMcounter < maxCount){
FSMcounter++;
}
else if (filt_norm < threshold && FSMcounter >minCount)
FSMcounter--;
else if (filt_norm < threshold && FSMcounter <=minCount){
state = NOCAR;
FSMcounter=0;
if(seenCar){
seenCar=0;
packetfunctions_reserveHeaderSize(testIntersection,1);
testIntersection->payload[0] = seenCar;
packetfunctions_reserveFooterSize(testIntersection,2);//space for radio to fill in CRC
//send packet(noCar)
radio_send(testIntersection);
}
}
else if (filt_norm>=threshold && FSMcounter >=maxCount){
state=CAR;
if(!seenCar){
seenCar=1;
packetfunctions_reserveHeaderSize(testIntersection,1);
testIntersection->payload[0] = seenCar;
packetfunctions_reserveFooterSize(testIntersection,2);//space for radio to fill in CRC
//send packet(Car)
radio_send(testIntersection);
}
}
break;
case CAR:
if (filt_norm < threshold){
FSMcounter--;
state = PERHAPS;
}
break;
default:
break;
}
}
bignum divide (bignum x, bignum y) {
bignum z;
z.len = x.len - y.len + 1;
int len = x.len;
z.num = calloc(len, sizeof(int));
if (z.len <= 0) {
z.len = 1;
z.num[0] = 0;
return z;
}
bignum tmp;
tmp.len = y.len;
tmp.num = calloc(tmp.len, sizeof(int));
int i;
for (i = 0; i < tmp.len; i++)
tmp.num[tmp.len - i - 1] = x.num[x.len - i - 1];
i = x.len - y.len;
while (i >= 0) {
int a = 0;
int b = BASE - 1;
while (a < b) {
int c = (a + b) / 2 + 1;
if (greater(mul_int(y, c), tmp))
b = c - 1;
else
a = c;
}
z.num[i] = a;
tmp = minus(tmp, mul_int(y, a));
int j;
for (j = tmp.len - 2; j >= 0; j--)
tmp.num[j + 1] = tmp.num[j];
i--;
if (i >= 0)
tmp.num[0] = x.num[i];
}
free(tmp.num);
while (z.len > 0 && z.num[z.len - 1] == 0)
z.len--;
if (z.len == len)
return z;
else {
bignum d;
d.len = z.len;
d.num = calloc(d.len, sizeof(int));
memcpy(d.num, z.num, d.len * sizeof(int));
free(z.num);
return d;
}
}
