int main(void)
{
_delay_ms(100);
LCD_Initalize();
LCD_WriteText("Anal Intruder 1");
LCD_GoTo(0, 1);
LCD_WriteText("8=======D (.)(.)");
pad_init();
motor_init();
brzeczyk_init();
sensors_init();
sei();
play(power, 11);
while(1)
{
while(!pad_get_state()) // sprawdzenie po³¹czenia z padem
{
m1_stop();
m2_stop();
LCD_Clear();
LCD_WriteText("Pad conn error!");
LCD_GoTo(0, 1);
LCD_WriteText("Reconnecting...");
_delay_ms(500);
pad_init();
tryb = 0;
lcd_old = -1;
motor_lcd = false;
}
lcd_tryb();
switch(tryb)
{
case 0:
if(!(tab[4] & (1 << 4))) // jeœli wciœniêty trojkat
tryb = 1;
else if(!(tab[4] & (1 << 5))) // jeœli wciœniête jest kolko
tryb = 2;
break;
case 1:
pad_loop();
break;
case 2:
sensors_loop();
break;
}
if(!(tab[3] & (1 << 3)))
{ // jeœli wciœniêty start
tryb = 0;
m1_stop();
m2_stop();
srednia = 0;
}
}
}
/* Begin MD5 HMAC functions
*/
static void
hmac_md5_init(hmac_md5_ctx *ctx, const char *key, const int key_len)
{
unsigned char final_key[MAX_DIGEST_BLOCK_LEN] = {0};
unsigned char init_key[MAX_DIGEST_BLOCK_LEN] = {0};
int final_len = key_len;
if(key_len > MAX_DIGEST_BLOCK_LEN)
final_len = MAX_DIGEST_BLOCK_LEN;
memcpy(init_key, key, final_len);
if(MD5_BLOCK_LEN < key_len)
{
/* Calculate the digest of the key
*/
md5(final_key, init_key, final_len);
}
else
{
memcpy(final_key, init_key, key_len);
}
pad_init(ctx->block_inner_pad, ctx->block_outer_pad, final_key, final_len);
MD5Init(&ctx->ctx_inside);
MD5Update(&ctx->ctx_inside, ctx->block_inner_pad, MD5_BLOCK_LEN);
MD5Init(&ctx->ctx_outside);
MD5Update(&ctx->ctx_outside, ctx->block_outer_pad, MD5_BLOCK_LEN);
return;
}
int main(int argc, char **argv)
{
char *hide = "\x1b[2J\x1b[H\x1b[?25l";
char *show = "\x1b[?25h";
char **args = argv + 1;
if (fb_init(FBDEV)) {
fprintf(stderr, "fbpad: failed to initialize the framebuffer\n");
return 1;
}
if (sizeof(fbval_t) != FBM_BPP(fb_mode())) {
fprintf(stderr, "fbpad: fbval_t does not match framebuffer depth\n");
return 1;
}
if (pad_init()) {
fprintf(stderr, "fbpad: cannot find fonts\n");
return 1;
}
write(1, hide, strlen(hide));
signalsetup();
fcntl(0, F_SETFL, fcntl(0, F_GETFL) | O_NONBLOCK);
while (args[0] && args[0][0] == '-')
args++;
mainloop(args[0] ? args : NULL);
write(1, show, strlen(show));
pad_free();
scr_done();
fb_free();
return 0;
}
void pad_autoread() {
print(PSTR("pad autoread\n\r"));
pad_init();
uint8_t ld =0;
while(!uart_read_ready()) {
uint8_t d = pad_read();
if (ld!=d) {
print_hb(0,d);
ld=d;
}
}
}
void MyPS2Application::Init()
{
// Initialise control pad 0
if(!pad_init(PAD_0, PAD_INIT_LOCK | PAD_INIT_ANALOGUE | PAD_INIT_PRESSURE))
{
printf("Failed to initialise control pad\n");
pad_cleanup(PAD_0);
exit(0);
}
// Allocate memory for the graphics data
SPS2Manager.Initialise(1024); // 1024 * 4K Pages = 4MB Total
VIFStaticDMA.Initialise(512); // 512 * 4K Pages = 2MB Static DMA
VIFDynamicDMA.Initialise(256); // 256 * 4K Pages * 2 Buffers =
// 2MB Dynamic DMA
// Register our signal function for every possible signal (e.g. ctrl + c)
for(int sig=0; sig<128; sig++)
signal(sig, sig_handle);
// Define the clear screen colour. We want to clear to blueish.
SPS2Manager.InitScreenClear(0, 0x05, 0x30);
// Register our signal function for every possible signal (i.e. ctrl + c)
for(int sig=0; sig<128; sig++)
signal(sig, sig_handle);
// Set up the DMA packet to clear the screen. We want to clear to blue.
SPS2Manager.InitScreenClear(0, 0x25, 0x10);
// Set up the background sprite's size.
InitializeBackgroundSprite();
// Set game state.
game_state = INTRO;
// Initialize the game state booleans.
intro_loaded = false;
menu_loaded = false;
game_loaded = false;
game_over_loaded = false;
ball_launched = false;
game_music = false;
// Set up the number of rows and columns of blocks to be made.
num_block_row = 5;
num_block_column = 8;
}
int main(void) {
setSysTick();
config_PWM();
gpio_init_motor();
pen_up();
pad_init();
draw();
/* Create a task to button check. */
//xTaskCreate(H1,(signed portCHAR *) "AutoWrite", 512, NULL, tskIDLE_PRIORITY + 4, NULL );
/* Start running the tasks. */
//vTaskStartScheduler();
while(1);
}
/* Begin SHA512 HMAC functions
*/
static void
hmac_sha512_init(hmac_sha512_ctx *ctx, const char *key, const int key_len)
{
unsigned char final_key[MAX_DIGEST_BLOCK_LEN] = {0};
int final_len = key_len;
if(key_len > MAX_DIGEST_BLOCK_LEN)
final_len = MAX_DIGEST_BLOCK_LEN;
/* When we eventually support arbitrary key sizes, take the digest
* of the key with: sha512(final_key, init_key, final_len);
*/
memcpy(final_key, key, final_len);
pad_init(ctx->block_inner_pad, ctx->block_outer_pad, final_key, final_len);
SHA512_Init(&ctx->ctx_inside);
SHA512_Update(&ctx->ctx_inside, ctx->block_inner_pad, SHA512_BLOCK_LEN);
SHA512_Init(&ctx->ctx_outside);
SHA512_Update(&ctx->ctx_outside, ctx->block_outer_pad, SHA512_BLOCK_LEN);
return;
}
uint8_t pad_do_prompt() {
char cmd[17];
scan_key(cmd,17);
if (strcmp(cmd,"init")==0) {
pad_init();
return 1;
}
if ((strcmp(cmd,"test")==0) || (strcmp(cmd,"ping")==0)) {
if (pad_ping()) {
print_ok_nl();
} else {
print_err_nl();
}
return 1;
}
if (strcmp(cmd,"state")==0) {
uint8_t d = pad_state();
if (d == PAD_REMOTE_ERROR) {
print_err_nl();
} else {
print_hb(0,d);
print_nl();
}
return 1;
}
if (strcmp(cmd,"led")==0) {
pad_led();
return 1;
}
if (strcmp(cmd,"rled")==0) {
pad_remote_led();
return 1;
}
if (strcmp(cmd,"read")==0) {
uint8_t d = pad_read();
print_hb(0,d);
print_nl();
return 1;
}
if (strcmp(cmd,"write")==0) {
uint8_t v0 = scan_uint8();
if (pad_write(v0)) {
print_ok_nl();
} else {
print_err_nl();
}
return 1;
}
if (strcmp(cmd,"autoread")==0) {
pad_autoread();
return 1;
}
return 1;
}
int fst_cipher_init (FSTCipher *cipher, unsigned int seed, unsigned int enc_type)
{
int i,j;
unsigned int temp;
unsigned int sortpos;
unsigned char c;
cipher->enc_type = enc_type;
cipher->wrapcount = 0;
cipher->add_to_lookup = 0;
cipher->seed = seed;
FST_HEAVY_DBG_2 ("init_cipher: seed = 0x%08x, enc_type = 0x%02x", seed, enc_type);
if (!pad_init (&seed, enc_type, cipher->pad, sizeof (cipher->pad)))
return FALSE;
/* adjust pad */
c = 0;
for (i = 0; i < sizeof (cipher->pad); i++)
c = c | cipher->pad[i];
if (!(c & 1))
cipher->pad[0] = cipher->pad[0] | 0x71;
/* init cipher->pos */
temp = seed_step (seed);
temp = temp >> 16;
cipher->pos = ( (temp << 6) - temp) >> 16;
/* init cipher->lookup */
for(i = 0; i <sizeof (cipher->lookup); i++)
cipher->lookup[i] = (unsigned char)i;
if (enc_type & 0x08)
{
MD5Context ctx;
unsigned char md5[MD5_HASH_LEN];
FST_HEAVY_DBG ("init_cipher: enc_type & 0x08");
MD5Init (&ctx);
MD5Update (&ctx, cipher->pad, sizeof(cipher->pad));
MD5Final (md5, &ctx);
/* correct md5 byte order on big-endian since it's converted to (unsigned int*) below */
reverse_bytes ( (unsigned int*)&md5, 4);
/* modify cipher->lookup */
for (i = 0; i < sizeof (cipher->lookup); i++)
{
if ( (j = calculate_num( (unsigned int*) &md5, 0x100 - i) + i) != i)
{
unsigned char a = cipher->lookup[j];
unsigned char b = cipher->lookup[i];
cipher->lookup[i] = a;
cipher->lookup[j] = b;
}
}
}
if(enc_type & 0x10)
{
FST_HEAVY_DBG ("init_cipher: enc_type & 0x10");
for (seed = cipher->pos, i=0; i < 20; i++)
{
seed = seed_step (seed);
cipher->pad16[i] = seed;
}
seed = seed_step (seed);
/* CHECKME: endianess? */
EncryptionType2::enc_type_2(cipher->pad16, seed);
}
/* sort cipher->pad */
sortpos = ( (cipher->pos * cipher->pos) + 2) % (sizeof(cipher->pad)-4);
qsort (cipher->pad + sortpos, 5, 1, qsort_cmp_func);
/* modify every third byte of cipher->pad */
for (i = 5; i < sizeof (cipher->pad); i += 3)
{
c = cipher->pad[i];
c = ~c + i;
cipher->pad[i] = c | 1;
}
// print_bin_data(cipher->pad, sizeof(cipher->pad));
// print_bin_data(cipher->lookup, sizeof(cipher->lookup));
return TRUE;
}
int main(void)
{
// Make sure these four lines are put first since some of the
// other classes need the managers to be initialised so they
// can pick up the correct data.
SPS2Manager.Initialise(4096); // 4096 * 4K Pages = 16MB Total
VIFStaticDMA.Initialise(3072); // 1536 * 4K Pages = 6MB Static DMA
VIFDynamicDMA.Initialise(256); // 256 * 4K Pages * 2 Buffers =
// 2MB Dynamic DMA
Pipeline.Initialise(); // Initialise graphics pipline class
// Initialise Lighting
// Three lights and Ambient light
// Direction vector Colour
Pipeline.SetLight1(Vector4( 0.0f, 0.5f, -1.0f, 0.0f), Vector4( 0.0f, 0.0f, 128.0f, 0.0f));
Pipeline.SetLight2(Vector4( 1.0f, -0.5f, -1.0f, 0.0f), Vector4( 0.0f, 128.0f, 0.0f, 0.0f));
Pipeline.SetLight3(Vector4( -1.0f, -0.5f, -1.0f, 0.0f), Vector4( 128.0f, 0.0f, 0.0f, 0.0f));
// Colour
Pipeline.SetAmbient(Vector4(50.0f,50.0f,50.0f,50.0f));
// Terrain to render
CTerrain Terrain;
// Performance timer - call after SPS2Manager.Initialise()
CTimer Timer;
// Set up audio devices
AudioDevice DSP0(0);
// Set up music in sound buffer 0
SoundSample music("go_cart", &DSP0);
// Play the music!
music.Play();
// Initialise control pad 0
if(!pad_init(PAD_0, PAD_INIT_LOCK | PAD_INIT_ANALOGUE | PAD_INIT_PRESSURE))
{
printf("Failed to initialise control pad\n");
pad_cleanup(PAD_0);
exit(0);
}
enable_actuator(0, 1, 1);
// Initialise the VU1 manager class
CVU1MicroProgram VU1MicroCode(&VU_vu1code_start, &VU_vu1code_end);
// Upload the microcode
VU1MicroCode.Upload();
// Register our signal function for every possible signal (i.e. ctrl + c)
for(int sig=0; sig<128; sig++)
signal(sig, sig_handle);
// Set up the DMA packet to clear the screen. We want to clear to blue.
SPS2Manager.InitScreenClear(0, 0x25, 0x50);
// Set Up Camera --------------------------------------------------------------
Pipeline.PositionCamera(Vector4(0.0f, 55.0f, 80.0f, 1.0f), Vector4(0.0f, 40.0f, 0.0f, 1.0f));
// Load in texture and models ----------------------------------------------
// Set up asset loader
AssetManager assetManager;
assetManager.Initialize();
// Terrain texture
CTexture* terrainTexture = assetManager.GetTexture("terrain");
// Set up game manager
GameManager* gameManager = new GameManager;
gameManager->Initialize();
// The main Render loop -------------------------------------------------------
while(g_bLoop)
{
// Process Audio
DSP0.HandleAudio();
VIFDynamicDMA.Fire();
// Update Control Pad
pad_update(PAD_0);
Pipeline.Update(0, 0, 0, 0, 0);
// Logic
g_bLoop = gameManager->Logic();
// Render
SPS2Manager.BeginScene();
// Render terrain
AssetManager::GetSingleton().LoadTexture(terrainTexture);
Matrix4x4 matWorld, matTrans, matScale;
matTrans.Translation(0.0f, -30.0f, 0.0f);
matScale.Scaling(20.0f);
matWorld = matScale * matTrans;
Terrain.SetWorldMatrix(matWorld);
Terrain.Render();
// Render scene
gameManager->Render();
SPS2Manager.EndScene();
// Dump screenshot if requested
if(pad[0].pressed & PAD_R2)SPS2Manager.ScreenShot();
}
// Shutdown Audio
DSP0.Close();
// Shutdown control pad
set_actuator(0, 0, 0);
pad_cleanup(PAD_0);
// Shutdown game manager
gameManager->Shutdown();
// Shutdown asset manager
assetManager.Shutdown();
return 0;
}
