int main(void)
{
// Enable pin change interrupt for pulse input
PCMSK3 |= _BV(PCINT28);
PCICR |= _BV(PCIE3);
// Enable pullup resistor on unused pins
PORTA = 0xFF;
// Set millisecond-timer period to 1ms
OCR1A = 9999;
STOP_MILLISECOND_TIMER;
TIMSK1 |= _BV(OCIE1A);
// Set other init
usb_initialize();
camera_initialize();
display_initialize();
// Enable relay mode until reboot
if (eeprom_read_byte(RELAY_EEPROM_OFFSET) == RELAY_ENABLED)
{
set_timer_status(TIMER_RELAY);
eeprom_update_byte(RELAY_EEPROM_OFFSET, RELAY_DISABLED);
}
// Enable interrupts
sei();
gps_initialize();
// Main program loop
for (;;)
{
// Handle message flags set via interrupt
if (message_flags && timer_status != TIMER_RELAY)
{
uint8_t temp_int_flags = 0;
ATOMIC_BLOCK(ATOMIC_FORCEON)
{
temp_int_flags = message_flags;
message_flags = 0;
}
if (temp_int_flags & FLAG_SEND_TRIGGER)
usb_send_trigger();
if (temp_int_flags & FLAG_SEND_TIMESTAMP)
usb_send_timestamp();
if (temp_int_flags & FLAG_SEND_STATUS)
usb_send_status(timer_status, gps_status);
if (temp_int_flags & FLAG_STOP_EXPOSURE)
usb_stop_exposure();
if (temp_int_flags & FLAG_DUPLICATE_PULSE)
usb_send_message_P(msg_duplicate_pulse);
if (temp_int_flags & FLAG_MISSING_PULSE)
usb_send_message_P(msg_missing_pulse);
if (temp_int_flags & FLAG_TIME_DRIFT)
usb_send_message_fmt_P(fmt_time_drift, millisecond_drift);
}
camera_tick();
usb_tick();
gps_tick();
display_update();
}
int main(int ac, char** av)
{
t_vm* vm = vm_initialize();
t_process* process = (t_process*) malloc(sizeof(t_process));
int32 i;
t_display* display;
int32 update_display = 0;
int32 was_pressed = 0;
t_ring_buffer* ring_buffer;
ring_buffer = ring_buffer_initialize(10, free);
if (load_cores(vm, ac, av) <= 0)
return -1;
display = display_initialize(800, 600);
vm_set_print_callback(vm, main_debug_print, ring_buffer);
if (1)
{
while (vm->process_count && !display_should_exit(display))
{
vm->cycle_current++;
update_display = 1;
int process_count = vm->process_count;
for (i = 0; i < process_count; ++i)
{
t_process* process = vm->processes[i];
if (process->cycle_wait <= 0)
{
update_display = 0;
vm_reset_process_io_op(process);
if (process->current_opcode)
vm_execute(vm, process);
vm_get_opcode(vm, process);
}
else
process->cycle_wait--;
}
if (vm->cycle_current > vm->cycle_to_die)
{
vm->cycle_current = 0;
vm_kill_process_if_no_live(vm);
}
vm_clean_dead_process(vm);
// update_display = 0;
if (display_update_input(display) || update_display == 0)
{
display_print_ring_buffer(display, 0, 0, ring_buffer);
display_step(vm, display);
}
}
}
else
{
int32 execute_one = 0;
int32 current_keys_state[GLFW_KEY_LAST];
int32 previous_keys_state[GLFW_KEY_LAST];
memset(previous_keys_state, 0, GLFW_KEY_LAST * sizeof(int32));
memset(current_keys_state, 0, GLFW_KEY_LAST * sizeof(int32));
display_step(vm, display);
while (vm->process_count && !display_should_exit(display))
{
int32 executed = 0;
int32 print_processes;
int32 process_count = 0;
current_keys_state[GLFW_KEY_S] = display_key_pressed(display, GLFW_KEY_S);
current_keys_state[GLFW_KEY_P] = display_key_pressed(display, GLFW_KEY_P);
if (!execute_one)
execute_one = previous_keys_state[GLFW_KEY_S] && !current_keys_state[GLFW_KEY_S];
print_processes = previous_keys_state[GLFW_KEY_P] && !current_keys_state[GLFW_KEY_P];
memcpy(previous_keys_state, current_keys_state, sizeof(int32) * GLFW_KEY_LAST);
if (execute_one)
vm->cycle_current++;
for (i = 0; i < vm->process_count; ++i)
{
t_process* process = vm->processes[i];
if (print_processes)
vm_debug_print_process(vm, process);
if (execute_one)
{
if (process->cycle_wait <= 0)
{
vm_reset_process_io_op(process);
vm_execute(vm, process);
vm_get_opcode(vm, process);
executed++;
if (vm->live_count >= NBR_LIVE)
{
vm->live_count = 0;
vm->cycle_to_die -= vm->cycle_delta;
}
}
process->cycle_wait--;
}
}
if (executed)
execute_one = 0;
if (vm->cycle_current > vm->cycle_to_die)
{
vm->cycle_current = 0;
vm_kill_process_if_no_live(vm);
}
vm_clean_dead_process(vm);
executed += display_update_input(display);
if (executed)
display_step(vm, display);
else
glfwPollEvents();
}
}
ring_buffer_destroy(ring_buffer);
display_destroy(display);
vm_destroy(vm);
}
