main(void)
{
div_char();
div_short();
div_int();
div_long();
}
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() {
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* power(Bignum *base, Bignum *exp, Bignum *r) {
Bignum aux1, aux2;
int resto;
if (exp->len == 1 && exp->digits[0] == '0')
return create_int(1,r);
if (exp->len == 1 && exp->digits[0] == '1')
return copy(r,base);
div_int(exp,2,&aux1,&resto);
power(base,&aux1,&aux2);
if (resto == 0)
return multiply(&aux2,&aux2,r);
return multiply(multiply(&aux2,&aux2,&aux1),base,r);
}
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;
}
}
