//-------------------------------------------------------------------------------
// Main Programme start here.
//-------------------------------------------------------------------------------
int main(void)
{
uint16_t x_byte = 0,y_byte = 0,z_byte = 0;
uint8_t x_byte1 = 0,x_byte2 = 0,y_byte1 = 0,y_byte2 = 0,z_byte1 = 0,z_byte2 = 0;
init_devices();
lcd_set_4bit(); // set the LCD in 4 bit mode
lcd_init(); // initialize the LCD with its commands
display_clear(); // clear the LCD
write_byte(0x0,0x2D);
write_byte(0x8,0x2D);
while(1)
{
x_byte1 = read_byte(X1);
//lcd_print(1,1,x_byte1,3);
x_byte2 = read_byte(X2);
//lcd_print(2,1,x_byte2,3);
y_byte1 = read_byte(Y1);
//lcd_print(1,6,y_byte1,3);
y_byte2 = read_byte(Y2);
//lcd_print(2,6,y_byte2,3);
z_byte1 = read_byte(Z1);
//lcd_print(1,10,z_byte1,3);
z_byte2 = read_byte(Z2);
//lcd_print(2,10,z_byte2,3);
//_delay_ms(100);
x_byte = x_byte2;
x_byte = x_byte<<8;
x_byte |= x_byte1;
pr_int(1,1,x_byte,3);
y_byte = y_byte2;
y_byte = y_byte<<8;
y_byte |= y_byte1;
pr_int(2,4,y_byte,3);
z_byte = z_byte2;
z_byte = z_byte<<8;
z_byte |= z_byte1;
pr_int(1,9,z_byte,3);
}
}
/*
** PR_INTEGRITY -- print out integrity constraints on a relation
**
** Finds all integrity tuples for this unique relation, and
** calls pr_int() to print a query from them.
**
** Parameters:
** relid -- rel name
** relowner -- 2 byte owner id
**
** Returns:
** none
**
** Side Effects:
** file activity, query printing
**
** Trace Flags:
** 33, 9
*/
void
pr_integrity(char *relid, char *relowner)
{
extern desc_t Intdes;
tid_t hitid, lotid;
struct integrity key, tuple;
register int i;
#ifdef xZTR1
if (tTf(50, 9))
printf("pr_integrity(relid =%s, relowner=%s)\n",
relid, relowner);
#endif
printf("Integrity constraints on %s are:\n\n", relid);
opencatalog("integrities", OR_READ);
/* get integrities tuples for relid, relowner */
clearkeys(&Intdes);
ingres_setkey(&Intdes, &key, relid, INTRELID);
ingres_setkey(&Intdes, &key, relowner, INTRELOWNER);
if ((i = find(&Intdes, EXACTKEY, &lotid, &hitid, &key)) != 0)
syserr("pr_integrity: find %d", i);
for (;;) {
if ((i = get(&Intdes, &lotid, &hitid, &tuple, TRUE)) != 0)
break;
if (kcompare(&Intdes, &tuple, &key) == 0)
pr_int(&tuple, relid);
}
if (i != 1)
syserr("pr_integrity: get %d", i);
}
static void pr_molblock(FILE *fp,int indent,const char *title,
gmx_molblock_t *molb,int n,
gmx_moltype_t *molt,
gmx_bool bShowNumbers)
{
indent = pr_title_n(fp,indent,title,n);
(void) pr_indent(fp,indent);
(void) fprintf(fp,"%-20s = %d \"%s\"\n",
"moltype",molb->type,*(molt[molb->type].name));
pr_int(fp,indent,"#molecules",molb->nmol);
pr_int(fp,indent,"#atoms_mol",molb->natoms_mol);
pr_int(fp,indent,"#posres_xA",molb->nposres_xA);
if (molb->nposres_xA > 0) {
pr_rvecs(fp,indent,"posres_xA",molb->posres_xA,molb->nposres_xA);
}
pr_int(fp,indent,"#posres_xB",molb->nposres_xB);
if (molb->nposres_xB > 0) {
pr_rvecs(fp,indent,"posres_xB",molb->posres_xB,molb->nposres_xB);
}
}
void pr_forcerec(FILE *fp,t_forcerec *fr,t_commrec *cr)
{
pr_real(fp,fr->rlist);
pr_real(fp,fr->rcoulomb);
pr_real(fp,fr->fudgeQQ);
pr_int(fp,fr->ndelta);
pr_bool(fp,fr->bGrid);
pr_bool(fp,fr->bTwinRange);
/*pr_int(fp,fr->cg0);
pr_int(fp,fr->hcg);*/
pr_int(fp,fr->ntab);
if (fr->ntab > 0) {
pr_real(fp,fr->rcoulomb_switch);
pr_real(fp,fr->rcoulomb);
}
pr_int(fp,fr->nmol);
pr_int(fp,fr->nstcalc);
fflush(fp);
}
int main(void)
{
//int acc_Angle;
unsigned char pwm_value = 0; // variable for velocity control
init_adxl();
init_devices1();
SetTunings(1,1,1);
start_timer4();
while(1)
{
Input = (double)acc_angle();
Compute();
pr_int(2,1,Input,3);
pr_int(1,1,Output,5);
}
//_delay_ms(10);
//acc_Angle=millis();
//lcd_print(1,1,acc_Angle,5);
/*while(0)
{
acc_Angle=acc_angle();
Input=(double)acc_Angle;
Compute();
if (Output>0)
{
set_PWM_value(18+Output/100);
forward();
}
else
{
set_PWM_value(18+Output/-100);
back();
}
pr_int(2,1,acc_Angle,3);
pr_int(1,1,Output,5);
} */
}
void pr_mtop(FILE *fp, int indent, const char *title, const gmx_mtop_t *mtop,
gmx_bool bShowNumbers)
{
int mt, mb, j;
if (available(fp, mtop, indent, title))
{
indent = pr_title(fp, indent, title);
pr_indent(fp, indent);
fprintf(fp, "name=\"%s\"\n", *(mtop->name));
pr_int(fp, indent, "#atoms", mtop->natoms);
pr_int(fp, indent, "#molblock", mtop->nmolblock);
for (mb = 0; mb < mtop->nmolblock; mb++)
{
pr_molblock(fp, indent, "molblock", &mtop->molblock[mb], mb, mtop->moltype);
}
pr_str(fp, indent, "bIntermolecularInteractions",
gmx::boolToString(mtop->bIntermolecularInteractions));
if (mtop->bIntermolecularInteractions)
{
for (j = 0; (j < F_NRE); j++)
{
pr_ilist(fp, indent, interaction_function[j].longname,
mtop->ffparams.functype,
&mtop->intermolecular_ilist[j], bShowNumbers);
}
}
pr_ffparams(fp, indent, "ffparams", &(mtop->ffparams), bShowNumbers);
pr_atomtypes(fp, indent, "atomtypes", &(mtop->atomtypes), bShowNumbers);
for (mt = 0; mt < mtop->nmoltype; mt++)
{
pr_moltype(fp, indent, "moltype", &mtop->moltype[mt], mt,
&mtop->ffparams, bShowNumbers);
}
pr_groups(fp, indent, &mtop->groups, bShowNumbers);
}
}
void pr_qm_opts(FILE *fp,int indent,const char *title,t_grpopts *opts)
{
int i,m,j;
fprintf(fp,"%s:\n",title);
pr_int(fp,indent,"ngQM",opts->ngQM);
if (opts->ngQM > 0) {
pr_ivec(fp,indent,"QMmethod",opts->QMmethod,opts->ngQM,FALSE);
pr_ivec(fp,indent,"QMbasis",opts->QMbasis,opts->ngQM,FALSE);
pr_ivec(fp,indent,"QMcharge",opts->QMcharge,opts->ngQM,FALSE);
pr_ivec(fp,indent,"QMmult",opts->QMmult,opts->ngQM,FALSE);
pr_bvec(fp,indent,"bSH",opts->bSH,opts->ngQM,FALSE);
pr_ivec(fp,indent,"CASorbitals",opts->CASorbitals,opts->ngQM,FALSE);
pr_ivec(fp,indent,"CASelectrons",opts->CASelectrons,opts->ngQM,FALSE);
pr_rvec(fp,indent,"SAon",opts->SAon,opts->ngQM,FALSE);
pr_rvec(fp,indent,"SAon",opts->SAon,opts->ngQM,FALSE);
pr_ivec(fp,indent,"SAsteps",opts->SAsteps,opts->ngQM,FALSE);
pr_bvec(fp,indent,"bOPT",opts->bOPT,opts->ngQM,FALSE);
pr_bvec(fp,indent,"bTS",opts->bTS,opts->ngQM,FALSE);
}
}
void pr_mtop(FILE *fp,int indent,const char *title,gmx_mtop_t *mtop,
gmx_bool bShowNumbers)
{
int mt,mb;
if (available(fp,mtop,indent,title)) {
indent=pr_title(fp,indent,title);
(void) pr_indent(fp,indent);
(void) fprintf(fp,"name=\"%s\"\n",*(mtop->name));
pr_int(fp,indent,"#atoms",mtop->natoms);
for(mb=0; mb<mtop->nmolblock; mb++) {
pr_molblock(fp,indent,"molblock",&mtop->molblock[mb],mb,
mtop->moltype,bShowNumbers);
}
pr_ffparams(fp,indent,"ffparams",&(mtop->ffparams),bShowNumbers);
pr_atomtypes(fp,indent,"atomtypes",&(mtop->atomtypes),bShowNumbers);
for(mt=0; mt<mtop->nmoltype; mt++) {
pr_moltype(fp,indent,"moltype",&mtop->moltype[mt],mt,
&mtop->ffparams,bShowNumbers);
}
pr_groups(fp,indent,"groups",&mtop->groups,bShowNumbers);
}
}
