void Controller::update_calibration() {
int c1 = m_gui->get_item_state_uint8("CAL1");
int c2 = m_gui->get_item_state_uint8("CAL2");
int c3 = m_gui->get_item_state_uint8("CAL3");
int c4 = m_gui->get_item_state_uint8("CAL4");
float calibration_scaling = ((float)c1) + (((float)c2)/10) + (((float)c3)/100) + (((float)c4)/1000);
char text_sieverts[50];
float_to_char(m_calibration_base*calibration_scaling,text_sieverts,5);
text_sieverts[5] = ' ';
text_sieverts[6] = '\x80';
text_sieverts[7] = 'S';
text_sieverts[8] = 'v';
text_sieverts[9] = 0;
m_gui->receive_update("FIXEDSV",text_sieverts);
}
/* TODO : understand the png saving voodoo incantation */
void ga_image_save(ga_image_t *img, char *path){
png_byte color_type = PNG_COLOR_TYPE_RGBA;
png_byte bit_depth = 8;
png_structp png_ptr;
png_infop info_ptr;
png_bytep *row_ptr;
float *buf = (float*)img->pixel;
int i = img->sizey;
int j = img->sizex;
int k = 4;
FILE *fp = fopen(path,"wb");
if(!fp){
fprintf(stderr,"ERROR: couldn't write file '%s'\n",path);
}
row_ptr = (png_bytep*)malloc(img->sizey*sizeof(png_bytep));
while(i--){
row_ptr[i] = (png_byte*)malloc(img->sizex*4*sizeof(png_byte));
j = img->sizex;
while(j--){
k = 4;
while(k--){
row_ptr[i][j*4+k] = float_to_char(buf[i*img->sizex*4+j*4+k]);
}
}
}
png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING,NULL,NULL,NULL);
info_ptr = png_create_info_struct(png_ptr);
setjmp(png_jmpbuf(png_ptr));
png_init_io(png_ptr,fp);
setjmp(png_jmpbuf(png_ptr));
png_set_IHDR(png_ptr,info_ptr,img->sizex,img->sizey,
bit_depth, color_type, PNG_INTERLACE_NONE,
PNG_COMPRESSION_TYPE_BASE,PNG_FILTER_TYPE_BASE);
png_write_info(png_ptr, info_ptr);
setjmp(png_jmpbuf(png_ptr));
png_write_image(png_ptr,row_ptr);
setjmp(png_jmpbuf(png_ptr));
png_write_end(png_ptr,NULL);
fclose(fp);
i = img->sizey;
while(i--){
free(row_ptr[i]);
}
free(row_ptr);
}
void Controller::event_save_calibration() {
int c1 = m_gui->get_item_state_uint8("CAL1");
int c2 = m_gui->get_item_state_uint8("CAL2");
int c3 = m_gui->get_item_state_uint8("CAL3");
int c4 = m_gui->get_item_state_uint8("CAL4");
float calibration_scaling = ((float)c1) + (((float)c2)/10) + (((float)c3)/100) + (((float)c4)/1000);
float base_sieverts = system_geiger->get_microsieverts_nocal();
char text_sieverts[50];
float_to_char(base_sieverts*calibration_scaling,text_sieverts,5);
text_sieverts[5] = ' ';
text_sieverts[6] = '\x80';
text_sieverts[7] = 'S';
text_sieverts[8] = 'v';
text_sieverts[9] = 0;
m_gui->receive_update("Sieverts",text_sieverts);
system_geiger->set_calibration(calibration_scaling);
m_dim_off=false;
m_gui->jump_to_screen(0);
}
void Controller::initialise_calibration() {
m_dim_off=true;
display_set_brightness(15);
m_calibration_base = system_geiger->get_microsieverts_nocal();
char text_sieverts[50];
float_to_char(m_calibration_base*system_geiger->get_calibration(),text_sieverts,5);
text_sieverts[5] = ' ';
text_sieverts[6] = '\x80';
text_sieverts[7] = 'S';
text_sieverts[8] = 'v';
text_sieverts[9] = 0;
m_gui->receive_update("FIXEDSV",text_sieverts);
uint8_t c1=system_geiger->get_calibration();
uint8_t c2=((uint32_t)(system_geiger->get_calibration()*10))%10;
uint8_t c3=((uint32_t)(system_geiger->get_calibration()*100))%10;
uint8_t c4=((uint32_t)(system_geiger->get_calibration()*1000))%10;
m_gui->receive_update("CAL1",&c1);
m_gui->receive_update("CAL2",&c2);
m_gui->receive_update("CAL3",&c3);
m_gui->receive_update("CAL4",&c4);
}
void createPacket(char* packet) {
// Create packet of length 162 bytes
//unsigned char packet [162];
/* Packet content:
* 00: debug variable
* 01: lower motor speed
* 02: upper motor speed
* 03: Altitude
* 04: gyro X
* 05: gyro Y
* 06: gyro Z
* 07: acc X
* 08: acc Y
* 09: acc Z
* 10: roll
* 11: pitch
* 12: yaw
* 13: z-gyro (legacy code)
* 14: battery voltage
* 15: received rc throttle
* 16: received rc left/right
* 17: received rc yaw (z axis rotation)
* 18: received rc forward/back
* 19: Ultrasound/infrared altitude
*/
// Fill packet with data
packet[0]='<';
// Set debug to zero
char tmp[8];
/*int i;
for(i=0; i<8; i++){
tmp[i]='0';
}*/
float_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 0], tmp, 8);
float_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 1], tmp, 8);
float_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 2], tmp, 8);
float_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 3], tmp, 8);
double gyro_yaw = gyros_get_si(GYROS_YAW);
float_to_char(gyro_yaw,tmp);
memcpy((char*)&packet[1 + 8 * 4], tmp, 8);
double gyro_pitch = gyros_get_si(GYROS_PITCH);
float_to_char(gyro_pitch,tmp);
memcpy((char*)&packet[1 + 8 * 5], tmp, 8);
double gyro_roll = gyros_get_si(GYROS_ROLL);
float_to_char(gyro_roll,tmp);
memcpy((char*)&packet[1 + 8 * 6], tmp, 8);
double accel_x = acc_get_si(ACC_X);
float_to_char(accel_x,tmp);
memcpy((char*)&packet[1 + 8 * 7], tmp, 8);
double accel_y = acc_get_si(ACC_Y);
float_to_char(accel_y,tmp);
memcpy((char*)&packet[1 + 8 * 8], tmp, 8);
double accel_z = acc_get_si(ACC_Z);
float_to_char(accel_z,tmp);
memcpy((char*)&packet[1 + 8 * 9], tmp, 8);
float_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 10], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 11], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 12], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 13], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 14], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 15], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 16], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 17], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 18], tmp, 8);
//double_to_char(0.0f,tmp);
memcpy((char*)&packet[1 + 8 * 19], tmp, 8);
packet[161]='>';
}