void acc_update( void )
{
volatile avr32_adc_t *adc = &AVR32_ADC;
// start + get from adc
acc_get_value(adc, &acc.m) ;
// ak = acceleration = m - k
xyz_diff( acc.m , acc.k, &acc.ak ) ;
acc.ak2 = xyz_sumsq( acc.ak ) ;
if ( is_acc_slow() ) {
// update g for next move
acc.g.x = acc.m.x ;
acc.g.y = acc.m.y ;
acc.g.z = acc.m.z ;
}
else {
xyz_diff( acc.m , acc.g, &acc.ag ) ;
xyz_round0( acc.ag , 16, &acc.ag ) ;
xyz_add( acc.s , acc.ag, &acc.s ) ;
//xyz_round0( acc.s , 256, &acc.s ) ;
//print_dbg("m = "); print_xyz( acc.m ) ;
//print_dbg("k = "); print_xyz( acc.k ) ;
//print_dbg("g = "); print_xyz( acc.g ) ;
//print_dbg("ag = "); print_xyz( acc.ag ) ;
//print_dbg("s = "); print_xyz( acc.s ) ;
//print_dbg("\r\n");
////acc.s2 = xyz_sumsq( acc.s ) ;
//print_dbg("s2 = 0x"); print_dbg_hex(acc.s2); print_dbg("\r\n");
}
}
/* ray_position: interpreting direction as velocity, calculate position
* of ray r after time t.
*/
xyz ray_position(ray r, double t)
{
return xyz_add(r.origin, xyz_scale(t, r.dir));
}
int main()
{
/* xyz */
printf(" *** testing xyz *** \n");
xyz v = xyz_expr(1,2,3);
xyz add = xyz_add(v,v);
xyz vv = xyz_expr(5,5,5);
xyz sub = xyz_sub(v,vv);
xyz n = xyz_neg(sub);
xyz sc = xyz_scale(1.5,v);
xyz sc2 = xyz_scale(-3.33,n);
double dt = xyz_dot(v,sc);
double mag = xyz_mag(v);
xyz z = xyz_expr(0,0,0);
xyz zn = xyz_norm(z);
xyz vn = xyz_norm(v);
printf("xyz_expr(1,2,3) =>\t%s\n",xyz_tos(v));
printf("(1,2,3)+(1,2,3) =>\t%s\n",xyz_tos(add));
printf("(1,2,3)-(5,5,5) =>\t%s\n",xyz_tos(sub));
printf("-(-4,-3,-2) =>\t%s\n",xyz_tos(n));
printf("scale (1,2,3) by 1.5 =>\t%s\n",xyz_tos(sc));
printf("scale (4,3,2) by -3.33 =>\t%s\n",xyz_tos(sc2));
printf("(1,2,3)*(1.5,3,4.5) =>\t%.2lf\n",dt);
printf("magnitude of (1,2,3) =>\t%.2lf\n",mag);
printf("norm (0,0,0) =>\t%s\n",xyz_tos(zn));
printf("norm (1,2,3) =>\t%s\n",xyz_tos(vn));
printf(" *****\n");
/* color */
printf(" *** testing color *** \n");
color c = color_expr(1,0.5,0);
color cc = color_expr(0.75,0,0.25);
color mod = color_modulate(c,cc);
color scc = color_scale(1.5, cc);
color addc = color_add(c,cc);
printf("color_expr(1,0.5,0) =>\t%s\n",color_tos(c));
printf("(1,0.5,0)*(0.75,0,0.25) =>\t%s\n",color_tos(mod));
printf("scale (0.75,0,0.25) by 1.5 =>\t%s\n",color_tos(scc));
printf("(1,0.5,0)+(0.75,0,0.25) =>\t%s\n",color_tos(addc));
printf("(0.75,0,0.25) on [0,255] =>");
color_show_bytes(stdout,cc);
printf(" *****\n");
/* ray */
printf(" *** testing ray *** \n");
ray testray = {v,vv};
printf("ray from (1,2,3) to (5,5,5) =>\t%s\n",ray_tos(testray));
printf(" *****\n");
/* sphere */
printf(" *** testing sphere *** \n");
sphere testsph = sphere_expr(v, 3.2, get_sc, c);
printf("sphere at (1,2,3) with radius 3.2:\n");
sphere_show(stdout,testsph);
printf("\n *****\n");
/* poster */
printf(" *** testing poster *** \n");
poster testpst = poster_expr(v, 4, 5.25, get_sc, c);
printf("poster at (1,2,3) with width 4 and height 5.25:\n");
poster_show(stdout,testpst);
printf("\n *****\n");
/* object */
printf(" *** testing object *** \n");
object objs = {SPHERE,{.s = testsph},NULL};
