diff options
Diffstat (limited to 'apps/plugins/xracer/util.c')
| -rw-r--r-- | apps/plugins/xracer/util.c | 170 |
1 files changed, 170 insertions, 0 deletions
diff --git a/apps/plugins/xracer/util.c b/apps/plugins/xracer/util.c new file mode 100644 index 0000000..a518649 --- /dev/null +++ b/apps/plugins/xracer/util.c @@ -0,0 +1,170 @@ +/*************************************************************************** + * __________ __ ___. + * Open \______ \ ____ ____ | | _\_ |__ _______ ___ + * Source | _// _ \_/ ___\| |/ /| __ \ / _ \ \/ / + * Jukebox | | ( <_> ) \___| < | \_\ ( <_> > < < + * Firmware |____|_ /\____/ \___ >__|_ \|___ /\____/__/\_ \ + * \/ \/ \/ \/ \/ + * $Id$ + * + * Copyright (C) 2015 Franklin Wei + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY + * KIND, either express or implied. + * + ***************************************************************************/ + +#include "plugin.h" +#include "fixedpoint.h" +#include "util.h" + +static void *plugin_buffer = NULL; +static size_t bytes_left = -1; + +void init_alloc(void) +{ + if(!plugin_buffer) + { + plugin_buffer = rb->plugin_get_buffer(&bytes_left); + } +} + +void *util_alloc(size_t sz) +{ + if(plugin_buffer) + { + void *ret = plugin_buffer; + plugin_buffer += sz; + if((signed long) bytes_left - (signed long) sz < 0) + { + error("Im all outta memoriez!!! :("); + return NULL; + } + bytes_left -= sz; + return ret; + } + else + { + warning("call to %s without init", __func__); + return NULL; + } +} + +size_t util_alloc_remaining(void) +{ + if(plugin_buffer) + return bytes_left; + else + { + warning("call to %s without init", __func__); + return -1; + } +} + +/* camera_calc_depth(): calculates the camera depth given its FOV by evaluating */ +/* LCD_WIDTH / tan(fov/2) */ +int camera_calc_depth(int fov) +{ + fov /= 2; + long fov_sin, fov_cos; + /* nasty (but fast) fixed-point math! */ + fov_sin = fp14_sin(fov); + fov_cos = fp14_cos(fov); + + long tan; + /* fp14_sin/cos has 14 fractional bits */ + tan = fp_div(fov_sin, fov_cos, 14); + + long width = LCD_WIDTH << 14; + return fp_div(width, tan, 14) >> 14; +} + +void error_real(const char *msg, ...) { + char buf[256]; + va_list va; + va_start(va, msg); + rb->vsnprintf(buf, sizeof(buf), msg, va); + va_end(va); + rb->splashf(HZ * 2, "ERROR: %s!", buf); + LOGF("ERROR: %s!", buf); + exit(-1); +} + +/* this CRC code was adapted from <http://automationwiki.com/index.php?title=CRC-16-CCITT> */ + +static uint16_t crc_table [256] = { + + 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, + 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, + 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, + 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, + 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, + 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, + 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, + 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, + 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, + 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, + 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, + 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, + 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, + 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, + 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, + 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, + 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, + 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, + 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, + 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, + 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, + 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, + 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, + 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, + 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, + 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, + 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, + 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, + 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, + 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, + 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, + 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, + 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, + 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, + 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, + 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, + 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, + 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, + 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, + 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, + 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, + 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, + 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 +}; + +uint16_t crc16_ccitt(unsigned char *data, size_t length, uint16_t seed, uint16_t final) +{ + size_t count; + unsigned int crc = seed; + unsigned int temp; + + for (count = 0; count < length; ++count) + { + temp = (*data++ ^ (crc >> 8)) & 0xff; + crc = crc_table[temp] ^ (crc << 8); + } + + return (uint16_t)(crc ^ final); +} + +void warning_real(const char *msg, ...) { + char buf[256]; + va_list va; + va_start(va, msg); + rb->vsnprintf(buf, sizeof(buf), msg, va); + va_end(va); + rb->splashf(HZ * 2, "WARNING: %s!", buf); + LOGF("WARNING: %s!", buf); +} |