new release

raspberrypi_spi/LocalDimming/interface.c

@@ -90,10 +90,10 @@ void protocalAck(int fileusb)
 }
 
 // get angle and change into 16bits, return;
-short getAngle(char *rece)
+int getAngle(char *rece)
 {
-	short angle;
-	short result = 0;
+	int angle;
+	int result = 0;
 	int i = 0;
 	char *p = rece;
 	while (*(p + i) != 'a' || *(p + i + 1) != 'n')
@@ -108,7 +108,7 @@ short getAngle(char *rece)
 			i++;
 			continue;
 		}
-		short num = *(p + i) - '0';
+		int num = *(p + i) - '0';
 		result = result * 10 + num;
 		i++;
 	}
@@ -274,6 +274,102 @@ void waitforReady_test(int fileuart)  //test_version
 }
 
 
+int last = 0;
+int reality = 0;
+int dealAngle(int angle) 
+{
+	int result = 0;
+	int ret = 0;
+	if (last <= 1800){
+		int max = last + 1800;
+		if (angle >= last && angle <= max){
+			//turn leftji
+			result = angle - last;
+			//prshortf("sent message = %d\n", reality + result);
+		}
+		else {
+			//turn right
+			if (last > angle){
+				result = angle - last;
+				//prshortf("sent message = %d\n", reality + result);
+			}
+			else{
+				result = last + (3600 - angle);
+				result = -result;
+				//prshortf("sent message = %d\n", reality + result);
+			}
+		}
+	}
+	else{
+		int over = last - 1800;
+		if (angle >= over && angle <= last){
+			//turn right
+			result = angle - last;
+			//prshortf("sent message = %d\n", reality + result);
+		}
+		else {
+			//turn left
+			if ( angle < over){
+				result = angle + 3600 - last;
+				//prshortf("sent message = %d\n", reality + result);
+			}
+			else{
+				result = angle - last;
+				//prshortf("sent message = %d\n", reality + result);
+			}
+		}
+	}
+	ret = reality + result;
+	return ret;
+}
+
+
+
+void sentUart(char *buf, int fileuart, int fileusb)
+{
+	if (count == 9) //9
+	{
+		strcat(totalbuf, buf);        
+		int angle;
+		angle = getAngle(totalbuf);
+		printf("usb realize angle is = %d\n", angle);
+		int sentangle = dealAngle(3600 - angle);
+        last = angle;
+		//40 38 0B 06 00 0A 01 XX XX XX XX  CRCL CRCH
+		char message[13] = {0x40, 0x38, 0x0B, 0x06, 0x00, 0x0A, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+        sendMessageHead(1, message); 
+		message[7] = (sentangle >> 24) & 0xff;
+		message[8] = (sentangle >> 16) & 0xff;
+		message[9] = (sentangle >> 8) & 0xff;
+		message[10] = sentangle & 0xff;
+		uint16_t crc = CrcValueCalc(message, 11);
+		message[11] = crc & 0xff;
+		message[12] = (crc >> 8) & 0xff;
+        if (g_callback != NULL)
+        {    
+            char buf[256] = {0};
+            snprintf(buf, 256, "cvlc --play-and-exit --aout alsa --alsa-audio-device hw:%d,0 /usr/local/bin/Videos/aaaa.mp3 &", get_audio_device_id());
+            //system("mpg321 /usr/local/bin/Videos/aaaa.mp3 &");
+            //system("cvlc --play-and-exit --aout alsa --alsa-audio-device hw:2,0 /usr/local/bin/Videos/aaaa.mp3 &");
+            system(buf);
+
+            g_callback(g_callback_ctx, 2);
+        }
+        usleep(100);
+		write(fileuart, message, 13);   printf("                          %d\n", __LINE__);
+		
+        count = 1;
+		memset(totalbuf, 0, 1024);
+        serialFlush(fileusb);
+	}
+	else
+	{
+		count++;
+		strcat(totalbuf, buf);
+	}
+}
+
+/*
 void sentUart(char *buf, int fileuart, int fileusb)    //changed
 {
 	if (count == 9)
@@ -301,14 +397,15 @@ void sentUart(char *buf, int fileuart, int fileusb)    //changed
 		memset(totalbuf, 0, 1024);
         protocalAck(fileusb);
 
-        if (g_callback != NULL){    
-        char buf[256] = {0};
-        snprintf(buf, 256, "cvlc --play-and-exit --aout alsa --alsa-audio-device hw:%d,0 /usr/local/bin/Videos/aaaa.mp3 &", get_audio_device_id());
-        //system("mpg321 /usr/local/bin/Videos/aaaa.mp3 &");
-        //system("cvlc --play-and-exit --aout alsa --alsa-audio-device hw:2,0 /usr/local/bin/Videos/aaaa.mp3 &");
-        system(buf);
-        g_callback(g_callback_ctx, 2);
-    }
+        if (g_callback != NULL)
+        {    
+            char buf[256] = {0};
+            snprintf(buf, 256, "cvlc --play-and-exit --aout alsa --alsa-audio-device hw:%d,0 /usr/local/bin/Videos/aaaa.mp3 &", get_audio_device_id());
+            //system("mpg321 /usr/local/bin/Videos/aaaa.mp3 &");
+            //system("cvlc --play-and-exit --aout alsa --alsa-audio-device hw:2,0 /usr/local/bin/Videos/aaaa.mp3 &");
+            system(buf);
+            g_callback(g_callback_ctx, 2);
+        }
 
         //waitforReady_test(fileuart);
 
@@ -320,6 +417,7 @@ void sentUart(char *buf, int fileuart, int fileusb)    //changed
 	}
 
 }
+*/
 
 void circleReading()    //changed
 {