Steve Ravet / Mbed 2 deprecated billy

The Big Mouth Billy Bass program

Dependencies:   mbed

main.cpp@0:ef6fc1737022, 2011-01-17 (annotated)

Committer:
sravet
Date:
Mon Jan 17 16:53:37 2011 +0000
Revision:
0:ef6fc1737022
Initial checkin

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sravet 0:ef6fc1737022 1
sravet 0:ef6fc1737022 2 #include "mbed.h"
sravet 0:ef6fc1737022 3 #include "SDFileSystem.h"
sravet 0:ef6fc1737022 4
sravet 0:ef6fc1737022 5 #define SAMPLE_FREQ 40000
sravet 0:ef6fc1737022 6 #define BUF_SIZE (SAMPLE_FREQ/10)
sravet 0:ef6fc1737022 7 #define SLICE_BUF_SIZE 1
sravet 0:ef6fc1737022 8
sravet 0:ef6fc1737022 9 // include this #define to enable lots of serial output
sravet 0:ef6fc1737022 10 //#define VERBOSE
sravet 0:ef6fc1737022 11
sravet 0:ef6fc1737022 12
sravet 0:ef6fc1737022 13
sravet 0:ef6fc1737022 14 typedef struct uFMT_STRUCT {
sravet 0:ef6fc1737022 15 short comp_code;
sravet 0:ef6fc1737022 16 short num_channels;
sravet 0:ef6fc1737022 17 unsigned sample_rate;
sravet 0:ef6fc1737022 18 unsigned avg_Bps;
sravet 0:ef6fc1737022 19 short block_align;
sravet 0:ef6fc1737022 20 short sig_bps;
sravet 0:ef6fc1737022 21 } FMT_STRUCT;
sravet 0:ef6fc1737022 22
sravet 0:ef6fc1737022 23
sravet 0:ef6fc1737022 24 typedef struct uMOV_STRUCT {
sravet 0:ef6fc1737022 25 long sample;
sravet 0:ef6fc1737022 26 unsigned motor;
sravet 0:ef6fc1737022 27 unsigned duty_cycle;
sravet 0:ef6fc1737022 28 unsigned played;
sravet 0:ef6fc1737022 29 } MOV_STRUCT;
sravet 0:ef6fc1737022 30
sravet 0:ef6fc1737022 31 // global MBED things
sravet 0:ef6fc1737022 32 AnalogOut DACout(p18);
sravet 0:ef6fc1737022 33 DigitalOut led1(LED1);
sravet 0:ef6fc1737022 34 DigitalOut led2(LED2);
sravet 0:ef6fc1737022 35 DigitalOut led3(LED3);
sravet 0:ef6fc1737022 36 DigitalOut led4(LED4);
sravet 0:ef6fc1737022 37 DigitalOut digout(p8);
sravet 0:ef6fc1737022 38 DigitalIn pushbutton(p24);
sravet 0:ef6fc1737022 39 PwmOut body(p21);
sravet 0:ef6fc1737022 40 PwmOut mouth(p22);
sravet 0:ef6fc1737022 41 PwmOut tail(p23);
sravet 0:ef6fc1737022 42 Ticker tick;
sravet 0:ef6fc1737022 43 SDFileSystem sd(p5, p6, p7, p13, "sd");
sravet 0:ef6fc1737022 44
sravet 0:ef6fc1737022 45 // global variables used both by the main program and the ISR
sravet 0:ef6fc1737022 46 short DAC_fifo[256]; // FIFO for the DAC
sravet 0:ef6fc1737022 47 short DAC_wptr; // FIFO pointer
sravet 0:ef6fc1737022 48 volatile short DAC_rptr; // FIFO pointer
sravet 0:ef6fc1737022 49 long slice;
sravet 0:ef6fc1737022 50 unsigned num_movements;
sravet 0:ef6fc1737022 51 unsigned current_movement;
sravet 0:ef6fc1737022 52 MOV_STRUCT movements[500];
sravet 0:ef6fc1737022 53
sravet 0:ef6fc1737022 54 void dac_out(void);
sravet 0:ef6fc1737022 55 void play_wave(char *,char *,unsigned);
sravet 0:ef6fc1737022 56 void cleanup(char *);
sravet 0:ef6fc1737022 57 unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate);
sravet 0:ef6fc1737022 58
sravet 0:ef6fc1737022 59
sravet 0:ef6fc1737022 60 int main() {
sravet 0:ef6fc1737022 61 FILE *cmdfile;
sravet 0:ef6fc1737022 62 char cmdline[100];
sravet 0:ef6fc1737022 63 char *movfile,*tmp;
sravet 0:ef6fc1737022 64 char cmdfile_name[]="/sd/fish.txt";
sravet 0:ef6fc1737022 65 unsigned slow_mode=0;
sravet 0:ef6fc1737022 66 if (pushbutton) slow_mode=1;
sravet 0:ef6fc1737022 67 led1=0; wait(.5); led1=1; wait(.5); led1=0;
sravet 0:ef6fc1737022 68 printf("\nHello, world!\n");
sravet 0:ef6fc1737022 69 if (slow_mode) printf("Slooooow mode enabled...\n");
sravet 0:ef6fc1737022 70 printf("Waiting for button push\n");
sravet 0:ef6fc1737022 71 while (!pushbutton);
sravet 0:ef6fc1737022 72 printf("Button pushed\n");
sravet 0:ef6fc1737022 73 while (1) {
sravet 0:ef6fc1737022 74 cmdfile=fopen(cmdfile_name,"rb");
sravet 0:ef6fc1737022 75 if (!cmdfile) {
sravet 0:ef6fc1737022 76 printf("Unable to open command file '%s'\n",cmdfile_name);
sravet 0:ef6fc1737022 77 exit(1);
sravet 0:ef6fc1737022 78 }
sravet 0:ef6fc1737022 79
sravet 0:ef6fc1737022 80 fgets(cmdline,100,cmdfile);
sravet 0:ef6fc1737022 81 while (!feof(cmdfile)) {
sravet 0:ef6fc1737022 82 printf("Parsing '%s' from command file '%s'\n",cmdline,cmdfile_name);
sravet 0:ef6fc1737022 83 tmp=strchr(cmdline,'#');
sravet 0:ef6fc1737022 84 if (tmp) *tmp=0;
sravet 0:ef6fc1737022 85 movfile=strchr(cmdline,' ');
sravet 0:ef6fc1737022 86 if (movfile) {
sravet 0:ef6fc1737022 87 *movfile=0;
sravet 0:ef6fc1737022 88 movfile++;
sravet 0:ef6fc1737022 89 tmp=strchr(movfile,'\n');
sravet 0:ef6fc1737022 90 cleanup(movfile);
sravet 0:ef6fc1737022 91 if (tmp) *tmp=0;
sravet 0:ef6fc1737022 92
sravet 0:ef6fc1737022 93 #ifdef USE_PUSHBUTTON
sravet 0:ef6fc1737022 94 printf("Waiting for button push\n");
sravet 0:ef6fc1737022 95 while (!pushbutton);
sravet 0:ef6fc1737022 96 printf("Button pushed\n");
sravet 0:ef6fc1737022 97 #else
sravet 0:ef6fc1737022 98 wait_ms(2000);
sravet 0:ef6fc1737022 99 #endif
sravet 0:ef6fc1737022 100 play_wave(cmdline,movfile,slow_mode);
sravet 0:ef6fc1737022 101 printf("Back from play_wave()\n");
sravet 0:ef6fc1737022 102 } else {
sravet 0:ef6fc1737022 103 printf("Unable to parse '%s' from command file '%s'\n",cmdline,cmdfile_name);
sravet 0:ef6fc1737022 104 }
sravet 0:ef6fc1737022 105 fgets(cmdline,100,cmdfile);
sravet 0:ef6fc1737022 106 }
sravet 0:ef6fc1737022 107 fclose(cmdfile);
sravet 0:ef6fc1737022 108 printf("Goodbye, world!\n");
sravet 0:ef6fc1737022 109 }
sravet 0:ef6fc1737022 110 }
sravet 0:ef6fc1737022 111
sravet 0:ef6fc1737022 112 void play_wave(char *wavname,char *movname,unsigned slow)
sravet 0:ef6fc1737022 113 {
sravet 0:ef6fc1737022 114 unsigned chunk_id,chunk_size,channel;
sravet 0:ef6fc1737022 115 unsigned data,samp_int,i;
sravet 0:ef6fc1737022 116 short dac_data;
sravet 0:ef6fc1737022 117 char *slice_buf;
sravet 0:ef6fc1737022 118 short *data_sptr;
sravet 0:ef6fc1737022 119 unsigned char *data_bptr;
sravet 0:ef6fc1737022 120 int *data_wptr;
sravet 0:ef6fc1737022 121 FMT_STRUCT wav_format;
sravet 0:ef6fc1737022 122 FILE *wavfile;
sravet 0:ef6fc1737022 123 long num_slices;
sravet 0:ef6fc1737022 124 long long slice_value;
sravet 0:ef6fc1737022 125 int verbosity=0;
sravet 0:ef6fc1737022 126 DAC_wptr=0;
sravet 0:ef6fc1737022 127 DAC_rptr=0;
sravet 0:ef6fc1737022 128 for (i=0;i<256;i+=2) {
sravet 0:ef6fc1737022 129 DAC_fifo[i]=0;
sravet 0:ef6fc1737022 130 DAC_fifo[i+1]=3000;
sravet 0:ef6fc1737022 131 }
sravet 0:ef6fc1737022 132 DAC_wptr=4;
sravet 0:ef6fc1737022 133
sravet 0:ef6fc1737022 134 body.period_us(100);
sravet 0:ef6fc1737022 135 mouth.period_us(100);
sravet 0:ef6fc1737022 136 tail.period_us(100);
sravet 0:ef6fc1737022 137 led1=led2=led3=led4=0;
sravet 0:ef6fc1737022 138
sravet 0:ef6fc1737022 139 printf("Playing wave file '%s', mov file '%s'\n",wavname,movname);
sravet 0:ef6fc1737022 140
sravet 0:ef6fc1737022 141 wavfile=fopen(wavname,"rb");
sravet 0:ef6fc1737022 142 if (!wavfile) {
sravet 0:ef6fc1737022 143 printf("Unable to open wav file '%s'\n",wavname);
sravet 0:ef6fc1737022 144 return;
sravet 0:ef6fc1737022 145 }
sravet 0:ef6fc1737022 146
sravet 0:ef6fc1737022 147
sravet 0:ef6fc1737022 148 fread(&chunk_id,4,1,wavfile);
sravet 0:ef6fc1737022 149 fread(&chunk_size,4,1,wavfile);
sravet 0:ef6fc1737022 150 while (!feof(wavfile)) {
sravet 0:ef6fc1737022 151 printf("Read chunk ID 0x%x, size 0x%x\n",chunk_id,chunk_size);
sravet 0:ef6fc1737022 152 switch (chunk_id) {
sravet 0:ef6fc1737022 153 case 0x46464952:
sravet 0:ef6fc1737022 154 fread(&data,4,1,wavfile);
sravet 0:ef6fc1737022 155 printf("RIFF chunk\n");
sravet 0:ef6fc1737022 156 printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size);
sravet 0:ef6fc1737022 157 printf(" RIFF type 0x%x\n",data);
sravet 0:ef6fc1737022 158 break;
sravet 0:ef6fc1737022 159 case 0x20746d66:
sravet 0:ef6fc1737022 160 fread(&wav_format,sizeof(wav_format),1,wavfile);
sravet 0:ef6fc1737022 161 printf("FORMAT chunk\n");
sravet 0:ef6fc1737022 162 printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size);
sravet 0:ef6fc1737022 163 printf(" compression code %d\n",wav_format.comp_code);
sravet 0:ef6fc1737022 164 printf(" %d channels\n",wav_format.num_channels);
sravet 0:ef6fc1737022 165 printf(" %d samples/sec\n",wav_format.sample_rate);
sravet 0:ef6fc1737022 166 printf(" %d bytes/sec\n",wav_format.avg_Bps);
sravet 0:ef6fc1737022 167 printf(" block align %d\n",wav_format.block_align);
sravet 0:ef6fc1737022 168 printf(" %d bits per sample\n",wav_format.sig_bps);
sravet 0:ef6fc1737022 169 if (chunk_size > sizeof(wav_format))
sravet 0:ef6fc1737022 170 fseek(wavfile,chunk_size-sizeof(wav_format),SEEK_CUR);
sravet 0:ef6fc1737022 171 // create a slice buffer large enough to hold multiple slices
sravet 0:ef6fc1737022 172 slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE);
sravet 0:ef6fc1737022 173 if (!slice_buf) {
sravet 0:ef6fc1737022 174 printf("Unable to malloc slice buffer");
sravet 0:ef6fc1737022 175 exit(1);
sravet 0:ef6fc1737022 176 }
sravet 0:ef6fc1737022 177 // now that the sample rate is known, process the movement file
sravet 0:ef6fc1737022 178 num_movements=process_movement_file(movname,movements,wav_format.sample_rate);
sravet 0:ef6fc1737022 179 break;
sravet 0:ef6fc1737022 180
sravet 0:ef6fc1737022 181 case 0x61746164:
sravet 0:ef6fc1737022 182 slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE);
sravet 0:ef6fc1737022 183 if (!slice_buf) {
sravet 0:ef6fc1737022 184 printf("Unable to malloc slice buffer");
sravet 0:ef6fc1737022 185 exit(1);
sravet 0:ef6fc1737022 186 } num_slices=chunk_size/wav_format.block_align;
sravet 0:ef6fc1737022 187 printf("DATA chunk\n");
sravet 0:ef6fc1737022 188 printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size);
sravet 0:ef6fc1737022 189 printf(" %d slices\n",num_slices);
sravet 0:ef6fc1737022 190 printf(" Ideal sample interval=%d\n",(unsigned)(1000000.0/wav_format.sample_rate));
sravet 0:ef6fc1737022 191 samp_int=1000000/(wav_format.sample_rate);
sravet 0:ef6fc1737022 192 if (slow) samp_int*=1.5;
sravet 0:ef6fc1737022 193 printf(" programmed interrupt tick interval=%d\n",samp_int);
sravet 0:ef6fc1737022 194
sravet 0:ef6fc1737022 195 // starting up ticker to write samples out -- no printfs until tick.detach is called
sravet 0:ef6fc1737022 196 current_movement=0;
sravet 0:ef6fc1737022 197 tick.attach_us(&dac_out, samp_int);
sravet 0:ef6fc1737022 198 led2=1;
sravet 0:ef6fc1737022 199 for (slice=0;slice<num_slices;slice+=SLICE_BUF_SIZE) {
sravet 0:ef6fc1737022 200 fread(slice_buf,wav_format.block_align*SLICE_BUF_SIZE,1,wavfile);
sravet 0:ef6fc1737022 201 if (feof(wavfile)) {
sravet 0:ef6fc1737022 202 printf("Oops -- not enough slices in the wave file\n");
sravet 0:ef6fc1737022 203 exit(1);
sravet 0:ef6fc1737022 204 }
sravet 0:ef6fc1737022 205 data_sptr=(short *)slice_buf;
sravet 0:ef6fc1737022 206 data_bptr=(unsigned char *)slice_buf;
sravet 0:ef6fc1737022 207 data_wptr=(int *)slice_buf;
sravet 0:ef6fc1737022 208 slice_value=0;
sravet 0:ef6fc1737022 209 for (i=0;i<SLICE_BUF_SIZE;i++) {
sravet 0:ef6fc1737022 210 for (channel=0;channel<wav_format.num_channels;channel++) {
sravet 0:ef6fc1737022 211 switch (wav_format.sig_bps) {
sravet 0:ef6fc1737022 212 case 16:
sravet 0:ef6fc1737022 213 if (verbosity)
sravet 0:ef6fc1737022 214 printf("16 bit channel %d data=%d ",channel,data_sptr[channel]);
sravet 0:ef6fc1737022 215 slice_value+=data_sptr[channel];
sravet 0:ef6fc1737022 216 break;
sravet 0:ef6fc1737022 217 case 32:
sravet 0:ef6fc1737022 218 if (verbosity)
sravet 0:ef6fc1737022 219 printf("32 bit channel %d data=%d ",channel,data_wptr[channel]);
sravet 0:ef6fc1737022 220 slice_value+=data_wptr[channel];
sravet 0:ef6fc1737022 221 break;
sravet 0:ef6fc1737022 222 case 8:
sravet 0:ef6fc1737022 223 if (verbosity)
sravet 0:ef6fc1737022 224 printf("8 bit channel %d data=%d ",channel,(int)data_bptr[channel]);
sravet 0:ef6fc1737022 225 slice_value+=data_bptr[channel];
sravet 0:ef6fc1737022 226 break;
sravet 0:ef6fc1737022 227 }
sravet 0:ef6fc1737022 228 }
sravet 0:ef6fc1737022 229 slice_value/=wav_format.num_channels;
sravet 0:ef6fc1737022 230
sravet 0:ef6fc1737022 231 // slice_value is now averaged. Next it needs to be scaled to an unsigned 16 bit value
sravet 0:ef6fc1737022 232 // with DC offset so it can be written to the DAC.
sravet 0:ef6fc1737022 233 switch (wav_format.sig_bps) {
sravet 0:ef6fc1737022 234 case 8: slice_value<<=8;
sravet 0:ef6fc1737022 235 break;
sravet 0:ef6fc1737022 236 case 16: slice_value+=32768;
sravet 0:ef6fc1737022 237 break;
sravet 0:ef6fc1737022 238 case 32: slice_value>>=16;
sravet 0:ef6fc1737022 239 slice_value+=32768;
sravet 0:ef6fc1737022 240 break;
sravet 0:ef6fc1737022 241 }
sravet 0:ef6fc1737022 242 dac_data=(short unsigned )slice_value;
sravet 0:ef6fc1737022 243 if (verbosity)
sravet 0:ef6fc1737022 244 printf("sample %d wptr %d slice_value %d dac_data %u\n",slice,DAC_wptr,(int)slice_value,dac_data);
sravet 0:ef6fc1737022 245
sravet 0:ef6fc1737022 246 // finally stick it in the DAC FIFO. If the write pointer wraps around and meets the read pointer
sravet 0:ef6fc1737022 247 // the wait until the read pointer moves.
sravet 0:ef6fc1737022 248 DAC_fifo[DAC_wptr]=dac_data;
sravet 0:ef6fc1737022 249 DAC_wptr=(DAC_wptr+1) & 0xff;
sravet 0:ef6fc1737022 250 while (DAC_wptr==DAC_rptr) {
sravet 0:ef6fc1737022 251 }
sravet 0:ef6fc1737022 252 }
sravet 0:ef6fc1737022 253 }
sravet 0:ef6fc1737022 254 led2=0;
sravet 0:ef6fc1737022 255 // wait for ISR to drain FIFO
sravet 0:ef6fc1737022 256 wait_us(300);
sravet 0:ef6fc1737022 257 tick.detach();
sravet 0:ef6fc1737022 258 printf("Ticker detached\n");
sravet 0:ef6fc1737022 259 led3=1;
sravet 0:ef6fc1737022 260 free(slice_buf);
sravet 0:ef6fc1737022 261 break;
sravet 0:ef6fc1737022 262 case 0x5453494c:
sravet 0:ef6fc1737022 263 printf("INFO chunk, size %d\n",chunk_size);
sravet 0:ef6fc1737022 264 fseek(wavfile,chunk_size,SEEK_CUR);
sravet 0:ef6fc1737022 265 break;
sravet 0:ef6fc1737022 266 default:
sravet 0:ef6fc1737022 267 printf("unknown chunk type 0x%x, size %d\n",chunk_id,chunk_size);
sravet 0:ef6fc1737022 268 data=fseek(wavfile,chunk_size,SEEK_CUR);
sravet 0:ef6fc1737022 269 break;
sravet 0:ef6fc1737022 270 }
sravet 0:ef6fc1737022 271 fread(&chunk_id,4,1,wavfile);
sravet 0:ef6fc1737022 272 fread(&chunk_size,4,1,wavfile);
sravet 0:ef6fc1737022 273 }
sravet 0:ef6fc1737022 274 printf("Done with wave file\n");
sravet 0:ef6fc1737022 275 fclose(wavfile);
sravet 0:ef6fc1737022 276 led1=0;
sravet 0:ef6fc1737022 277 body.pulsewidth_us(0);
sravet 0:ef6fc1737022 278 mouth.pulsewidth_us(0);
sravet 0:ef6fc1737022 279 tail.pulsewidth_us(0);
sravet 0:ef6fc1737022 280 }
sravet 0:ef6fc1737022 281
sravet 0:ef6fc1737022 282
sravet 0:ef6fc1737022 283 void dac_out() {
sravet 0:ef6fc1737022 284 int value;
sravet 0:ef6fc1737022 285 digout=1;
sravet 0:ef6fc1737022 286 if (!movements[current_movement].played) {
sravet 0:ef6fc1737022 287 if (movements[current_movement].sample<=slice) {
sravet 0:ef6fc1737022 288 if (movements[current_movement].motor==0) body.pulsewidth_us(movements[current_movement].duty_cycle);
sravet 0:ef6fc1737022 289 if (movements[current_movement].motor==1) mouth.pulsewidth_us(movements[current_movement].duty_cycle);
sravet 0:ef6fc1737022 290 if (movements[current_movement].motor==2) tail.pulsewidth_us(movements[current_movement].duty_cycle);
sravet 0:ef6fc1737022 291 movements[current_movement].played=1;
sravet 0:ef6fc1737022 292 current_movement++;
sravet 0:ef6fc1737022 293 }
sravet 0:ef6fc1737022 294 }
sravet 0:ef6fc1737022 295 DACout.write_u16(DAC_fifo[DAC_rptr]);
sravet 0:ef6fc1737022 296 DAC_rptr=(DAC_rptr+1) & 0xff;
sravet 0:ef6fc1737022 297 digout=0;
sravet 0:ef6fc1737022 298 }
sravet 0:ef6fc1737022 299
sravet 0:ef6fc1737022 300
sravet 0:ef6fc1737022 301 void cleanup(char *s)
sravet 0:ef6fc1737022 302 {
sravet 0:ef6fc1737022 303 char *t;
sravet 0:ef6fc1737022 304 t=strchr(s,'\n');
sravet 0:ef6fc1737022 305 if (t) *t=0;
sravet 0:ef6fc1737022 306 t=strchr(s,'\r');
sravet 0:ef6fc1737022 307 if (t) *t=0;
sravet 0:ef6fc1737022 308 }
sravet 0:ef6fc1737022 309
sravet 0:ef6fc1737022 310 unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate)
sravet 0:ef6fc1737022 311 {
sravet 0:ef6fc1737022 312 FILE *movfile;
sravet 0:ef6fc1737022 313 char line[100],*tmp;
sravet 0:ef6fc1737022 314 unsigned num_movements,i,j,x;
sravet 0:ef6fc1737022 315 movfile=fopen(mfname,"rb");
sravet 0:ef6fc1737022 316 if (!movfile) {
sravet 0:ef6fc1737022 317 printf("Unable to open mov file '%s'\n",mfname);
sravet 0:ef6fc1737022 318 return 0;
sravet 0:ef6fc1737022 319 }
sravet 0:ef6fc1737022 320
sravet 0:ef6fc1737022 321 fgets(line,100,movfile);
sravet 0:ef6fc1737022 322 num_movements=0;
sravet 0:ef6fc1737022 323 #ifdef VERBOSE
sravet 0:ef6fc1737022 324 printf("Motor report...\n");
sravet 0:ef6fc1737022 325 #endif
sravet 0:ef6fc1737022 326 while (!feof(movfile)) {
sravet 0:ef6fc1737022 327 if (line[0]!='#') {
sravet 0:ef6fc1737022 328 tmp=line;
sravet 0:ef6fc1737022 329 // first thing on line is time in ms
sravet 0:ef6fc1737022 330 movements[num_movements].sample=(atol(tmp)*samp_rate)/1000;
sravet 0:ef6fc1737022 331 // skip digits (non whitespace)
sravet 0:ef6fc1737022 332 tmp=line;
sravet 0:ef6fc1737022 333 while (*tmp!=' ' && *tmp!='\t' && *tmp!=0)
sravet 0:ef6fc1737022 334 tmp++;
sravet 0:ef6fc1737022 335 // skip whitespace
sravet 0:ef6fc1737022 336 while ((*tmp==' ' | *tmp=='\t') && *tmp!=0)
sravet 0:ef6fc1737022 337 tmp++;
sravet 0:ef6fc1737022 338 if (strstr(tmp,"body"))
sravet 0:ef6fc1737022 339 movements[num_movements].motor=0;
sravet 0:ef6fc1737022 340 if (strstr(tmp,"mouth"))
sravet 0:ef6fc1737022 341 movements[num_movements].motor=1;
sravet 0:ef6fc1737022 342 if (strstr(tmp,"tail"))
sravet 0:ef6fc1737022 343 movements[num_movements].motor=2;
sravet 0:ef6fc1737022 344 // skip letters (non whitespace)
sravet 0:ef6fc1737022 345 while (*tmp!=' ' && *tmp!='\t')
sravet 0:ef6fc1737022 346 tmp++;
sravet 0:ef6fc1737022 347 // skip whitespace
sravet 0:ef6fc1737022 348 while (*tmp==' ' | *tmp=='\t')
sravet 0:ef6fc1737022 349 tmp++;
sravet 0:ef6fc1737022 350 if (tmp)
sravet 0:ef6fc1737022 351 movements[num_movements].duty_cycle=atoi(tmp);
sravet 0:ef6fc1737022 352 movements[num_movements].played=0;
sravet 0:ef6fc1737022 353 #ifdef VERBOSE
sravet 0:ef6fc1737022 354 printf(" moving motor %d at sample %ld with duty cycle %d\n",movements[num_movements].motor,movements[num_movements].sample,movements[num_movements].duty_cycle);
sravet 0:ef6fc1737022 355 #endif
sravet 0:ef6fc1737022 356 num_movements++;
sravet 0:ef6fc1737022 357 }
sravet 0:ef6fc1737022 358 fgets(line,100,movfile);
sravet 0:ef6fc1737022 359 }
sravet 0:ef6fc1737022 360 printf(" %d movements read\n",num_movements);
sravet 0:ef6fc1737022 361 printf(" sorting movements...");
sravet 0:ef6fc1737022 362 for (i=0;i<num_movements;i++) {
sravet 0:ef6fc1737022 363 for (j=i;j<num_movements;j++) {
sravet 0:ef6fc1737022 364 if (movements[j].sample < movements[i].sample) {
sravet 0:ef6fc1737022 365 x=movements[i].sample; movements[i].sample=movements[j].sample; movements[j].sample=x;
sravet 0:ef6fc1737022 366 x=movements[i].motor ; movements[i].motor =movements[j].motor ; movements[j].motor =x;
sravet 0:ef6fc1737022 367 x=movements[i].duty_cycle;movements[i].duty_cycle=movements[j].duty_cycle;movements[j].duty_cycle=x;
sravet 0:ef6fc1737022 368 }
sravet 0:ef6fc1737022 369 }
sravet 0:ef6fc1737022 370 }
sravet 0:ef6fc1737022 371 printf("done\n");
sravet 0:ef6fc1737022 372 return num_movements;
sravet 0:ef6fc1737022 373 }