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/* test_dsp.c */
/* asserv - Position & speed motor control on a ATmega128. {{{
 *
 * Copyright (C) 2004 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2005.
 *        Web: http://assos.efrei.fr/robot/
 *      Email: robot AT efrei DOT fr
 *
 * 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 program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */
#include "dsp.h"

#include <n/avr/rs232/rs232.h>
#include <n/avr/proto/proto.h>
#include <n/avr/utils/utils.h>
#include <avr/io.h>

/* +AutoDec */
/* -AutoDec */

void
proto_callback (uint8_t c, uint8_t argc, proto_arg_t argv[])
{
    int16_t a;
    uint16_t b;
    int16_t r;
    int16_t i, j;
    uint16_t w = 0xa66a;
    switch (c | argc << 8)
      {
      case 'm' | 0 << 8:
	for (i = 16; i > 0; i--)
	  {
	    a = w >> i;
	    for (j = 16; j >= 0; j--)
	      {
		b = w >> j;
		proto_send4 ('m',
			     (a >> 8) & 0xff, a & 0xff,
			     (b >> 8) & 0xff, b & 0xff);
		r = dsp_mul_i16f88 (a, b);
		proto_send2 ('r',
			     (r >> 8) & 0xff, r & 0xff);
		r = dsp_mul_i16f88 (-a, b);
		proto_send2 ('R',
			     (r >> 8) & 0xff, r & 0xff);
	      }
	  }
	break;
      case 'z' | 0 << 8:
	reset ();
      default:
	proto_send0 ('e');
	return;
      }
}

int
main (void)
{
    rs232_init ();
    proto_init (proto_callback, rs232_putc);
    rs232_putc ('!');
    rs232_putc ('z');
    rs232_putc ('d');
    rs232_putc ('s');
    rs232_putc ('p');
    rs232_putc ('\r');
    while (1)
      { 
        uint8_t c = rs232_getc ();
        proto_accept (c);
      }
    return 0;
}