Created tag for rapsberry rover code at end of first lab course.

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/.classpath

+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.6"/>
+	<classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="generated-src"/>
+	<classpathentry kind="output" path="build"/>
+</classpath>

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/.project

+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>org.fortiss.af3.platform.raspberry</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.fortiss.ide.dev_tools.emf.builder.EcoreBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.pde.ManifestBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.pde.SchemaBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.fortiss.ide.dev_tools.warnings.RemoveWarningsBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.pde.PluginNature</nature>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/META-INF/MANIFEST.MF

+Manifest-Version: 1.0
+Bundle-ManifestVersion: 2
+Bundle-Name: Fortiss AF3 Platform Raspberry
+Bundle-SymbolicName: org.fortiss.af3.platform.raspberry;singleton:=true
+Bundle-Version: 2.9.0.qualifier
+Bundle-ClassPath: .
+Bundle-Vendor: fortiss GmbH
+Bundle-Localization: plugin
+Bundle-RequiredExecutionEnvironment: JavaSE-1.8
+Export-Package: org.fortiss.af3.platform.raspberry.model,
+ org.fortiss.af3.platform.raspberry.model.gamepad,
+ org.fortiss.af3.platform.raspberry.model.gamepad.impl,
+ org.fortiss.af3.platform.raspberry.model.gamepad.util,
+ org.fortiss.af3.platform.raspberry.model.impl,
+ org.fortiss.af3.platform.raspberry.model.util,
+ org.fortiss.af3.platform.raspberry.util
+Bundle-ActivationPolicy: lazy
+Bundle-Activator: org.fortiss.af3.platform.raspberry.AF3PlatformRaspberryActivator
+Require-Bundle: org.fortiss.af3.project,
+ org.fortiss.tooling.kernel;visibility:=reexport,
+ org.eclipse.core.runtime,
+ org.eclipse.emf.ecore;visibility:=reexport,
+ org.fortiss.tooling.base;visibility:=reexport,
+ org.fortiss.af3.platform;bundle-version="2.5.0";visibility:=reexport,
+ org.fortiss.tooling.base.ui;bundle-version="2.11.0",
+ org.fortiss.af3.generator.common
+Import-Package: org.fortiss.af3.deployment.generator,
+ org.fortiss.af3.platform.model
+

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/buckminster.cspex

+<?xml version="1.0" encoding="UTF-8"?>
+<cspecExtension
+	xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+	xmlns:bc="http://www.eclipse.org/buckminster/Common-1.0"
+	xmlns="http://www.eclipse.org/buckminster/CSpec-1.0">
+	<actions>
+		<!-- Place your Actions here -->
+		<public name="generate-ecore" actor="jdt.ant" always="true">
+            <actorProperties>
+                <property key="buildFile" value="model/generate-ecore.xml" />
+                <property key="targets" value="generate-ecore"/>
+            </actorProperties>
+            <products>
+                <path path="generated-src" />
+            </products>
+        </public>
+	</actions>
+	<alterGroups>
+        <!-- Place your Group alterations here -->
+        <public name="eclipse.build.source">
+            <attribute name="generate-ecore"/>
+        </public>
+    </alterGroups>
+</cspecExtension>

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/build.properties

+# <copyright>
+# </copyright>
+#
+# $Id$
+
+bin.includes = .,\
+               model/,\
+               META-INF/,\
+               plugin.xml,\
+               plugin.properties
+source.. = src/,\
+           generated-src/
+output.. = build/

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/Makedefs

+# The default application name.
+ifndef APPL
+    APPL=my_app
+endif
+
+# The default build path.
+ifndef BPATH
+    BPATH=build
+endif
+
+# The compiler.
+ifndef CROSSCC
+    CROSSCC=gcc
+endif
+
+# The linker.
+ifndef CROSSLD
+    CROSSLD=gcc
+endif
+
+# The flags which are passed to the compiler and the linker.
+CCFLAGS+=-std=gnu99 -Wall -pthread -lwiringPi -pedantic -c ${patsubst %,-I%,${subst :, ,${IPATH}}}
+LDFLAGS+=-std=gnu99 -Wall -pthread -lpthread -lwiringPi -pedantic
+
+# The default rules, i.e. the entry point.
+all: ${BPATH}
+all: ${BPATH}/${APPL}.run
+
+# The target to clean the build directory.
+clean:
+	@echo "cleaning up path '${BPATH}' ..."
+	@rm -rf ${BPATH}
+
+# The rule for creating the build directory.
+${BPATH}:
+	@echo "creating path '${BPATH}' ..."
+	@mkdir ${BPATH}
+
+# The rule for building an object file from the corresponding C source file.
+${BPATH}/%.o: %.c
+	@echo "compiling file '${<}' ..."
+	@${CROSSCC} ${CCFLAGS} -o ${@} ${<}
+
+# The rule for linking an application.
+${BPATH}/%.run:
+	@echo "linking application '${@}' ..."
+	@${CROSSLD} ${LDFLAGS} -o ${@} $(filter %.o %.a, ${^})
\ No newline at end of file

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc-gen/data_dictionary.h

+/* generated by AutoFOCUS 3 (2.11.0) on Tue May 16 17:42:09 CEST 2017 */
+#ifndef __HEADER_data_dictionary_h
+#define __HEADER_data_dictionary_h
+#if defined(__cplusplus)
+typedef bool GEN_TYPE_boolean;
+#else
+typedef enum Enum_TYPE_boolean {
+	false = 0, true = 1
+} GEN_TYPE_boolean;
+#endif
+
+typedef int GEN_TYPE_int;
+
+typedef double GEN_TYPE_double;
+
+/*extern GEN_TYPE_double abs(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double arctan(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double cos(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double cot(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double e();
+
+extern GEN_TYPE_double exp(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double ln(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double pi();
+
+extern GEN_TYPE_double sgn(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double sin(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double sqrt(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double tan(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double _sqrt(GEN_TYPE_double _X,GEN_TYPE_double _V);
+
+extern GEN_TYPE_double pow(GEN_TYPE_double _V,GEN_TYPE_double _N);
+
+extern GEN_TYPE_double factorial(GEN_TYPE_double _V);
+
+extern GEN_TYPE_double min(GEN_TYPE_double _a,GEN_TYPE_double _b);
+
+extern GEN_TYPE_double max(GEN_TYPE_double _a,GEN_TYPE_double _b);
+
+extern GEN_TYPE_double rad2deg(GEN_TYPE_double _A);
+
+extern GEN_TYPE_double deg2rad(GEN_TYPE_double _A);*/
+
+#endif // __HEADER_data_dictionary_h
+

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/CanConnector.h

+#ifndef __CANCONNECTOR_H
+#define __CANCONNECTOR_H
+
+#include <stdio.h>
+
+#include "inc/libcansocket.h"
+#include "inc-gen/data_dictionary.h"
+
+// types
+typedef const char* CAN_MSG_T;
+typedef unsigned long CAN_CLK_T;
+
+// constants
+extern const char* CAN_DEVICE_NAME;
+
+// send and receive
+void can_send();
+void can_send_clock(CAN_CLK_T counter);
+void can_receive();
+CAN_CLK_T can_receive_clock();
+
+// init, terminate, prepare
+void can_init();
+void can_term();
+
+void prepare_input_CanConnector();
+void finish_input_CanConnector();
+
+void prepare_output_CanConnector();
+void finish_output_CanConnector();
+
+// noval
+GEN_TYPE_boolean can_is_noval(CAN_MSG_T msg);
+GEN_TYPE_boolean can_set_noval(CAN_MSG_T msg);
+
+// readers
+GEN_TYPE_boolean can_read_bool(CAN_MSG_T msg);
+GEN_TYPE_double can_read_double(CAN_MSG_T msg);
+GEN_TYPE_int can_read_int(CAN_MSG_T pomsgrt);
+
+// writers
+void can_write_bool(CAN_MSG_T msg, GEN_TYPE_boolean value);
+void can_write_double(CAN_MSG_T msg, GEN_TYPE_double value);
+void can_write_int(CAN_MSG_T msg, GEN_TYPE_int value);
+
+#endif // __CANCONNECTOR_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/GPIO.h

+#ifndef __GPIO_H
+#define __GPIO_H
+
+#include <stdio.h>
+#include <wiringPi.h>
+#include "inc-gen/data_dictionary.h"
+
+// types
+typedef int GPIO_PIN_T;
+
+// init, term
+void gpio_init(GPIO_PIN_T pin);
+void gpio_init_in(GPIO_PIN_T pin);
+void gpio_init_out(GPIO_PIN_T pin);
+void gpio_term(GPIO_PIN_T pin);
+
+// noval
+GEN_TYPE_boolean gpio_is_noval(GPIO_PIN_T pin);
+void gpio_set_noval(GPIO_PIN_T pin);
+
+// readers
+GEN_TYPE_boolean gpio_read(GPIO_PIN_T pin);
+
+// writers
+void gpio_write(GPIO_PIN_T pin, GEN_TYPE_boolean value);
+
+#endif // __GPIO_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/Gamepad.h

+#ifndef __GAMEPAD_H
+#define __GAMEPAD_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <inttypes.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "inc-gen/data_dictionary.h"
+
+// constants
+#define JS_EVENT_BUTTON 0x01
+#define JS_EVENT_AXIS   0x02
+#define JS_EVENT_INIT   0x80
+
+extern const char* GP_DEVICE_NAME;
+
+// types etc
+union input_events {
+    struct input_btns {
+        int16_t js1_lr; // LX
+        int16_t js1_ud; // LY
+        int16_t js2_lr; // RX
+        int16_t js2_ud; // RY
+        int16_t gp_lr;  // GPX
+        int16_t gp_ud;  // GPY
+        int16_t bt_tri; // BTN1
+        int16_t bt_cir; // BTN2
+        int16_t bt_x;   // BTN3
+        int16_t bt_sqr; // BTN4
+        int16_t bt_l1;  // L1
+        int16_t bt_r1;  // R1
+        int16_t bt_l2;  // L2
+        int16_t bt_r2;  // R2
+        int16_t bt_sel; // SELECT
+        int16_t bt_strt;// START
+        int16_t js1_bt; // LCLICK
+        int16_t js2_bt; // RCLICK
+    } btns;
+    int16_t inps[18];
+};
+
+struct js_event {
+    uint32_t time;  // event time stamp in millisecons
+    int16_t value;  // value
+    uint8_t type;   // event type
+    uint8_t number; // axis/button number
+};
+
+extern volatile union input_events ie;
+
+// worker
+void* gp_worker(void* pt_args);
+
+// init, term
+void gp_init();
+void gp_term();
+
+// readers
+GEN_TYPE_boolean gp_btn1_read();
+GEN_TYPE_boolean gp_btn2_read();
+GEN_TYPE_boolean gp_btn3_read();
+GEN_TYPE_boolean gp_btn4_read();
+GEN_TYPE_boolean gp_btnL1_read();
+GEN_TYPE_boolean gp_btnL2_read();
+GEN_TYPE_boolean gp_btnR1_read();
+GEN_TYPE_boolean gp_btnR2_read();
+GEN_TYPE_double gp_btnLX_read();
+GEN_TYPE_double gp_btnLY_read();
+GEN_TYPE_double gp_btnRX_read();
+GEN_TYPE_double gp_btnRY_read();
+
+// noval
+GEN_TYPE_boolean gp_btn1_is_noval();
+GEN_TYPE_boolean gp_btn2_is_noval();
+GEN_TYPE_boolean gp_btn3_is_noval();
+GEN_TYPE_boolean gp_btn4_is_noval();
+GEN_TYPE_boolean gp_btnL1_is_noval();
+GEN_TYPE_boolean gp_btnL2_is_noval();
+GEN_TYPE_boolean gp_btnR1_is_noval();
+GEN_TYPE_boolean gp_btnR2_is_noval();
+GEN_TYPE_boolean gp_btnLX_is_noval();
+GEN_TYPE_boolean gp_btnLY_is_noval();
+GEN_TYPE_boolean gp_btnRX_is_noval();
+GEN_TYPE_boolean gp_btnRY_is_noval();
+
+#endif // __GAMEPAD_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/LaserRangeFinder.h

+#ifndef __LASERRANGEFINDER_H
+#define __LASERRANGEFINDER_H
+
+#include <stdlib.h>
+	
+#include "inc-gen/data_dictionary.h"
+#include "inc/libuart.h"
+
+// constants
+const char* LRF_DEVICE_NAME;
+
+// init, terminate
+void lrf_init();
+void lrf_term();
+
+// getters
+GEN_TYPE_boolean lrf_is_noval();
+GEN_TYPE_int lrf_read();
+
+#endif // __LASERRANGEFINDER_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/PWM.h

+#ifndef __PWM_H
+#define __PWM_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include "inc-gen/data_dictionary.h"
+#include "inc/libmaestro.h"
+
+// macros
+// 	6072 is the value for 0, max. value to motor is currently 7572
+//	from AF3 you get a max. speed value in mm/s : 1471
+//	Hence, add the constant 6072 and map values -1471-1471 to -1500-1500
+#define PWM_ADJUST_VALUE(x) (6072 + 1500 * x /1471)
+
+// types
+typedef unsigned char PWM_CHANNEL_T;
+
+// constants
+extern const int PWM_SLEEP_TIME;
+extern const char* PWM_DEVICE_NAME;
+extern const size_t PWM_MAX_NO_CHANNELS;
+
+// worker
+void* pwm_worker(void* pt_args);
+
+// init, term
+void pwm_init(PWM_CHANNEL_T channel);
+void pwm_term(PWM_CHANNEL_T channel);
+
+// writers
+void pwm_write(PWM_CHANNEL_T channel, GEN_TYPE_int value);
+void pwm_set_noval(PWM_CHANNEL_T channel);
+
+#endif // __PWM_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/io.h

+#ifndef __IO_H
+#define __IO_H
+
+#include "inc-gen/data_dictionary.h"
+
+// init, terminate
+void init_left_stick();
+void term_left_stick();
+
+void init_right_stick();
+void term_right_stick();
+
+// NOVAL
+GEN_TYPE_boolean is_noval_left_stick();
+GEN_TYPE_boolean is_noval_right_stick();
+
+// readers
+GEN_TYPE_double read_left_stick();
+GEN_TYPE_double read_right_stick();
+
+// writers
+void write_left_stick(GEN_TYPE_double value);
+void write_right_stick(GEN_TYPE_double value);
+
+#endif // __IO_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/libcansocket.h

+#ifndef __LIBCANSOCKET_H
+#define __LIBCANSOCKET_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define SR_ERR -1
+
+struct can_socket {
+    int s;
+    struct sockaddr_can addr;
+    struct ifreq ifr;
+};
+
+/**
+ * Opens a can socket on the given interface
+ */
+struct can_socket* can_socket_open(const char *if_name);
+
+/**
+ * Closes a given socket
+ */
+void can_socket_close(struct can_socket* sock);
+
+/**
+ * Sends a can frame on the specified socket
+ */
+ssize_t can_socket_send(struct can_socket* sock, struct can_frame* frame);
+
+/**
+ * 
+ */
+ssize_t can_socket_receive(struct can_socket* sock, struct can_frame* frame);
+
+#endif // __LIBCANSOCKET_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/libmaestro.h

+#ifndef __LIBMAESTRO_H
+#define __LIBMAESTRO_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <termios.h>
+
+int maestroRead(int fd, unsigned char channel);
+int maestroWrite(int fd, unsigned char channel, unsigned short target);
+
+#endif // __LIBMAESTRO_H

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/inc/libuart.h

+/**
+ * @file uart.h
+ * @author Bianca Forkel
+ */
+
+#ifndef MBSE_UART_H
+#define MBSE_UART_H
+
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <errno.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/select.h>
+
+extern int  uart_filestream;
+
+char port[13];
+
+int uart_setup(const char*);
+
+int uart_send_byte(char, int);
+
+int uart_send_string(char*, int, int);
+
+int uart_receive(char*, int, int);
+
+void uart_close();
+
+void uart_flush();
+
+#endif

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/src-gen/data_dictionary.c

+/* generated by AutoFOCUS 3 (2.11.0) on Tue May 16 17:42:09 CEST 2017 */
+#include "inc-gen/data_dictionary.h"
+
+/*GEN_TYPE_double abs(GEN_TYPE_double _V){
+	return _V * sgn(_V);
+}
+
+GEN_TYPE_double arctan(GEN_TYPE_double _V){
+	if (abs(_V) <= 1.0) {
+		return _V / (1 + (0.28 * _V) * _V);
+	}
+	else {
+		if (_V > 1) {
+			return pi() / 2.0 - _V / (_V * _V + 0.28);
+		}
+		else {
+			return -(pi() / 2.0) - _V / (_V * _V + 0.28);
+		}
+	}
+}
+
+GEN_TYPE_double cos(GEN_TYPE_double _V){
+	return sin((_V + pi() / 2.0));
+}
+
+GEN_TYPE_double cot(GEN_TYPE_double _V){
+	return cos(_V) / sin(_V);
+}
+
+GEN_TYPE_double e(){
+	return 2.718281828459;
+}
+
+GEN_TYPE_double exp(GEN_TYPE_double _V){
+	return ((((1 + _V) + (_V * _V) / 2) + ((_V * _V) * _V) / 6) + (((_V * _V) * _V) * _V) / 24) + ((((_V * _V) * _V) * _V) * _V) / 120;
+}
+
+GEN_TYPE_double ln(GEN_TYPE_double _V){
+	if (_V <= 0) {
+		return 0;
+	}
+	else {
+		return ((((_V - 1.0) - ((_V - 1.0) * (_V - 1.0)) / 2.0) + (((_V - 1) * (_V - 1)) * (_V - 1)) / 3.0) - ((((_V - 1) * (_V - 1)) * (_V - 1)) * (_V - 1)) / 4.0) + (((((_V - 1) * (_V - 1)) * (_V - 1)) * (_V - 1)) * (_V - 1)) / 5.0;
+	}
+}
+
+GEN_TYPE_double pi(){
+	return 3.14159265;
+}
+
+GEN_TYPE_double sgn(GEN_TYPE_double _V){
+	if (_V < 0) {
+		return -1;
+	}
+	else {
+		if (_V == 0) {
+			return 0;
+		}
+		else {
+			return 1;
+		}
+	}
+}
+
+GEN_TYPE_double sin(GEN_TYPE_double _V){
+	if (_V % (2 * pi()) < 0) {
+		return -sin((-_V));
+	}
+	else {
+		if (_V % (2 * pi()) > pi()) {
+			return -sin((_V % (2 * pi()) - pi()));
+		}
+		else {
+			if (_V % (2 * pi()) < 0) {
+				if (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())) < 0) {
+					return 0.225 * ((1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * -(1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
+				}
+				else {
+					return 0.225 * ((1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
+				}
+			}
+			else {
+				if (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())) < 0) {
+					return 0.225 * ((1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * -(1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
+				}
+				else {
+					return 0.225 * ((1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
+				}
+			}
+		}
+	}
+}
+
+GEN_TYPE_double sqrt(GEN_TYPE_double _V){
+	if (_V <= 0) {
+		return 0;
+	}
+	else {
+		return _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, ((_V + 1.0) / 2.0)))))))))));
+	}
+}
+
+GEN_TYPE_double tan(GEN_TYPE_double _V){
+	return sin(_V) / cos(_V);
+}
+
+GEN_TYPE_double _sqrt(GEN_TYPE_double _X,GEN_TYPE_double _V){
+	return 0.5 * (_V + _X / _V);
+}
+
+GEN_TYPE_double pow(GEN_TYPE_double _V,GEN_TYPE_double _N){
+	if (_N == 0) {
+		return 1;
+	}
+	else {
+		if (_N < 0) {
+			if (_V == 0) {
+				return 0;
+			}
+			else {
+				return 1.0 / pow(_V, (-_N));
+			}
+		}
+		else {
+			if (_N == 1) {
+				return _V;
+			}
+			else {
+				return _V * pow(_V, (_N - 1));
+			}
+		}
+	}
+}
+
+GEN_TYPE_double factorial(GEN_TYPE_double _V){
+	if (_V % 1 != 0) {
+		return factorial((_V - _V % 1));
+	}
+	else {
+		if (_V == 0 || _V == 1) {
+			return 1;
+		}
+		else {
+			return factorial((_V - 1)) * _V;
+		}
+	}
+}
+
+GEN_TYPE_double min(GEN_TYPE_double _a,GEN_TYPE_double _b){
+	if (_a < _b) {
+		return _a;
+	}
+	return _b;
+}
+
+GEN_TYPE_double max(GEN_TYPE_double _a,GEN_TYPE_double _b){
+	if (_a > _b) {
+		return _a;
+	}
+	return _b;
+}
+
+GEN_TYPE_double rad2deg(GEN_TYPE_double _A){
+	return (_A / pi()) * 180.0;
+}
+
+GEN_TYPE_double deg2rad(GEN_TYPE_double _A){
+	return (_A / 180.0) * pi();
+}*/
+

org.fortiss.af3.platform.raspberry/tags/end-of-first-course/lib/src/CanConnector.c

+
+#include "inc/CanConnector.h"
+
+// constants
+const char* CAN_DEVICE_NAME = "can0";
+
+// variables
+struct can_socket* can_sock;
+
+// send and receive
+void can_send() {
+    // TODO send and empty buffer
+}
+
+void can_send_clock(CAN_CLK_T counter) {
+    // TODO send clock message with clock counter
+}
+
+void can_receive() {
+    // TODO fill buffer
+}
+
+CAN_CLK_T can_receive_clock() {
+    // TODO receive clock message and return clock counter
+}
+
+// init, terminate
+void can_init() {
+    printf("initializing CAN\n");
+
+    can_sock = can_socket_open(CAN_DEVICE_NAME);
+
+    // TODO init buffers
+}
+
+void can_term() {
+    printf("terminating CAN\n");
+
+    can_socket_close(can_sock);
+}
+
+void prepare_input_CanConnector() {}
+
+void finish_input_CanConnector() {}
+
+void prepare_output_CanConnector() {}
+
+void finish_output_CanConnector() {}
+
+// noval
+GEN_TYPE_boolean can_is_noval(CAN_MSG_T msg) {
+    return false;
+}
+
+GEN_TYPE_boolean can_set_noval(CAN_MSG_T msg) {
+    return false;
+}
+
+// readers
+GEN_TYPE_boolean can_read_bool(CAN_MSG_T msg) {
+    return false; // TODO
+}
+
+GEN_TYPE_double can_read_double(CAN_MSG_T msg) {
+    return 0.0; // TODO
+}
+
+GEN_TYPE_int can_read_int(CAN_MSG_T msg) {
+    return 0; // TODO
+}
+
+// writers
+void can_write_bool(CAN_MSG_T msg, GEN_TYPE_boolean value) {
+    // TODO
+}
+
+void can_write_double(CAN_MSG_T msg, GEN_TYPE_double value) {
+    // TODO
+}
+
+void can_write_int(CAN_MSG_T msg, GEN_TYPE_int value) {
+    // TODO
+}
+