From e5304ee6d117e37a13e82f8b12a94f8592e754ab Mon Sep 17 00:00:00 2001
From: "matthias.ringwald"
 <matthias.ringwald@1a0a8af8-31b5-11de-8e0c-53a27eea117e>
Date: Thu, 5 Nov 2009 21:06:19 +0000
Subject: [PATCH] fix compare of null pointer timers

---
 TODO.txt                                      |  1 -
 .../Classes/WiiMoteOpenGLDemoAppDelegate.m    | 21 ++++++++++++++++---
 project.xcodeproj/project.pbxproj             |  2 ++
 src/run_loop.c                                |  4 ++--
 4 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/TODO.txt b/TODO.txt
index 6819f030d..82f17c6eb 100644
--- a/TODO.txt
+++ b/TODO.txt
@@ -1,7 +1,6 @@
 /* new todo file for BTstack */
 
 NEXT:
-- redo status bar icon. it's too dark.
 - check why BT does not shut off after a while of inactivity on iPhone
 - WiiMote Demo
   - upside down is not shown correctly
diff --git a/example/WiiMoteOpenGLDemo/Classes/WiiMoteOpenGLDemoAppDelegate.m b/example/WiiMoteOpenGLDemo/Classes/WiiMoteOpenGLDemoAppDelegate.m
index e4824b458..40245e74a 100644
--- a/example/WiiMoteOpenGLDemo/Classes/WiiMoteOpenGLDemoAppDelegate.m
+++ b/example/WiiMoteOpenGLDemo/Classes/WiiMoteOpenGLDemoAppDelegate.m
@@ -58,28 +58,41 @@ WiiMoteOpenGLDemoAppDelegate * theMainApp;
 @synthesize inqViewControl;
 
 #define SIZE  5
+int counter;
 static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
 	// NSLog(@"BT data: %u %u %u", x , y ,z);
 	// [[theMainApp status] setText:[NSString stringWithFormat:@"X:%03u Y:%03u Z:%03u", x, y, z]];
 	float ax = x - 128;
 	float ay = y - 128;
 	float az = z - 128;
+	
+#if 0
+	// normalize
+	float sum = ax + ay + az;
+	ax /= sum;
+	ay /= sum;
+	az /= sum;
+#endif
+	
 	int roll  = atan2(ax, sqrt(ay*ay+az*az)) * 180 / M_PI; 
 	int pitch = atan2(ay, sqrt(ax*ax+az*az)) * 180 / M_PI;
+	int theta = atan2(sqrt(ax*ax+ay*ay), az) * 180 / M_PI;
 	if (az < 0) {
-		// roll  = 180 - roll;
-		// pitch = 180 - pitch;
+	 	pitch  = 180 - pitch;
 	}
-	NSLog(@"BT data: %f %f %f: pitch %i, roll %i", ax , ay ,az, pitch, roll);
+	if ( (++counter & 15) == 0)
+		NSLog(@"BT data: %f %f %f: pitch %i, roll %i, yaw %i", ax , ay ,az, pitch, roll, theta);
 
 #if 1
 	// moving average of size SIZE
 	static int pos = 0;
 	static int historyRoll[SIZE];
 	static int historyPitch[SIZE];
+	static int historyTheta[SIZE];
 	
 	historyRoll[pos] = roll;
 	historyPitch[pos] = pitch;
+	historyTheta[pos] = theta;
 	pos++;
 	if (pos==SIZE) pos = 0;
 	
@@ -88,9 +101,11 @@ static void bt_data_cb(uint8_t x, uint8_t y, uint8_t z){
 	for (i=0;i<SIZE;i++){
 		roll  += historyRoll[i];
 		pitch += historyPitch[i];
+		theta += historyTheta[i];
 	}
 	roll = roll / SIZE;
 	pitch = pitch / SIZE;
+	theta = theta / SIZE;
 #endif	
 	[[theMainApp glView] setRotationX:-pitch Y:roll Z:0];
 }
diff --git a/project.xcodeproj/project.pbxproj b/project.xcodeproj/project.pbxproj
index fb56e2732..276b06aa1 100644
--- a/project.xcodeproj/project.pbxproj
+++ b/project.xcodeproj/project.pbxproj
@@ -94,6 +94,7 @@
 		9C88500D0FBF6702004980E4 /* l2cap.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; name = l2cap.h; path = src/l2cap.h; sourceTree = "<group>"; };
 		9C994B8E106BEEB700C70311 /* rfcomm.c */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.c; name = rfcomm.c; path = example/rfcomm.c; sourceTree = "<group>"; };
 		9CA3C0900FB8B3C4005F48DE /* TODO.txt */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = text; path = TODO.txt; sourceTree = "<group>"; };
+		9CBE154810A354FF00597802 /* package.sh */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = text.script.sh; path = package.sh; sourceTree = "<group>"; };
 		9CC152C61009052100223347 /* config.h */ = {isa = PBXFileReference; fileEncoding = 5; lastKnownFileType = sourcecode.c.h; path = config.h; sourceTree = "<group>"; };
 		9CC813A10FFC0774002816F9 /* btstack.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = btstack.c; path = src/btstack.c; sourceTree = "<group>"; };
 		9CC813A40FFC0A51002816F9 /* daemon.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = daemon.c; path = src/daemon.c; sourceTree = "<group>"; };
@@ -131,6 +132,7 @@
 		08FB7794FE84155DC02AAC07 /* project */ = {
 			isa = PBXGroup;
 			children = (
+				9CBE154810A354FF00597802 /* package.sh */,
 				9CEB4B7510715DC200DD5720 /* include */,
 				9C77E4AD10634E3100F39DCF /* 3rdparty */,
 				9C78A049103C671D003B2950 /* Resources */,
diff --git a/src/run_loop.c b/src/run_loop.c
index fb5c905ba..c104ee7e3 100644
--- a/src/run_loop.c
+++ b/src/run_loop.c
@@ -141,7 +141,7 @@ void run_loop_set_timer(timer_t *a, int timeout_in_ms){
 // compare timers - NULL is assumed to be before the Big Bang
 // pre: 0 <= tv_usec < 1000000
 int run_loop_timeval_compare(struct timeval *a, struct timeval *b){
-    if (!a || !b) return 0;
+    if (!a && !b) return 0;
     if (!a) return -1;
     if (!b) return 1;
     
@@ -166,7 +166,7 @@ int run_loop_timeval_compare(struct timeval *a, struct timeval *b){
 // compare timers - NULL is assumed to be before the Big Bang
 // pre: 0 <= tv_usec < 1000000
 int run_loop_timer_compare(timer_t *a, timer_t *b){
-    if (!a || !b) return 0;
+    if (!a && !b) return 0;
     if (!a) return -1;
     if (!b) return 1;
     return run_loop_timeval_compare(&a->timeout, &b->timeout);