/*
 * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
 *
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *    Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 *    Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the
 *    distribution.
 *
 *    Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 *  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 *  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
*/

/* ========================================================================== */
/*                             Include Files                                  */
/* ========================================================================== */

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <xdc/std.h>
#include <xdc/cfg/global.h>//anjana
#include <xdc/runtime/Error.h>
#include <xdc/runtime/System.h>

#include <xdc/runtime/Types.h>
#include <xdc/runtime/Timestamp.h>

#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>

#include <ti/ndk/inc/stkmain.h>
//tagged by anjana
#include <ti/ndk/inc/netmain.h>
#include <ti/sysbios/timers/dmtimer/Timer.h>

#include <ti/drv/emac/emac_drv.h>
#include <ti/drv/emac/src/v4/emac_drv_v4.h>

#include <ti/csl/soc.h>
#include <ti/csl/cslr_device.h>

#include <ti/drv/gpio/GPIO.h>//anjana
#include <ti/drv/gpio/soc/GPIO_soc.h>//anjana

#include <ti/board/board.h>

/* TI-RTOS Header files */
#include <ti/drv/i2c/I2C.h>
#include <ti/drv/i2c/soc/I2C_v1.h>
/* UART Header files */
#include <ti/drv/uart/UART.h>
#include <ti/drv/uart/UART_stdio.h>
#include <ti/csl/soc/am572x/src/csl_device_xbar.h>

/*GPIO_board.h*/
#include <ti/board/src/evmAM572x/include/board_cfg.h>
#include <ti/csl/soc/am572x/src/cslr_soc_mpu_baseaddress.h>

/* Enable the below macro to have prints on the IO Console */
//#define IO_CONSOLE

#ifndef IO_CONSOLE
#define NIMU_log                UART_printf
#else
#define NIMU_log                printf
#endif

/* ========================================================================== */
/*                             Macros                                  */
/* ========================================================================== */
/* LM Board PBx pins which are connected to GPIO pins. */
typedef enum GPIO_PUSHButton {
    USER_PB1 = 0,
    USER_PB2,
	USER_PB3
}GPIO_PUSHButton;
/**Phy address of  port 0 */
#define EMAC_CPSW_PORT0_PHY_ADDR_EVM     1
/**Phy address of port 1 */
#define EMAC_CPSW_PORT1_PHY_ADDR_EVM     2
#define MAX_TABLE_ENTRIES   3

//tagged by anjana
#define NMFACTOR 0.08099
#define DEGFACTOR 0.00015
#define PRT 1274 //for 784 prf
#define PI 3.14159265
#define RADIAN 0.0174 //PI/180
#define PIXEL_SCALE 37.5//75//450/6Nm,37.5//450/12Nm,150//450/3Nm //18.75 as 450/24Nm //4.4118 as 450/102NM


/* ========================================================================== */
/*                            Global Variables                                */
/* ========================================================================== */

/**Task handle for EIP*/
Task_Handle main_task;
static int nimu_device_index = 0U;
NIMU_DEVICE_TABLE_ENTRY NIMUDeviceTable[MAX_TABLE_ENTRIES];

void TaskFxn(UArg a0, UArg a1);

extern int CpswEmacInit (STKEVENT_Handle hEvent);
//tagged by anjana
void Init_variables(void);
void TimerInitialization();
void myIsr(UArg arg);
void app_delay(uint32_t delayValue);
void MicroSecDelay( UInt32 uSDelay );
void SendDataToPC();
void PixelCalc();
void CopyfirstPRT();
void Cmp_Copy_FivePRT();
/* Callback function */
void AppGpioCallbackFxn(void);
void AppGpioCallbackFxn_1(void);
void AppGpioCallbackFxn_2(void);
struct sockaddr_in sin1;
//---------------------------------------------------------------------------
// Configuration
//
//char *HostName1    = "tidsp";
volatile uint32_t gpio_intr_triggered = 0,gpio_intr_triggered_1=0;
Timer_Handle timerHandle;
char *LocalIPAddr1 = "192.168.1.2";
char *IPAddr = "192.168.1.144";
unsigned int CountPRT,CountSecond,TCP_TXBuffer,BearingCount;
float Bearingangle;

Bool Start_Count,NextData,NextTheta;
UInt16 NoOfSwipe,NoOfPRT,PrvRow,row,clmn,NoofdataSend,test=2200;
UInt16 THIndex,THIndx_prv,t,t1,t2,target_end,target_start;
Bool Start_PRT,Trigger,target_Flag,targetEnd_Flag,targetStart_Flag,BufferFillFlg,FalledgeFlag,RiseedgeFlag, NextPRTFlg,ThetaFlg,NextTrgtFlg_start,NextTrgtFlg_end;

UInt16 XY_buffer_1[5][1100];
UInt16 XY_buffer_2[1100];
UInt16 XY_OneSwipe_buff[6][13];

float SinTheta[360]={0,0.02,0.03,0.05,0.07,0.09,0.10,0.12,0.14,0.16,0.17,0.19,0.21,0.22,0.24,0.26,0.28,0.29,0.31,0.33,0.34,0.36,0.37,0.39,0.41,
					0.42,0.44,0.45,0.47,0.48,0.50,0.52,0.53,0.54,0.56,0.57,0.59,0.60,0.62,0.63,0.64,0.66,0.67,0.68,0.69,0.71,0.72,0.73,0.74,0.75,
					0.77,0.78,0.79,0.80,0.81,0.82,0.83,0.84,0.85,0.86,0.87,0.87,0.88,0.89,0.90,0.91,0.91,0.92,0.93,0.93,0.94,0.95,0.95,0.96,0.96,
					0.97,0.97,0.97,0.98,0.98,0.98,0.99,0.99,0.99,0.99,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,0.99,0.99,0.99,0.99,
					0.98,0.98,0.98,0.97,0.97,0.97,0.96,0.96,0.95,0.95,0.94,0.93,0.93,0.92,0.91,0.91,0.90,0.89,0.88,0.87,0.87,0.86,0.85,0.84,0.83,
					0.82,0.81,0.80,0.79,0.78,0.77,0.75,0.74,0.73,0.72,0.71,0.69,0.68,0.67,0.66,0.64,0.63,0.62,0.60,0.59,0.57,0.56,0.54,0.53,0.52,
					0.50,0.48,0.47,0.45,0.44,0.42,0.41,0.39,0.37,0.36,0.34,0.33,0.31,0.29,0.28,0.26,0.24,0.22,0.21,0.19,0.17,0.16,0.14,0.12,0.10,
					0.09,0.07,0.05,0.03,0.02,0.00,-0.02,-0.03,-0.05,-0.07,-0.09,-0.10,-0.12,-0.14,-0.16,-0.17,-0.19,-0.21,-0.22,-0.24,-0.26,-0.28,
					-0.29,-0.31,-0.33,-0.34,-0.36,-0.37,-0.39,-0.41,-0.42,-0.44,-0.45,-0.47,-0.48,-0.50,-0.52,-0.53,-0.54,-0.56,-0.57,-0.59,-0.60,
					-0.62,-0.63,-0.64,-0.66,-0.67,-0.68,-0.69,-0.71,-0.72,-0.73,-0.74,-0.75,-0.77,-0.78,-0.79,-0.80,-0.81,-0.82,-0.83,-0.84,-0.85,
					-0.86,-0.87,-0.87,-0.88,-0.89,-0.90,-0.91,-0.91,-0.92,-0.93,-0.93,-0.94,-0.95,-0.95,-0.96,-0.96,-0.97,-0.97,-0.97,-0.98,-0.98,
					-0.98,-0.99,-0.99,-0.99,-0.99,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-0.99,-0.99,-0.99,-0.99,-0.98,
					-0.98,-0.98,-0.97,-0.97,-0.97,-0.96,-0.96,-0.95,-0.95,-0.94,-0.93,-0.93,-0.92,-0.91,-0.91,-0.90,-0.89,-0.88,-0.87,-0.87,-0.86,
					-0.85,-0.84,-0.83,-0.82,-0.81,-0.80,-0.79,-0.78,-0.77,-0.75,-0.74,-0.73,-0.72,-0.71,-0.69,-0.68,-0.67,-0.66,-0.64,-0.63,-0.62,
					-0.60,-0.59,-0.57,-0.56,-0.54,-0.53,-0.52,-0.50,-0.48,-0.47,-0.45,-0.44,-0.42,-0.41,-0.39,-0.37,-0.36,-0.34,-0.33,-0.31,-0.29,
					-0.28,-0.26,-0.24,-0.22,-0.21,-0.19,-0.17,-0.16,-0.14,-0.12,-0.10,-0.09,-0.07,-0.05,-0.03,-0.02};
float CosTheta[360]={1.00,1.00,1.00,1.00,1.00,1.00,0.99,0.99,0.99,0.99,0.98,0.98,0.98,0.97,0.97,0.97,0.96,0.96,0.95,0.95,0.94,0.93,0.93,0.92,0.91,
					0.91,0.90,0.89,0.88,0.87,0.87,0.86,0.85,0.84,0.83,0.82,0.81,0.80,0.79,0.78,0.77,0.75,0.74,0.73,0.72,0.71,0.69,0.68,0.67,0.66,
					0.64,0.63,0.62,0.60,0.59,0.57,0.56,0.54,0.53,0.52,0.50,0.48,0.47,0.45,0.44,0.42,0.41,0.39,0.37,0.36,0.34,0.33,0.31,0.29,0.28,
					0.26,0.24,0.22,0.21,0.19,0.17,0.16,0.14,0.12,0.10,0.09,0.07,0.05,0.03,0.02,0.00,-0.02,-0.03,-0.05,-0.07,-0.09,-0.10,-0.12,-0.14,
					-0.16,-0.17,-0.19,-0.21,-0.22,-0.24,-0.26,-0.28,-0.29,-0.31,-0.33,-0.34,-0.36,-0.37,-0.39,-0.41,-0.42,-0.44,-0.45,-0.47,-0.48,
					-0.50,-0.52,-0.53,-0.54,-0.56,-0.57,-0.59,-0.60,-0.62,-0.63,-0.64,-0.66,-0.67,-0.68,-0.69,-0.71,-0.72,-0.73,-0.74,-0.75,-0.77,
					-0.78,-0.79,-0.80,-0.81,-0.82,-0.83,-0.84,-0.85,-0.86,-0.87,-0.87,-0.88,-0.89,-0.90,-0.91,-0.91,-0.92,-0.93,-0.93,-0.94,-0.95,
					-0.95,-0.96,-0.96,-0.97,-0.97,-0.97,-0.98,-0.98,-0.98,-0.99,-0.99,-0.99,-0.99,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,-1.00,
					-1.00,-1.00,-1.00,-0.99,-0.99,-0.99,-0.99,-0.98,-0.98,-0.98,-0.97,-0.97,-0.97,-0.96,-0.96,-0.95,-0.95,-0.94,-0.93,-0.93,-0.92,
					-0.91,-0.91,-0.90,-0.89,-0.88,-0.87,-0.87,-0.86,-0.85,-0.84,-0.83,-0.82,-0.81,-0.80,-0.79,-0.78,-0.77,-0.75,-0.74,-0.73,-0.72,
					-0.71,-0.69,-0.68,-0.67,-0.66,-0.64,-0.63,-0.62,-0.60,-0.59,-0.57,-0.56,-0.54,-0.53,-0.52,-0.50,-0.48,-0.47,-0.45,-0.44,-0.42,
					-0.41,-0.39,-0.37,-0.36,-0.34,-0.33,-0.31,-0.29,-0.28,-0.26,-0.24,-0.22,-0.21,-0.19,-0.17,-0.16,-0.14,-0.12,-0.10,-0.09,-0.07,
					-0.05,-0.03,-0.02,0.00,0.02,0.03,0.05,0.07,0.09,0.10,0.12,0.14,0.16,0.17,0.19,0.21,0.22,0.24,0.26,0.28,0.29,0.31,0.33,0.34,0.36,
					0.37,0.39,0.41,0.42,0.44,0.45,0.47,0.48,0.50,0.52,0.53,0.54,0.56,0.57,0.59,0.60,0.62,0.63,0.64,0.66,0.67,0.68,0.69,0.71,0.72,0.73,
					0.74,0.75,0.77,0.78,0.79,0.80,0.81,0.82,0.83,0.84,0.85,0.86,0.87,0.87,0.88,0.89,0.90,0.91,0.91,0.92,0.93,0.93,0.94,0.95,0.95,0.96,
					0.96,0.97,0.97,0.97,0.98,0.98,0.98,0.99,0.99,0.99,0.99,1.00,1.00,1.00,1.00,1.00};


/* ========================================================================== */
/*                          Function Definitions                              */
/* ========================================================================== */

/**
 *  \name main
 *  \brief Main Function
 *  \param none
 *  \return none
 *
 */
int main()
{
    /* Call board init functions */
    Board_initCfg boardCfg;
    Task_Params taskParams;
    EMAC_HwAttrs_V4 cfg;
    boardCfg =  BOARD_INIT_PINMUX_CONFIG |
    BOARD_INIT_MODULE_CLOCK | BOARD_INIT_UART_STDIO | BOARD_INIT_PLL_OPP_HIGH;
    Board_init(boardCfg);

    CSL_xbarMpuIrqConfigure(CSL_XBAR_INST_MPU_IRQ_92, CSL_XBAR_GMAC_SW_IRQ_RX_PULSE);
    CSL_xbarMpuIrqConfigure(CSL_XBAR_INST_MPU_IRQ_93, CSL_XBAR_GMAC_SW_IRQ_TX_PULSE);

    /* Select RGMII 2 ports GMIIx_SEL = 2 for RGMII*/
   CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_1,
          CONTROL_CORE_CONTROL_IO_1_GMII1_SEL, 2U);
    CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_1,
          CONTROL_CORE_CONTROL_IO_1_GMII2_SEL, 2U);

    /*GMAC RESET ISOLATION Enable*/
    CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_2,
          CONTROL_CORE_CONTROL_IO_2_GMAC_RESET_ISOLATION_ENABLE, 0U);
    CSL_FINS (((CSL_control_coreRegs *) CSL_MPU_CTRL_MODULE_CORE_CORE_REGISTERS_REGS)->CONTROL_IO_2,
          CONTROL_CORE_CONTROL_IO_2_GMAC_RESET_ISOLATION_ENABLE, 1U);


    EMAC_socGetInitCfg(0, &cfg);
    cfg.port[0].phy_addr = EMAC_CPSW_PORT0_PHY_ADDR_EVM;
    cfg.port[1].phy_addr = EMAC_CPSW_PORT1_PHY_ADDR_EVM;
    EMAC_socSetInitCfg(0, &cfg);

    Init_variables();

    /*Task_Params_init(&taskParams);
    taskParams.priority = 2;
    taskParams.stackSize = 0x1400;
    main_task = Task_create (TaskFxn, &taskParams, NULL);*/

    //Tagged by anjana
    /*Task_Params_init(&taskParams);
    taskParams.priority = 5;
    taskParams.stackSize = 0x1400;
    main_task = Task_create (PixelCalc, &taskParams, NULL);*/

    Task_Params_init(&taskParams);
    taskParams.priority = 1;//4;
    taskParams.stackSize = 0x1400;
    main_task = Task_create (SendDataToPC, &taskParams, NULL);

    NIMUDeviceTable[nimu_device_index++].init =  &CpswEmacInit ;
    NIMUDeviceTable[nimu_device_index].init =  NULL ;
    TimerInitialization();
    /***********************/
      	GPIO_init();

            /* Set the callback function */
            GPIO_setCallback(USER_PB1, AppGpioCallbackFxn);
            GPIO_setCallback(USER_PB2, AppGpioCallbackFxn_1);
            GPIO_setCallback(USER_PB3, AppGpioCallbackFxn_2);

     /******************************/
    BIOS_start();

    return -1;
}

void Init_variables(void)
{
   //TCP_TXBuffer=0,
	THIndex =0;
   THIndx_prv=0;
   NextData=0;
   NextTheta=0;
   Start_Count=0;
   CountPRT=0;
   CountSecond=0;
   BearingCount=0;
   Bearingangle=0;

   row=0;
   PrvRow=0;
   NoofdataSend=0;
   clmn =0;
   NoOfPRT=0;
   NoOfSwipe=0;
   BufferFillFlg =0;
   NextPRTFlg=0;
   ThetaFlg=0;
   NextTrgtFlg_start=0;
   target_Flag=0;
   targetEnd_Flag=0;
   targetStart_Flag=0;
   target_start=0;
   target_end=0;
   Trigger=0;
   Start_PRT=0;
   FalledgeFlag=0;
   RiseedgeFlag=0;

}
/*initialization for 1 microsecond timer*/
void TimerInitialization()
{
	Timer_Params timerParams;
	Timer_Handle myTimer;
	Error_Block eb;
	Error_init(&eb);
	Timer_Params_init(&timerParams);
	timerParams.period = 1;
	timerParams.periodType = Timer_PeriodType_MICROSECS;
	timerParams.arg = 1;
	timerParams.startMode = Timer_StartMode_AUTO;
	myTimer = Timer_create(Timer_ANY, myIsr, &timerParams, &eb);
	if (myTimer == NULL) {
	System_abort("Timer create failed");
	}

}
void myIsr(UArg arg)
{

	if(Start_Count)
	{

			CountPRT++;
			BearingCount++;
		if(BearingCount==517)		{
			Bearingangle=Bearingangle+1;
			if(Bearingangle>=4096)
			{
				Bearingangle=0;
				NoOfPRT=0;
				//NoOfSwipe++;
			}

			BearingCount=0;
		}
		//if(CountSecond<2342857)
		{
		CountSecond++;
		}
		/*else
		{CountSecond=0;}*/

	}
	//System_exit(0);
}
/**
 *  \name TaskFxn
 *  \brief Task which do EIP initialization
 *  \param a0
 *  \param a1
 *  \return none
 *
 */
/*void TaskFxn(UArg a0, UArg a1)
{
	NIMU_log("\n\rSYS/BIOS Ethernet/IP (CPSW) Sample application\n\r");
//    SendDataToPC();
}*/
void PixelCalc()
{
	Int16 Pixel_X,Pixel_Y;
	float RangeInNM,Theta;
    if(NoOfPRT<1726)
	 {

    	/*if((target_Flag)||(targetEnd_Flag))
    	{

    		 if(NextData)
    		   {
    			   NextData=0;
    			   clmn++;
    			   //row=0;
    			   if(clmn==1)
    			   {
    				   NoofdataSend=row;
    				   //CopyfirstPRT();
    				   //Cmp_Copy_FivePRT();
    				   //target_Flag=0;
    				   BufferFillFlg =1;
    				   clmn=0;
    			   }
    			   row=0;
    		   }
    		   else{}

    		   if(target_Flag)
    		   {   t=target_start;


    		   }
    		   else if(targetEnd_Flag)
    			   t=target_end;

    		   RangeInNM = t * NMFACTOR;				//r (NM)
   			   //Theta = (PRT*NoOfPRT+t)*DEGFACTOR;//? (deg)
   			   //Theta = Theta + 0.05;
    		   Theta = Bearingangle/11.4;
   			   THIndex=(Int16)Theta;
   			   Pixel_X = (int)((RangeInNM*SinTheta[THIndex])*PIXEL_SCALE);		//x (NM)
   			   Pixel_Y = (int)((RangeInNM*CosTheta[THIndex])*PIXEL_SCALE);		//y (NM)				//S
   			   if(ThetaFlg==0)
   			   {
   				ThetaFlg=1;
   				XY_buffer_1[clmn][row]=THIndex;
   				THIndx_prv=THIndex;
   			    row++;
   			   }
   			   else{}
   			   XY_buffer_1[clmn][row]= Pixel_X+450;
   			   row++;
   			   XY_buffer_1[clmn][row]= 450-Pixel_Y;
   			   row++;

    		  if(target_Flag==1)
    		   {
    		   target_Flag=0;
    		   XY_buffer_1[clmn][row]=  1;
    		   RiseedgeFlag=1;
    		   }
    		  else if(targetEnd_Flag==1)
			   {targetEnd_Flag=0;
			   RiseedgeFlag=0;
			   XY_buffer_1[clmn][row]=  0;
			   FalledgeFlag=1;
			   PrvRow=row;
			   }

    		   row++;
    		}*/

    	/*else if((RiseedgeFlag==1)&&(CountPRT>60))
    	{
    		t=60;
    		RiseedgeFlag=0;
    		RangeInNM = t * NMFACTOR;				//r (NM)
			   //Theta = (PRT*NoOfPRT+t)*DEGFACTOR;//? (deg)
			   //Theta = Theta + 0.05;
			   Theta = Bearingangle/11.4;
			   THIndex=(Int16)Theta;
			   Pixel_X = (int)((RangeInNM*SinTheta[THIndex])*PIXEL_SCALE);		//x (NM)
			   Pixel_Y = (int)((RangeInNM*CosTheta[THIndex])*PIXEL_SCALE);		//y (NM)				//S
			  /* if(ThetaFlg==0)
			   {
				ThetaFlg=1;
				XY_buffer_1[clmn][row]=THIndex;
				THIndx_prv=THIndex;
				row++;
			   }
			   else{}*/
			/*   XY_buffer_1[clmn][row]= Pixel_X+450;
			   row++;
			   XY_buffer_1[clmn][row]= 450-Pixel_Y;
			   row++;
			   XY_buffer_1[clmn][row]=  0;
			   row++;

    	}*/


        	if(target_Flag)
        	{
        		target_Flag=0;
        		 if(NextData)
        		   {
        			   NextData=0;
        			   clmn++;
        			   //row=0;
        			   if(clmn==5)
        			   {
        				   NoofdataSend=row;
        				   CopyfirstPRT();
        				   //Cmp_Copy_FivePRT();
        				   //target_Flag=0;
        				   BufferFillFlg =1;
        				   clmn=0;

        			   }
        			   row=0;
        		   }
        		   else{}

     				   if(ThetaFlg==0)
    				   {
    						ThetaFlg=1;
    						row=0;
    						Theta = Bearingangle/11.4;
    						THIndex=(Int16)Theta;
    						XY_buffer_1[clmn][row]=THIndex;
    						//THIndx_prv=THIndex;
    						row++;
    						PrvRow=row;
    				   }
    				   else{}

     				   /*if(RiseedgeFlag==1)
     				   {
     					  row = PrvRow;
     				   }*/
     				   RiseedgeFlag=1;
     				   FalledgeFlag=0;
     				   t1=target_start;
    				   RangeInNM = t1 * NMFACTOR;				//r (NM)
    				   Pixel_X = (int)((RangeInNM*SinTheta[THIndex])*PIXEL_SCALE);		//x (NM)
    				   Pixel_Y = (int)((RangeInNM*CosTheta[THIndex])*PIXEL_SCALE);		//y (NM)				//S
    				   XY_buffer_1[clmn][row]= Pixel_X+450;
    				   row++;
    				   XY_buffer_1[clmn][row]= 450-Pixel_Y;
       				   row++;
    				   XY_buffer_1[clmn][row]= 1;
    				   row++;
    				   XY_buffer_1[clmn][row]= Pixel_X+450;
    				   				   row++;
    				   				   XY_buffer_1[clmn][row]= 450-Pixel_Y;
    				   				   row++;
    				   				   XY_buffer_1[clmn][row]= 0;
    				   				   row++;

    				   //Theta = (PRT*NoOfPRT+t)*DEGFACTOR;//? (deg)
    				   //Theta = Theta + 0.05;
        	}


        	else if((targetEnd_Flag)&&(RiseedgeFlag))
        	{
        		   targetEnd_Flag=0;
    			   RiseedgeFlag=0;
    			   FalledgeFlag=1;
    			   t2=target_end;
    			   for(t=t1+1;t<=t2;t++)
    			   {
    			   RangeInNM = t * NMFACTOR;				//r (NM)
    			   Pixel_X = (int)((RangeInNM*SinTheta[THIndex])*PIXEL_SCALE);		//x (NM)
    			   Pixel_Y = (int)((RangeInNM*CosTheta[THIndex])*PIXEL_SCALE);		//y (NM)				//S
    			   XY_buffer_1[clmn][row]= Pixel_X+450;
    			   row++;
    			   XY_buffer_1[clmn][row]= 450-Pixel_Y;
    			   row++;
    			   XY_buffer_1[clmn][row]= 1;
    		    		row++;
    		    		XY_buffer_1[clmn][row]= Pixel_X+450;
    		    		row++;
    		    		XY_buffer_1[clmn][row]= 450-Pixel_Y;
    		 		    		row++;

    		 		    		XY_buffer_1[clmn][row]= 0;
    		 		    		    		row++;
    			   }
    			  // PrvRow=row;
        	}
        	/*else if((RiseedgeFlag)&&(FalledgeFlag==0))
        	        	{
        	        		if(t<CountPRT)
        	        		{
        	        		t=CountPRT;
        	        		RangeInNM = t * NMFACTOR;				//r (NM)
        	        		Pixel_X = (int)((RangeInNM*SinTheta[THIndex])*PIXEL_SCALE);		//x (NM)
        	        		Pixel_Y = (int)((RangeInNM*CosTheta[THIndex])*PIXEL_SCALE);		//y (NM)				//S
        	        		XY_buffer_1[clmn][row]= Pixel_X+450;
        	        		row++;
        	        		XY_buffer_1[clmn][row]= 450-Pixel_Y;
        	         		row++;
        	        		/*XY_buffer_1[clmn][row]= 1;
        	        		row++;
        	        		XY_buffer_1[clmn][row]= Pixel_X+450;
        	        		row++;
        	        		XY_buffer_1[clmn][row]= 450-Pixel_Y;
        	     		    		row++;

        	     		    		XY_buffer_1[clmn][row]= 0;
        	     		    		    		row++;
        	        		}
        	        	}*/

	 }
}


/*void Cmp_Copy_FivePRT()
{
int R,C;
	for(R=0;R<4;R++)
	{
		for(C=0;C<7;C++)
		 {
		 	if(XY_buffer_1[R][C]!= XY_buffer_1[R+1][C])
		 		{XY_buffer_2[C]=XY_buffer_1[R][C];}

		 }
	}
}*/
void Cmp_Copy_FivePRT()
{
int R,C,count,index=0;
XY_buffer_2[index]=XY_buffer_1[1][0];
index++;
for(C=1;C<NoofdataSend;C++)
{
	for(R=0;R<3;R++)
	{
		if(XY_buffer_1[R][C]== XY_buffer_1[R+1][C])
			{count++;}
		else
		{count--;}
	}
	if(count>2)
	{
		XY_buffer_2[index]=XY_buffer_1[4][C];
	index++;
	}
	count=0;
}
NoofdataSend=index;
}
void CopyfirstPRT()
{
	int C;
	for(C=0;C<NoofdataSend;C++)
	 {

	 	XY_buffer_2[C]=XY_buffer_1[4][C];
	 }
/*	C=NoofdataSend-1;
	if(XY_buffer_2[C]==1)
	{NoofdataSend=NoofdataSend-3;}*/
}

void SendDataToPC()
{
	SOCKET s = INVALID_SOCKET;
	struct sockaddr_in sin1;
	int K,I,respose,NoOfBytes;
	UInt16 *pBuf = 0;
	struct timeval timeout;
	//app_delay(1000000);
	//Task_sleep(10);
	// Allocate the file descriptor environment for this Task

	fdOpenSession( (HANDLE)Task_self() );
	NIMU_log("\n== Start TCP Client Test ==\n");

	// Create test socket
//	s = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
	s = socket(AF_INET, SOCK_STREAM, 0);
	if( s == INVALID_SOCKET )
	{
		NIMU_log("failed socket create (%d)\n",fdError());
	goto leave;
	}

	// Prepare address for connect
	bzero( &sin1, sizeof(struct sockaddr_in) );
	sin1.sin_family = AF_INET;
	sin1.sin_addr.s_addr =  inet_addr(IPAddr);//inet_addr(SERVER_IP);//htonl(-1);
	sin1.sin_port = htons(5060);//htons(9000);
	// Configure our Tx and Rx timeout to be 5 seconds For TCPIP
	timeout.tv_sec = 5;
	timeout.tv_usec = 0;

	if(setsockopt( s, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof( timeout ) ) < 0 )
			{
				NIMU_log("failed Socket opt(%d)\n",fdError());
			goto leave;
			}
	else
	{NIMU_log("Socket opt succesful\n");}

	//setsockopt( s, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof( timeout ) );
	// Connect socket
	if( connect( s, (PSA) &sin1, sizeof(sin1) ) < 0 )
	{
		NIMU_log("failed connect (%d)\n",fdError());
	goto leave;
	}

	// Allocate a working buffer
    if( !(pBuf = malloc( test )) )
    	{
    		NIMU_log("failed temp buffer allocation\n");
    	goto leave;
    	}
    //Task_sleep(50);
   	// Fill buffer with a test pattern

    K=0;
    NIMU_log("Start Send\n");
    Start_PRT=1;
    GPIO_enableInt(USER_PB1);
    GPIO_enableInt(USER_PB2);
    GPIO_enableInt(USER_PB3);

    while(1)//(NoOfSwipe<=1)//(1)
    {
    	if(Start_Count==1)
    	{
				if(NoOfPRT<1726)
				{
					PixelCalc ();
					if(BufferFillFlg==1)
					{
					BufferFillFlg=0;
					K++;
						for(I=0; I<NoofdataSend; I++)
							{
							// *(pBuf+I)=XY_buffer_1[0][I];

							*(pBuf+I)	=XY_buffer_2[I];//XY_buffer_1[0][I];
							//XY_OneSwipe_buff[NoOfSwipe][I]=XY_buffer_2[I];
							}
						NoOfBytes = NoofdataSend*2;
						/*I=50;
						*(pBuf+I)='\n';*/
						respose=send( s, pBuf, NoOfBytes, 0 );
						/*for(I=0; I<NoOfBytes; I++)
										{
										NIMU_log("%d,",*(pBuf+I));
										}
										NIMU_log("row:%d,",NoofdataSend);
										NIMU_log("\n");*/
						//				row=0;
						//				clmn=0;
						//NIMU_log("%d\n",respose);
						if(respose<0)
						{
						NIMU_log("send failed (%d)\n",fdError());
						}
						//NIMU_log("PRT (%d)\n",NoOfPRT);
					}
				}
				else
				{
					//NoOfPRT=0;
					//NoOfSwipe++;
				}
    	}
    }
    NIMU_log("Second1:%d\n",CountSecond);
    NIMU_log("Total PRT= %d\n",K);

	leave:
	if( pBuf )
	free( pBuf );
	if( s != INVALID_SOCKET )
	fdClose( s );
	NIMU_log("Second2:%d\n",CountSecond);
	NIMU_log("== End TCP Client Test ==\n\n");

	// Free the file descriptor environment for this Task
	fdCloseSession( (HANDLE)Task_self() );
	Task_exit();
	}

/*
 *  ======== Callback function ========
 */
void AppGpioCallbackFxn(void)
{
	//gpio_intr_triggered = 1;

	if((CountPRT<70)&&(Trigger==1))
	{

			target_Flag=1;
			targetStart_Flag=1;
			target_start=CountPRT;

	}

	else{Trigger=0;
	targetStart_Flag=0;}
}
void AppGpioCallbackFxn_1(void)
{

	if(targetStart_Flag==1)
		{
			targetStart_Flag=0;
			targetEnd_Flag=1;
			target_end=CountPRT;
		}

}
void AppGpioCallbackFxn_2(void)
{
	if(Start_PRT==1)
	{
		Start_Count=1;
		Start_PRT=0;
	}
	Trigger=1;
	//BufferFillFlg =0;
	NextData=1;
	CountPRT=0;
	NoOfPRT++;
	ThetaFlg=0;
}

/******************************/

void app_delay(uint32_t delayValue)
{
    volatile uint32_t delay = delayValue*10;
    while (delay--);
}