Initial Commit - Copy from Altus Metrum AltOS
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233
ao-tools/ao-cal-accel/ao-cal-accel.c
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233
ao-tools/ao-cal-accel/ao-cal-accel.c
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/*
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* Copyright © 2014 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#include <err.h>
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#include <fcntl.h>
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#include <gelf.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <sysexits.h>
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#include <unistd.h>
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#include <getopt.h>
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#include <string.h>
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#include <stdbool.h>
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#include <termios.h>
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#include "ao-elf.h"
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#include "ccdbg.h"
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#include "cc-usb.h"
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#include "cc.h"
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#include "ao-verbose.h"
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static const struct option options[] = {
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{ .name = "tty", .has_arg = 1, .val = 'T' },
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{ .name = "device", .has_arg = 1, .val = 'D' },
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{ .name = "raw", .has_arg = 0, .val = 'r' },
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{ .name = "verbose", .has_arg = 1, .val = 'v' },
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{ 0, 0, 0, 0},
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};
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static void usage(char *program)
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{
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fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>]\n", program);
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exit(1);
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}
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static void
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done(struct cc_usb *cc, int code)
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{
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cc_usb_close(cc);
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exit (code);
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}
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static char **
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tok(char *line) {
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char **strs = malloc (sizeof (char *)), *str;
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int n = 0;
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while ((str = strtok(line, " \t"))) {
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line = NULL;
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strs = realloc(strs, (n + 2) * sizeof (char *));
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strs[n] = strdup(str);
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n++;
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}
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strs[n] = '\0';
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return strs;
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}
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struct flash {
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struct flash *next;
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char line[512];
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char **strs;
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};
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static struct flash *
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flash(struct cc_usb *usb)
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{
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struct flash *head = NULL, **tail = &head;
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cc_usb_printf(usb, "c s\nv\n");
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for (;;) {
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char line[512];
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struct flash *b;
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cc_usb_getline(usb, line, sizeof (line));
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b = malloc (sizeof (struct flash));
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strcpy(b->line, line);
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b->strs = tok(line);
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b->next = NULL;
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*tail = b;
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tail = &b->next;
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if (strstr(line, "software-version"))
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break;
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}
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return head;
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}
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static char **
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find_flash(struct flash *b, char *word0) {
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for (;b; b = b->next) {
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if (strstr(b->line, word0))
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return b->strs;
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}
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return NULL;
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}
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static void
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await_key(void)
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{
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struct termios termios, termios_save;
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char buf[512];
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tcgetattr(0, &termios);
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termios_save = termios;
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cfmakeraw(&termios);
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tcsetattr(0, TCSAFLUSH, &termios);
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read(0, buf, sizeof (buf));
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tcsetattr(0, TCSAFLUSH, &termios_save);
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}
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static int
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do_cal(struct cc_usb *usb) {
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struct flash *b;
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char **accel;
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char line[1024];
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int l = 0;
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int running = 0;
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int worked = 1;
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cc_usb_printf(usb, "E 1\nc a 0\n");
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for (;;) {
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int c = cc_usb_getchar_timeout(usb, 20*1000);
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if (c == '\n')
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l = 0;
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else if (l < sizeof (line) - 1)
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line[l++] = c;
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line[l] = '\0';
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putchar(c); fflush(stdout);
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if (strstr(line, "press a key...")) {
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await_key();
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cc_usb_printf(usb, " ");
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l = 0;
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running = 1;
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}
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else if (strstr(line, "Invalid"))
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worked = 0;
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if (running && strstr(line, ">")) {
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printf("\n");
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break;
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}
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}
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cc_usb_printf(usb, "E 0\n");
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if (!worked) {
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printf("Calibration failed\n");
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return 0;
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}
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b = flash(usb);
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accel = find_flash(b, "Accel cal");
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if (!accel) {
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printf("no response\n");
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return 0;
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}
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printf ("Accel cal +1g: %s -1g: %s\n",
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accel[3], accel[5]);
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printf ("Saving..."); fflush(stdout);
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cc_usb_printf (usb, "c w\n");
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cc_usb_sync(usb);
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b = flash(usb);
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printf ("done\n");
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return worked;
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}
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int
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main (int argc, char **argv)
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{
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char *device = NULL;
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int c;
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struct cc_usb *cc = NULL;
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char *tty = NULL;
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int verbose = 0;
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int ret = 0;
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while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
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switch (c) {
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case 'T':
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tty = optarg;
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break;
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case 'D':
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device = optarg;
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break;
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case 'v':
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verbose++;
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break;
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default:
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usage(argv[0]);
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break;
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}
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}
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ao_verbose = verbose;
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if (verbose > 1)
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ccdbg_add_debug(CC_DEBUG_BITBANG);
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if (!tty)
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tty = cc_usbdevs_find_by_arg(device, "AltosFlash");
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if (!tty)
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tty = cc_usbdevs_find_by_arg(device, "TeleMega");
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if (!tty)
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tty = getenv("ALTOS_TTY");
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if (!tty)
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tty="/dev/ttyACM0";
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cc = cc_usb_open(tty);
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if (!cc)
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exit(1);
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if (!do_cal(cc))
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ret = 1;
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done(cc, ret);
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}
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