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try cleaner sweep synchronization algorithm

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The predictive part doesn't produce useful results so far, so we still
use a fixed offset from the trigger.
This commit is contained in:
Werner Almesberger
2012-06-25 10:48:19 -03:00
parent 023c2aa1e9
commit 00180fb287
2 changed files with 144 additions and 48 deletions
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110
fw/antorcha.c
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@@ -25,7 +25,7 @@
static struct sweep sweep = {
.pixel_ticks = 1000, /* 1 ms */
.pixel_ticks = 1100, /* 1.1 ms */
.left = 0,
.right = MAX_LINES-1,
.forward = 1,
@@ -33,70 +33,86 @@ static struct sweep sweep = {
static volatile enum sync_state {
IDLE,
LEFT_DECEL,
LEFT_ACCEL,
FWD_START_SWEEP,
FWD_SWEEP,
IDLE, /* undecided */
BWD, /* backward sweep */
LEFT, /* reversing from backward to forward */
FWD, /* forward sweep */
RIGHT, /* reversing from forward to backward */
} state = IDLE;
static volatile uint32_t tR0, tR1, tL0, tL1;
static volatile uint32_t tL, tR;
static volatile bool wake = 0;
#define LEFT_DECEL_THRESH 850
#define LEFT_REVERSE_THRESH 900
#define LEFT_ACCEL_THRESH 850
#define RIGHT_DECEL_THRESH 200
//#define THRESH_HIGH 900
//#define THRESH_LOW 120
#define THRESH_HIGH 850
#define THRESH_LOW 170
static void sync_sweep(bool x, uint16_t v)
{
static uint32_t t;
uint32_t t;
if (!x)
return;
t = uptime_irq();
switch (state) {
default:
case IDLE:
if (v < LEFT_DECEL_THRESH)
break;
state = LEFT_DECEL;
t = uptime_irq();
break;
case LEFT_DECEL:
if (v < LEFT_DECEL_THRESH) {
t = uptime_irq();
break;
if (v < THRESH_LOW) {
tR0 = t;
state = RIGHT;
} else if (v > THRESH_HIGH) {
tL0 = t;
state = LEFT;
}
#if 0
if (v > LEFT_REVERSE_THRESH)
state = LEFT_ACCEL;
break;
case LEFT_ACCEL:
if (v > LEFT_ACCEL_THRESH)
case RIGHT:
if (v < THRESH_LOW)
break;
#else
if (v < LEFT_REVERSE_THRESH)
tR1 = t;
tR = t-tR0;
state = BWD;
/* fall through */
case BWD:
if (v < THRESH_HIGH)
break;
#endif
if (sweeping) { /* we're confused */
state = IDLE;
break;
}
state = FWD_START_SWEEP;
/* t = t1-(t1+t0)/2 = (t1-t0)/2 */
t = (uptime_irq()-t) >> 1;
// sweep.wait_ticks = kkkkkk
break;
case FWD_START_SWEEP:
tL0 = t;
state = LEFT;
wake = 1;
break;
case FWD_SWEEP:
if (v > RIGHT_DECEL_THRESH)
case LEFT:
if (v > THRESH_HIGH)
break;
state = IDLE;
tL1 = t;
tL = t-tL0;
state = FWD;
/* fall through */
case FWD:
if (v > THRESH_LOW)
break;
tR0 = t;
state = RIGHT;
// wake = 1;
break;
}
}
static void submit_fwd_sweep(void)
{
#if 0
uint32_t tIMG;
tIMG = (sweep.right-sweep.left+1)*(sweep.pixel_ticks)/2;
sweep.start_ticks = tL0+110000-tIMG/2;
#endif
sweep.start_ticks = uptime()+70000;
sweep_image(&sweep);
}
static const struct handler *protos[] = {
&image_handler,
&reset_handler,
@@ -124,12 +140,10 @@ sei();
got = rf_recv(buf, sizeof(buf));
if (got > 2)
dispatch(buf, got-2, protos);
#if 1
if (state == FWD_START_SWEEP && !sweeping) {
state = FWD_SWEEP;
sweep.start_ticks = uptime()+60000; /* 60 ms */
sweep_image(&sweep);
if (wake && !sweeping) {
wake = 0;
if (state == LEFT)
submit_fwd_sweep();
}
#endif
}
}