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git://projects.qi-hardware.com/antorcha.git
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fw/: rearrange parameters and move defaults from antorcha.c to proto.h
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cb846be507
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@ -14,6 +14,7 @@
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#include <stddef.h>
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#include <stdint.h>
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#include "proto.h"
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#include "rf.h"
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#include "dispatch.h"
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#include "sweep.h"
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@ -25,18 +26,18 @@
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static struct sweep fwd_sweep = {
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.pixel_ticks = 1100, /* 1.1 ms */
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.left = 0,
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.right = MAX_LINES-1,
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.forward = 1,
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.pixel_ticks = TP_FWD_PIX_DEFAULT,
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.left = PX_FWD_LEFT_DEFAULT,
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.right = PX_FWD_RIGHT_DEFAULT,
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.forward = 1,
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};
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static struct sweep bwd_sweep = {
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.pixel_ticks = 1100, /* 1.1 ms */
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.left = 0,
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.right = MAX_LINES-1,
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.forward = 0,
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.pixel_ticks = TP_BWD_PIX_DEFAULT,
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.left = PX_BWD_LEFT_DEFAULT,
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.right = PX_BWD_RIGHT_DEFAULT,
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.forward = 0,
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};
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@ -52,11 +53,10 @@ static volatile uint32_t tR0, tR1, tL0, tL1;
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static volatile uint32_t tL, tR;
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static volatile bool wake = 0;
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//#define THRESH_HIGH 900
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//#define THRESH_LOW 120
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#define THRESH_HIGH 850
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#define THRESH_LOW 170
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static uint16_t xa_high = XA_HIGH_DEFAULT;
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static uint16_t xa_low = XA_LOW_DEFAULT;
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static uint32_t fwd_start = TP_FWD_START_DEFAULT;
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static uint32_t bwd_start = TP_BWD_START_DEFAULT;
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static void sync_sweep(bool x, uint16_t v)
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@ -68,37 +68,37 @@ static void sync_sweep(bool x, uint16_t v)
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t = uptime_irq();
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switch (state) {
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case IDLE:
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if (v < THRESH_LOW) {
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if (v < xa_low) {
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tR0 = t;
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state = RIGHT;
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} else if (v > THRESH_HIGH) {
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} else if (v > xa_high) {
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tL0 = t;
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state = LEFT;
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}
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break;
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case RIGHT:
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if (v < THRESH_LOW)
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if (v < xa_low)
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break;
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tR1 = t;
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tR = t-tR0;
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state = BWD;
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/* fall through */
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case BWD:
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if (v < THRESH_HIGH)
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if (v < xa_high)
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break;
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tL0 = t;
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state = LEFT;
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wake = 1;
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break;
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case LEFT:
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if (v > THRESH_HIGH)
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if (v > xa_high)
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break;
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tL1 = t;
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tL = t-tL0;
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state = FWD;
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/* fall through */
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case FWD:
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if (v > THRESH_LOW)
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if (v > xa_low)
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break;
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tR0 = t;
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state = RIGHT;
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@ -116,14 +116,14 @@ static void submit_fwd_sweep(void)
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tIMG = (fwd_sweep.right-fwd_sweep.left+1)*(fwd_sweep.pixel_ticks)/2;
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fwd_sweep.start_ticks = tL0+110000-tIMG/2;
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#endif
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fwd_sweep.start_ticks = tL0+70000;
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fwd_sweep.start_ticks = tL0+fwd_start;
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sweep_image(&fwd_sweep);
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}
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static void submit_bwd_sweep(void)
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{
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bwd_sweep.start_ticks = tR0+50000;
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bwd_sweep.start_ticks = tR0+bwd_start;
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sweep_image(&bwd_sweep);
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}
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@ -149,7 +149,7 @@ int main(void)
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sweep_init();
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sample = sync_sweep;
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accel_start();
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sei();
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sei();
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while (1) {
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got = rf_recv(buf, sizeof(buf));
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26
fw/proto.h
26
fw/proto.h
@ -34,6 +34,19 @@ enum pck_type {
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};
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#define XA_HIGH_DEFAULT 850
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#define XA_LOW_DEFAULT 170
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#define PX_FWD_LEFT_DEFAULT 0
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#define PX_FWD_RIGHT_DEFAULT (MAX_LINES-1)
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#define PX_BWD_LEFT_DEFAULT 0
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#define PX_BWD_RIGHT_DEFAULT (MAX_LINES-1)
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#define TP_FWD_START_DEFAULT 70000 /* 70 ms */
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#define TP_BWD_START_DEFAULT 50000 /* 50 ms */
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#define TP_FWD_PIX_DEFAULT 1100 /* 1.1 ms */
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#define TP_BWD_PIX_DEFAULT 1100 /* 1.1 ms */
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struct params {
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/* Timer ticks */
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@ -46,10 +59,10 @@ struct params {
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/* Pixel offsets (in image) */
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uint8_t px_fwd_img_first; /* first column in forward move */
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uint8_t px_fwd_img_end; /* last column in forward move */
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uint8_t px_bwd_img_first; /* first (high) col. in backward move */
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uint8_t px_bwd_img_end; /* last (low) column in backward move */
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uint8_t px_fwd_left; /* first column in forward move */
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uint8_t px_fwd_right; /* last column in forward move */
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uint8_t px_bwd_left; /* last (low) column in backward move */
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uint8_t px_bwd_right; /* first (high) col. in backward move */
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/* Timer periods, for imaging */
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@ -57,11 +70,6 @@ struct params {
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uint16_t tp_bwd_start; /* backward image start */
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uint8_t tp_fwd_pix; /* pixel size in forward move */
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uint8_t tp_bwd_pix; /* pixel size in backward move */
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/* Timer periods, for estimation */
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uint16_t tp_fwd; /* forward half-period */
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uint16_t tp_bwd; /* backward half-period */
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};
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#endif /* !PROTO_H */
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