From 308c094af2b3e1513cf1da05351f0e66ae629f1c Mon Sep 17 00:00:00 2001
From: Werner Almesberger <werner@almesberger.net>
Date: Wed, 27 Jun 2012 02:15:50 -0300
Subject: [PATCH] fw/: rearrange parameters and move defaults from antorcha.c
 to proto.h

---
 fw/antorcha.c | 44 ++++++++++++++++++++++----------------------
 fw/proto.h    | 26 +++++++++++++++++---------
 2 files changed, 39 insertions(+), 31 deletions(-)

diff --git a/fw/antorcha.c b/fw/antorcha.c
index c8522a5..9e6c554 100644
--- a/fw/antorcha.c
+++ b/fw/antorcha.c
@@ -14,6 +14,7 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#include "proto.h"
 #include "rf.h"
 #include "dispatch.h"
 #include "sweep.h"
@@ -25,18 +26,18 @@
 
 
 static struct sweep fwd_sweep = {
-	.pixel_ticks	=	  1100,	/*   1.1 ms */
-	.left		=	     0,
-	.right		=   MAX_LINES-1,
-	.forward 	=	     1,
+	.pixel_ticks	= TP_FWD_PIX_DEFAULT,
+	.left		= PX_FWD_LEFT_DEFAULT,
+	.right		= PX_FWD_RIGHT_DEFAULT,
+	.forward 	= 1,
 };
 
 
 static struct sweep bwd_sweep = {
-	.pixel_ticks	=	  1100,	/*   1.1 ms */
-	.left		=	     0,
-	.right		=   MAX_LINES-1,
-	.forward 	=	     0,
+	.pixel_ticks	= TP_BWD_PIX_DEFAULT,
+	.left		= PX_BWD_LEFT_DEFAULT,
+	.right		= PX_BWD_RIGHT_DEFAULT,
+	.forward 	= 0,
 };
 
 
@@ -52,11 +53,10 @@ static volatile uint32_t tR0, tR1, tL0, tL1;
 static volatile uint32_t tL, tR;
 static volatile bool wake = 0;
 
-
-//#define	THRESH_HIGH		900
-//#define	THRESH_LOW		120
-#define	THRESH_HIGH		850
-#define	THRESH_LOW		170
+static uint16_t xa_high = XA_HIGH_DEFAULT;
+static uint16_t xa_low = XA_LOW_DEFAULT;
+static uint32_t fwd_start = TP_FWD_START_DEFAULT;
+static uint32_t bwd_start = TP_BWD_START_DEFAULT;
 
 
 static void sync_sweep(bool x, uint16_t v)
@@ -68,37 +68,37 @@ static void sync_sweep(bool x, uint16_t v)
 	t = uptime_irq();
 	switch (state) {
 	case IDLE:
-		if (v < THRESH_LOW) {
+		if (v < xa_low) {
 			tR0 = t;
 			state = RIGHT;
-		} else if (v > THRESH_HIGH) {
+		} else if (v > xa_high) {
 			tL0 = t;
 			state = LEFT;
 		}
 		break;
 	case RIGHT:
-		if (v < THRESH_LOW)
+		if (v < xa_low)
 			break;
 		tR1 = t;
 		tR = t-tR0;
 		state = BWD;
 		/* fall through */
 	case BWD:
-		if (v < THRESH_HIGH)
+		if (v < xa_high)
 			break;
 		tL0 = t;
 		state = LEFT;
 		wake = 1;
 		break;
 	case LEFT:
-		if (v > THRESH_HIGH)
+		if (v > xa_high)
 			break;
 		tL1 = t;
 		tL = t-tL0;
 		state = FWD;
 		/* fall through */
 	case FWD:
-		if (v > THRESH_LOW)
+		if (v > xa_low)
 			break;
 		tR0 = t;
 		state = RIGHT;
@@ -116,14 +116,14 @@ static void submit_fwd_sweep(void)
 	tIMG = (fwd_sweep.right-fwd_sweep.left+1)*(fwd_sweep.pixel_ticks)/2;
 	fwd_sweep.start_ticks = tL0+110000-tIMG/2;
 #endif
-	fwd_sweep.start_ticks = tL0+70000;
+	fwd_sweep.start_ticks = tL0+fwd_start;
 	sweep_image(&fwd_sweep);
 }
 
 
 static void submit_bwd_sweep(void)
 {
-	bwd_sweep.start_ticks = tR0+50000;
+	bwd_sweep.start_ticks = tR0+bwd_start;
 	sweep_image(&bwd_sweep);
 }
 
@@ -149,7 +149,7 @@ int main(void)
 	sweep_init();
 	sample = sync_sweep;
 	accel_start();
-sei();
+	sei();
 
 	while (1) {
 		got = rf_recv(buf, sizeof(buf));
diff --git a/fw/proto.h b/fw/proto.h
index 675083d..d143cea 100644
--- a/fw/proto.h
+++ b/fw/proto.h
@@ -34,6 +34,19 @@ enum pck_type {
 };
 
 
+#define	XA_HIGH_DEFAULT		850
+#define	XA_LOW_DEFAULT		170
+
+#define	PX_FWD_LEFT_DEFAULT	0
+#define	PX_FWD_RIGHT_DEFAULT	(MAX_LINES-1)
+#define	PX_BWD_LEFT_DEFAULT	0
+#define	PX_BWD_RIGHT_DEFAULT	(MAX_LINES-1)
+
+#define	TP_FWD_START_DEFAULT	70000	/* 70 ms */
+#define	TP_BWD_START_DEFAULT	50000	/* 50 ms */
+#define	TP_FWD_PIX_DEFAULT	1100	/* 1.1 ms */
+#define	TP_BWD_PIX_DEFAULT	1100	/* 1.1 ms */
+
 struct params {
 	/* Timer ticks */
 
@@ -46,10 +59,10 @@ struct params {
 
 	/* Pixel offsets (in image) */
 
-	uint8_t	px_fwd_img_first;	/* first column in forward move */
-	uint8_t	px_fwd_img_end;		/* last column in forward move */
-	uint8_t	px_bwd_img_first;	/* first (high) col. in backward move */
-	uint8_t	px_bwd_img_end;		/* last (low) column in backward move */
+	uint8_t	px_fwd_left;		/* first column in forward move */
+	uint8_t	px_fwd_right;		/* last column in forward move */
+	uint8_t	px_bwd_left;		/* last (low) column in backward move */
+	uint8_t	px_bwd_right;		/* first (high) col. in backward move */
 
 	/* Timer periods, for imaging */
 
@@ -57,11 +70,6 @@ struct params {
 	uint16_t tp_bwd_start;		/* backward image start */
 	uint8_t tp_fwd_pix;		/* pixel size in forward move */
 	uint8_t tp_bwd_pix;		/* pixel size in backward move */
-
-	/* Timer periods, for estimation */
-
-	uint16_t tp_fwd;		/* forward half-period */
-	uint16_t tp_bwd;		/* backward half-period */
 };
 
 #endif /* !PROTO_H */