qi-hardware/antorcha
1
0
Fork 0
mirror of git://projects.qi-hardware.com/antorcha.git synced 2024-11-22 18:13:43 +02:00
Code

fw/: rearrange parameters and move defaults from antorcha.c to proto.h

Browse Source
This commit is contained in:
Werner Almesberger 2012-06-27 02:15:50 -03:00
parent cb846be507
commit 308c094af2
2 changed files with 39 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
fw/antorcha.c
View File

@ -14,6 +14,7 @@
#include <stddef.h> #include <stddef.h>
#include <stdint.h> #include <stdint.h>
#include "proto.h"
#include "rf.h" #include "rf.h"
#include "dispatch.h" #include "dispatch.h"
#include "sweep.h" #include "sweep.h"
@ -25,18 +26,18 @@
static struct sweep fwd_sweep = { static struct sweep fwd_sweep = {
.pixel_ticks = 1100, /* 1.1 ms */ .pixel_ticks = TP_FWD_PIX_DEFAULT,
.left = 0, .left = PX_FWD_LEFT_DEFAULT,
.right = MAX_LINES-1, .right = PX_FWD_RIGHT_DEFAULT,
.forward = 1, .forward = 1,
}; };
static struct sweep bwd_sweep = { static struct sweep bwd_sweep = {
.pixel_ticks = 1100, /* 1.1 ms */ .pixel_ticks = TP_BWD_PIX_DEFAULT,
.left = 0, .left = PX_BWD_LEFT_DEFAULT,
.right = MAX_LINES-1, .right = PX_BWD_RIGHT_DEFAULT,
.forward = 0, .forward = 0,
}; };
@ -52,11 +53,10 @@ static volatile uint32_t tR0, tR1, tL0, tL1;
static volatile uint32_t tL, tR; static volatile uint32_t tL, tR;
static volatile bool wake = 0; static volatile bool wake = 0;
static uint16_t xa_high = XA_HIGH_DEFAULT;
//#define THRESH_HIGH 900 static uint16_t xa_low = XA_LOW_DEFAULT;
//#define THRESH_LOW 120 static uint32_t fwd_start = TP_FWD_START_DEFAULT;
#define THRESH_HIGH 850 static uint32_t bwd_start = TP_BWD_START_DEFAULT;
#define THRESH_LOW 170
static void sync_sweep(bool x, uint16_t v) 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(); t = uptime_irq();
switch (state) { switch (state) {
case IDLE: case IDLE:
if (v < THRESH_LOW) { if (v < xa_low) {
tR0 = t; tR0 = t;
state = RIGHT; state = RIGHT;
} else if (v > THRESH_HIGH) { } else if (v > xa_high) {
tL0 = t; tL0 = t;
state = LEFT; state = LEFT;
} }
break; break;
case RIGHT: case RIGHT:
if (v < THRESH_LOW) if (v < xa_low)
break; break;
tR1 = t; tR1 = t;
tR = t-tR0; tR = t-tR0;
state = BWD; state = BWD;
/* fall through */ /* fall through */
case BWD: case BWD:
if (v < THRESH_HIGH) if (v < xa_high)
break; break;
tL0 = t; tL0 = t;
state = LEFT; state = LEFT;
wake = 1; wake = 1;
break; break;
case LEFT: case LEFT:
if (v > THRESH_HIGH) if (v > xa_high)
break; break;
tL1 = t; tL1 = t;
tL = t-tL0; tL = t-tL0;
state = FWD; state = FWD;
/* fall through */ /* fall through */
case FWD: case FWD:
if (v > THRESH_LOW) if (v > xa_low)
break; break;
tR0 = t; tR0 = t;
state = RIGHT; 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; tIMG = (fwd_sweep.right-fwd_sweep.left+1)*(fwd_sweep.pixel_ticks)/2;
fwd_sweep.start_ticks = tL0+110000-tIMG/2; fwd_sweep.start_ticks = tL0+110000-tIMG/2;
#endif #endif
fwd_sweep.start_ticks = tL0+70000; fwd_sweep.start_ticks = tL0+fwd_start;
sweep_image(&fwd_sweep); sweep_image(&fwd_sweep);
} }
static void submit_bwd_sweep(void) static void submit_bwd_sweep(void)
{ {
bwd_sweep.start_ticks = tR0+50000; bwd_sweep.start_ticks = tR0+bwd_start;
sweep_image(&bwd_sweep); sweep_image(&bwd_sweep);
} }
@ -149,7 +149,7 @@ int main(void)
sweep_init(); sweep_init();
sample = sync_sweep; sample = sync_sweep;
accel_start(); accel_start();
sei(); sei();
while (1) { while (1) {
got = rf_recv(buf, sizeof(buf)); got = rf_recv(buf, sizeof(buf));

26
fw/proto.h
View File

@ -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 { struct params {
/* Timer ticks */ /* Timer ticks */
@ -46,10 +59,10 @@ struct params {
/* Pixel offsets (in image) */ /* Pixel offsets (in image) */
uint8_t px_fwd_img_first; /* first column in forward move */ uint8_t px_fwd_left; /* first column in forward move */
uint8_t px_fwd_img_end; /* last column in forward move */ uint8_t px_fwd_right; /* last column in forward move */
uint8_t px_bwd_img_first; /* first (high) col. in backward move */ uint8_t px_bwd_left; /* last (low) column in backward move */
uint8_t px_bwd_img_end; /* last (low) column in backward move */ uint8_t px_bwd_right; /* first (high) col. in backward move */
/* Timer periods, for imaging */ /* Timer periods, for imaging */
@ -57,11 +70,6 @@ struct params {
uint16_t tp_bwd_start; /* backward image start */ uint16_t tp_bwd_start; /* backward image start */
uint8_t tp_fwd_pix; /* pixel size in forward move */ uint8_t tp_fwd_pix; /* pixel size in forward move */
uint8_t tp_bwd_pix; /* pixel size in backward 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 */ #endif /* !PROTO_H */