qi-hardware/antorcha
1
0
Fork 0
mirror of git://projects.qi-hardware.com/antorcha.git synced 2024-11-25 18:14:05 +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 <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));

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 {
/* 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 */