mirror of
git://projects.qi-hardware.com/antorcha.git
synced 2024-11-01 09:09:23 +02:00
Merge branch 'detached'
Had a detached head for several hours :-( Conflicts: doc/PROTOCOL fw/sample.c
This commit is contained in:
Werner Almesberger
commit
420370ee9c
@ -70,4 +70,4 @@ Where each sample is
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4 2 Absolute time of Y sample, lower 16 bits
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6 2 Y sample (0-1023)
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Byte order TBD. (Defined by avr-gcc)
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Byte order is little-endian.
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33
fw/accel.c
33
fw/accel.c
@ -38,11 +38,15 @@ static inline void admux(bool x)
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static inline void adcsra(bool start)
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{
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/*
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* The ADC needs to run at clkADC <= 200 kHz for full resolution.
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* At clkADC = 125 kHz, a conversion takes about 110 us.
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*/
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ADCSRA =
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1 << ADEN | /* enable ADC */
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(start ? 1 << ADSC : 0) |
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1 << ADIE | /* enable ADC interrupts */
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7; /* clkADC = clk/128 -> 62.5 kHz */
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6; /* clkADC = clk/64 -> 126 kHz */
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}
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@ -54,8 +58,18 @@ ISR(ADC_vect)
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if (sample)
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sample(chan_x, v);
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chan_x = !chan_x;
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admux(chan_x);
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if (chan_x) {
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chan_x = 0;
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admux(0);
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adcsra(1);
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}
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}
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ISR(TIMER0_OVF_vect)
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{
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chan_x = 1;
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admux(1);
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adcsra(1);
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}
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@ -63,6 +77,15 @@ ISR(ADC_vect)
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void accel_start(void)
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{
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adcsra(0);
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admux(1);
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chan_x = 1;
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TCNT0 = 0;
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OCR0A = 125; /* 8 MHz/64/125 = 1 kHz */
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TCCR0A =
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1 << WGM01 | /* WG Mode 7 (Fast PWM to OCR0A) */
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1 << WGM00;
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TCCR0B =
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1 << WGM02 | /* WG Mode 7, continued */
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1 << CS01 | /* clkIO/64 */
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1 << CS00;
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TIMSK0 = 1 << TOIE0; /* interrupt on overflow */
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}
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19
fw/sample.c
19
fw/sample.c
@ -23,31 +23,37 @@
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#include "proto.h"
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#include "dispatch.h"
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#include "io.h"
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#define MAX_PACKET 120 /* <- MAX_PSDU -3 (hdr) -2 (CRC) */
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/* @@@ keep it small for now - we're running out of RAM :-( */
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//#define MAX_PACKET 120 /* <- MAX_PSDU -3 (hdr) -2 (CRC) */
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#define MAX_PACKET 50 /* <- MAX_PSDU -3 (hdr) -2 (CRC) */
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static uint8_t buf[MAX_PACKET+3] = { SAMPLES, 0, 0 };
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static uint16_t *p;
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static bool expect_x;
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static void handler(bool x, uint16_t v)
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{
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bool first;
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uint32_t t;
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first = p == (uint16_t *) (buf+3);
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if (first && !x)
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if (x != expect_x)
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return;
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t = uptime();
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if (first)
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t = uptime_irq();
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if (p == (uint16_t *) (buf+3))
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*p++ = t >> 16;
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*p++ = t;
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*p++ = v;
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expect_x = !expect_x;
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if (x)
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return;
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if ((uint8_t *) (p+4) <= buf+MAX_PACKET)
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return;
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rf_send(buf, (uint8_t *) p-buf);
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buf[1]++;
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p = (uint16_t *) (buf+3);
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}
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@ -59,6 +65,7 @@ static bool sample_first(uint8_t limit, const uint8_t *payload)
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cli();
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sample = handler;
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p = (uint16_t *) (buf+3);
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expect_x = 1;
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sei();
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} else {
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cli();
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14
fw/sweep.c
14
fw/sweep.c
@ -84,6 +84,17 @@ ISR(TIMER1_OVF_vect)
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}
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uint32_t uptime_irq(void)
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{
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uint32_t t;
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t = t_up+TCNT1;
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if (TIFR1 & TOV1)
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t += ICR1;
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return t;
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}
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uint32_t uptime(void)
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{
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uint32_t a, b;
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@ -92,7 +103,8 @@ uint32_t uptime(void)
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do {
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cli();
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a = t_up;
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d = ICR1;
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d = TCNT1;
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cli();
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b = t_up;
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sei();
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}
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@ -29,7 +29,9 @@ struct sweep {
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extern volatile bool sweeping;
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uint32_t uptime_irq(void);
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uint32_t uptime(void);
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void sweep_image(const struct sweep *sweep);
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void sweep_init(void);
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@ -15,12 +15,14 @@ MAIN = antorcha
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CFLAGS = -g -I../fw -I../../ben-wpan/tools/include \
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-I../../ben-wpan/atusb/fw/include \
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-Wall
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LDLIBS = -L../../ben-wpan/tools/lib -latrf -lusb
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-Wall \
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$(shell sdl-config --cflags)
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LDLIBS = -L../../ben-wpan/tools/lib -latrf -lusb \
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$(shell sdl-config --libs) -lSDL_gfx
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OBJS = antorcha.o hash.o
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OBJS = antorcha.o hash.o plot.o
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.PHONY: all update ping
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.PHONY: all update ping off
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all: $(MAIN)
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@ -32,3 +34,6 @@ update:
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ping:
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./antorcha -P
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off:
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./antorcha /dev/null
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@ -22,9 +22,11 @@
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#include <atrf.h>
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#include <misctxrx.h>
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#include <hash.h>
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#include <proto.h>
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#include "hash.h"
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#include "plot.h"
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static int verbose = 1;
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static int debug = 0;
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@ -275,6 +277,74 @@ static void image(struct atrf_dsc *dsc, const char *name)
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}
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/* ----- Samples ----------------------------------------------------------- */
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static void samples(struct atrf_dsc *dsc)
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{
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uint8_t buf[MAX_PSDU] = { 0, };
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int got;
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uint8_t *s;
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uint16_t t_high, t_low, last;
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int x, y;
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buf[0] = 1;
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packet(dsc, SAMPLE, 0, 0, buf, PAYLOAD);
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plot_init();
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while (1) {
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got = rf_recv(dsc, buf, sizeof(buf));
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if (got <= 3)
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continue;
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if (buf[0] != SAMPLES)
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continue;
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if (debug > 1) {
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int i;
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for (i = 0; i != got; i++)
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fprintf(stderr, " %02x", buf[i]);
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fprintf(stderr, "\n");
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}
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if (debug)
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fprintf(stderr, "%d:", got);
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s = buf+3;
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t_high = *s++;
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t_high |= *s++ << 8;
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last = 0;
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while (s < buf+got-2) {
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t_low = *s++;
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t_low |= *s++ << 8;
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if (t_low < last)
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t_high++;
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last = t_low;
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x = *s++;
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x |= *s++ << 8;
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if (debug)
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fprintf(stderr, "\t%11.6f %d",
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(t_high << 16 | t_low)/1000000.0, x);
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t_low = *s++;
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t_low |= *s++ << 8;
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if (t_low < last)
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t_high++;
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last = t_low;
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y = *s++;
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y |= *s++ << 8;
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if (debug)
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fprintf(stderr, "\t%11.6f %d\n",
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(t_high << 16 | t_low)/1000000.0, y);
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if (!plot(x, y))
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goto quit;
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}
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}
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quit:
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buf[0] = 0;
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packet(dsc, SAMPLE, 0, 0, buf, PAYLOAD);
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}
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/* ----- Command-line processing ------------------------------------------- */
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@ -284,7 +354,8 @@ static void usage(const char *name)
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"usage: %s [-d] image_file\n"
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"%6s %s [-d] -F firmware_file\n"
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"%6s %s [-d] -P\n"
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, name, "", name, "", name);
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"%6s %s [-d] -S\n"
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, name, "", name, "", name, "", name);
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exit(1);
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}
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@ -292,14 +363,14 @@ static void usage(const char *name)
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int main(int argc, char **argv)
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{
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const char *fw = NULL;
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int do_ping = 0;
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int do_ping = 0, do_sample = 0;
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struct atrf_dsc *dsc;
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int c;
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while ((c = getopt(argc, argv, "dF:P")) != EOF)
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while ((c = getopt(argc, argv, "dF:PS")) != EOF)
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switch (c) {
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case 'd':
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debug = 1;
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debug++;
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break;
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case 'F':
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fw = optarg;
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@ -307,13 +378,16 @@ int main(int argc, char **argv)
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case 'P':
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do_ping = 1;
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break;
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case 'S':
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do_sample = 1;
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break;
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default:
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usage(*argv);
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}
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if (do_ping && fw)
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if (do_ping+do_sample+!!fw > 1)
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usage(*argv);
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if (do_ping || fw) {
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if (do_ping || do_sample || fw) {
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if (argc != optind)
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usage(*argv);
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} else {
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@ -328,6 +402,8 @@ int main(int argc, char **argv)
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rf_init(dsc, 8, 15);
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if (do_ping)
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ping(dsc);
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else if (do_sample)
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samples(dsc);
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else if (fw)
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firmware(dsc, fw);
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else
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130
tools/plot.c
Normal file
130
tools/plot.c
Normal file
@ -0,0 +1,130 @@
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/*
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* tools/plot.c - Sample plot
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*
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* Written 2012 by Werner Almesberger
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* Copyright 2012 Werner Almesberger
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*/
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#include <stdlib.h>
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#include "SDL.h"
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#include "SDL_gfxPrimitives.h"
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#include "plot.h"
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#define XRES 1024
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#define YRES 1024
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#define RADIUS 3
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#define OLD_RGBA 0xffffff20
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#define NEW_RGBA 0xffffffff
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static SDL_Surface *surf;
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static int first = 1;
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static int last_x, last_y;
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static SDL_Surface *back;
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static SDL_Rect back_rect = {
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.x = 0,
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.y = 0,
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.w = 2*RADIUS+1,
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.h = 2*RADIUS+1,
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};
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static SDL_Rect front_rect = {
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.w = 2*RADIUS+1,
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.h = 2*RADIUS+1,
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};
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int plot(int x, int y)
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{
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SDL_Event event;
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if (!first) {
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SDL_BlitSurface(back, &back_rect, surf, &front_rect);
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SDL_LockSurface(surf);
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filledCircleColor(surf, last_x, last_y, RADIUS, OLD_RGBA);
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SDL_UnlockSurface(surf);
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}
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front_rect.x = x;
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front_rect.y = y;
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x += RADIUS;
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y += RADIUS;
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SDL_BlitSurface(surf, &front_rect, back, &back_rect);
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SDL_LockSurface(surf);
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filledCircleColor(surf, x, y, RADIUS, NEW_RGBA);
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SDL_UnlockSurface(surf);
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if (!first)
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SDL_UpdateRect(surf,
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last_x-RADIUS, last_y-RADIUS, 2*RADIUS+1, 2*RADIUS+1);
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SDL_UpdateRect(surf, x-RADIUS, y-RADIUS, 2*RADIUS+1, 2*RADIUS+1);
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first = 0;
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last_x = x;
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last_y = y;
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while (SDL_PollEvent(&event))
|
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switch (event.type) {
|
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case SDL_KEYDOWN:
|
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switch (event.key.keysym.sym) {
|
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case SDLK_c:
|
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SDL_LockSurface(surf);
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SDL_FillRect(surf, NULL,
|
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SDL_MapRGB(surf->format, 0, 0, 0));
|
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SDL_UpdateRect(surf, 0, 0, 0, 0);
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SDL_UnlockSurface(surf);
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break;
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case SDLK_q:
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return 0;
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default:
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break;
|
||||
}
|
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break;
|
||||
case SDL_QUIT:
|
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return 0;
|
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default:
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||||
break;
|
||||
}
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||||
|
||||
return 1;
|
||||
}
|
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|
||||
|
||||
void plot_init(void)
|
||||
{
|
||||
const SDL_PixelFormat *f;
|
||||
|
||||
if (SDL_Init(SDL_INIT_VIDEO) < 0) {
|
||||
fprintf(stderr, "SDL_init: %s\n", SDL_GetError());
|
||||
exit(1);
|
||||
}
|
||||
atexit(SDL_Quit);
|
||||
|
||||
surf = SDL_SetVideoMode(XRES+2*RADIUS+1, YRES+2*RADIUS+1, 0,
|
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SDL_SWSURFACE);
|
||||
if (!surf) {
|
||||
fprintf(stderr, "SDL_SetVideoMode: %s\n", SDL_GetError());
|
||||
exit(1);
|
||||
}
|
||||
|
||||
f = surf->format;
|
||||
back = SDL_CreateRGBSurface(SDL_SWSURFACE, 2*RADIUS+1, 2*RADIUS+1,
|
||||
f->BitsPerPixel, f->Rmask, f->Gmask, f->Bmask, f->Amask);
|
||||
if (!back) {
|
||||
fprintf(stderr, "SDL_SetVideoMode: %s\n", SDL_GetError());
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
20
tools/plot.h
Normal file
20
tools/plot.h
Normal file
@ -0,0 +1,20 @@
|
||||
/*
|
||||
* tools/plot.h - Sample plot
|
||||
*
|
||||
* Written 2012 by Werner Almesberger
|
||||
* Copyright 2012 Werner Almesberger
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PLOT_H
|
||||
#define PLOT_H
|
||||
|
||||
int plot(int x, int y);
|
||||
void plot_init(void);
|
||||
|
||||
#endif /* !PLOT_H */
|
||||
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