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mirror of git://projects.qi-hardware.com/antorcha.git synced 2024-12-23 03:53:00 +02:00

fw/: added image sweep (completely untested)

This commit is contained in:
Werner Almesberger 2012-06-20 07:26:52 -03:00
parent 2ecd291ca5
commit 7003c9c35b
6 changed files with 242 additions and 6 deletions

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@ -30,7 +30,7 @@ OBJCOPY = $(AVR_PREFIX)objcopy
#OBJDUMP = $(AVR_PREFIX)objdump
SIZE = $(AVR_PREFIX)size
OBJS = $(NAME).o dispatch.o hash.o reset.o $(COMMON_OBJS)
OBJS = $(NAME).o dispatch.o hash.o reset.o sweep.o $(COMMON_OBJS)
BOOT_OBJS = boot.o flash.o fw.o $(COMMON_OBJS)
COMMON_OBJS = rf.o spi.o

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@ -14,13 +14,9 @@
#include <stddef.h>
#include <stdint.h>
#include <avr/io.h>
#define F_CPU 8000000UL
#include <util/delay.h>
#include "io.h"
#include "rf.h"
#include "dispatch.h"
#include "sweep.h"
static const struct handler *protos[] = {
@ -39,6 +35,8 @@ int main(void)
* It has also brought up RF and the underlying SPI.
*/
sweep_init();
while (1) {
got = rf_recv(buf, sizeof(buf));
if (got > 2)

14
fw/io.h
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@ -16,6 +16,20 @@
#include <avr/io.h>
#define LED_A1 C, 0
#define LED_A2 C, 1
#define LED_A3 C, 2
#define LED_A4 C, 3
#define LED_A5 C, 4
#define LED_A6 C, 5
#define LED_A7 D, 0
#define LED_A8 D, 1
#define LED_B1 D, 2
#define LED_B2 D, 3
#define LED_B3 D, 4
#define LED_B4 B, 6
#define LED_B5 B, 7
#define LED_B6 D, 5
#define LED_B7 D, 6
#define LED_B8 D, 7

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@ -13,6 +13,9 @@
#ifndef PROTO_H
#define PROTO_H
#include <stdint.h>
#define PAYLOAD 64 /* most messages use a fixed 64 bytes payload */
enum pck_type {
@ -27,4 +30,35 @@ enum pck_type {
PARAM_ACK = 9, /* parameter upload acknowledgement */
};
struct params {
/* Timer ticks */
uint16_t clkT_period; /* Timer period */
/* Accelerator thresholds */
uint16_t xa_high; /* X acceleration high threshold */
uint16_t xa_low; /* X acceleration low threshold */
/* 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 */
/* Timer periods, for imaging */
uint16_t tp_fwd_start; /* forward image start */
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 */

145
fw/sweep.c Normal file
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@ -0,0 +1,145 @@
/*
* fw/image.c - Image sweep
*
* 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.
*/
#include <stdbool.h>
#include <stdint.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include "sweep.h"
struct line image[MAX_LINES];
static uint32_t t_sw; /* cumulative number of timer ticks in sweep */
static uint16_t wait_periods; /* number of periods to wait before image */
static uint16_t wait_period; /* ticks in wait period */
static uint16_t wait_short; /* ticks to wait after periods */
static uint16_t pixel_ticks; /* number of ticks per pixel */
static const struct line *curr_line;
static const struct line *end_line;
static bool forward;
ISR(TIMER1_OVF_vect)
{
/* update the sweep time */
t_sw += OCR1A;
/* if at the end of the image, only update the time */
if (curr_line == end_line)
return;
/* wait before starting the image */
if (wait_periods) {
if (!--wait_periods)
OCR1A = wait_short;
return;
}
/* output the next line */
PORTB = (PORTB & 0x3f) | (curr_line->cb & 0xc0);
PORTC = curr_line->cb;
PORTD = curr_line->d;
/* move to the next line */
if (forward)
curr_line++;
else
curr_line--;
/* wait until the next pixel (or slow down if we're done) */
if (curr_line == end_line)
OCR1A = 0xffff;
else
OCR1A = pixel_ticks;
}
void image_sweep(const struct sweep *sweep)
{
TCCR1B = 0; /* stop the timer */
cli();
/* shut down all the LEDs, in case we're still in a sweep */
PORTB &= 0x3f;
PORTC = 0;
PORTD = 0;
/* image pointers and sweep direction */
forward = sweep->forward;
if (forward) {
curr_line = image+sweep->left;
end_line = image+sweep->right+1;
} else {
curr_line = image+sweep->right;
end_line = image+sweep->left-1;
}
/* timing parameters */
wait_periods = sweep->wait_ticks >> 16;
if (wait_periods) {
wait_short = sweep->wait_ticks;
wait_period = 0xffff;
/*
* Make sure we have plenty of time to update OCR1A after an
* interrupt.
*/
if (wait_short < 256) {
wait_period -= 128;
wait_short += wait_periods << 7;
}
OCR1A = wait_period;
} else {
OCR1A = sweep->wait_ticks;
}
/* prepare the hardware timer */
t_sw = 0; /* reset the time */
TCNT1 = 0;
TIFR1 = 1 << TOV1; /* clear interrupt */
/* start the timer */
TCCR1B =
1 << WGM13 | /* WG Mode 15, continued */
1 << WGM12 |
1 << CS11; /* clkIO/8 */
}
void sweep_init(void)
{
TCCR1A =
1 << WGM11 | /* WG Mode 15 (Fast PWM to OCR1A) */
1 << WGM10;
TCNT1 = 0;
TIMSK1 = 1 << TOIE1; /* enable timer interrupts */
}

45
fw/sweep.h Normal file
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@ -0,0 +1,45 @@
/*
* fw/sweep.h - Image sweep
*
* 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 SWEEP_H
#define SWEEP_H
#include <stdbool.h>
#include <stdint.h>
#define MAX_LINES 100
struct line {
uint8_t d; /* port D0-D7 */
uint8_t cb; /* port C0-C5, B6-B7 */
};
struct sweep {
uint32_t wait_ticks; /* number of ticks to wait before image */
uint16_t pixel_ticks; /* number of ticks per pixel */
uint8_t left; /* leftmost line of image */
uint8_t right; /* rightmost line of image */
bool forward; /* direction of movement */
};
extern struct line image[MAX_LINES];
void image_sweep(const struct sweep *sweep);
void sweep_init(void);
#endif /* !SWEEP_H */