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fw/accel.c: keep track of uptime and return it with uptime() (untested)
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3b7c3017fc
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7045109090
26
fw/sweep.c
26
fw/sweep.c
@ -24,6 +24,7 @@
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volatile bool sweeping = 0;
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volatile bool sweeping = 0;
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static volatile uint32_t t_up; /* uptime, in timer ticks (wraps in 4295 s) */
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static volatile uint32_t t_sw; /* cumulative number of timer ticks in sweep */
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static volatile uint32_t t_sw; /* cumulative number of timer ticks in sweep */
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static uint16_t wait_periods; /* number of periods to wait before image */
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static uint16_t wait_periods; /* number of periods to wait before image */
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@ -38,9 +39,13 @@ static bool forward;
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ISR(TIMER1_OVF_vect)
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ISR(TIMER1_OVF_vect)
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{
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{
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/* update the sweep time */
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uint16_t t;
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t_sw += ICR1;
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/* update the time counters */
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t = ICR1;
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t_sw += t;
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t_up += t;
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/* if at the end of the image, only update the time */
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/* if at the end of the image, only update the time */
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@ -79,6 +84,23 @@ ISR(TIMER1_OVF_vect)
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}
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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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uint16_t d;
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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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b = t_up;
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sei();
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}
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while (a != b);
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return a+d;
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}
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void sweep_image(const struct sweep *sweep)
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void sweep_image(const struct sweep *sweep)
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{
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{
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TCCR1B = 0; /* stop the timer */
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TCCR1B = 0; /* stop the timer */
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@ -29,7 +29,7 @@ struct sweep {
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extern volatile bool sweeping;
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extern volatile bool sweeping;
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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_image(const struct sweep *sweep);
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void sweep_init(void);
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void sweep_init(void);
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