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fw/antorcha.c: crude synchronization of image with movement

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Doesn't look too bad for a first try.
This commit is contained in:
Werner Almesberger 2012-06-23 21:53:26 -03:00
parent dd72f4642e
commit 7816ea89d5
1 changed files with 78 additions and 4 deletions
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82
fw/antorcha.c
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@ -20,16 +20,84 @@
#include "accel.h" #include "accel.h"
#include "image.h" #include "image.h"
#include <avr/interrupt.h>
#include "io.h"
static struct sweep sweep = { static struct sweep sweep = {
.wait_ticks = 100000, /* 100 ms */ .wait_ticks = 60000, /* 60 ms */
.pixel_ticks = 5000, /* 5 ms */ .pixel_ticks = 1000, /* 1 ms */
.left = 0, .left = 0,
.right = MAX_LINES-1, .right = 79,
.forward = 1, .forward = 1,
}; };
static volatile enum sync_state {
IDLE,
LEFT_DECEL,
LEFT_ACCEL,
FWD_START_SWEEP,
FWD_SWEEP,
} state = IDLE;
#define LEFT_DECEL_THRESH 850
#define LEFT_REVERSE_THRESH 900
#define LEFT_ACCEL_THRESH 850
#define RIGHT_DECEL_THRESH 200
static void sync_sweep(bool x, uint16_t v)
{
static uint32_t t;
if (!x)
return;
switch (state) {
default:
case IDLE:
if (v < LEFT_DECEL_THRESH)
break;
state = LEFT_DECEL;
t = uptime_irq();
break;
case LEFT_DECEL:
if (v < LEFT_DECEL_THRESH) {
t = uptime_irq();
break;
}
#if 0
if (v > LEFT_REVERSE_THRESH)
state = LEFT_ACCEL;
break;
case LEFT_ACCEL:
if (v > LEFT_ACCEL_THRESH)
break;
#else
if (v < LEFT_REVERSE_THRESH)
break;
#endif
if (sweeping) { /* we're confused */
state = IDLE;
break;
}
state = FWD_START_SWEEP;
/* t = t1-(t1+t0)/2 = (t1-t0)/2 */
t = (uptime_irq()-t) >> 1;
// sweep.wait_ticks = kkkkkk
break;
case FWD_START_SWEEP:
break;
case FWD_SWEEP:
if (v > RIGHT_DECEL_THRESH)
break;
state = IDLE;
break;
}
}
static const struct handler *protos[] = { static const struct handler *protos[] = {
&image_handler, &image_handler,
&reset_handler, &reset_handler,
@ -49,13 +117,19 @@ int main(void)
*/ */
sweep_init(); sweep_init();
sample = sync_sweep;
accel_start(); accel_start();
sei();
while (1) { while (1) {
got = rf_recv(buf, sizeof(buf)); got = rf_recv(buf, sizeof(buf));
if (got > 2) if (got > 2)
dispatch(buf, got-2, protos); dispatch(buf, got-2, protos);
if (!sweeping) #if 1
if (state == FWD_START_SWEEP && !sweeping) {
state = FWD_SWEEP;
sweep_image(&sweep); sweep_image(&sweep);
}
#endif
} }
} }