mirror of
git://projects.qi-hardware.com/antorcha.git
synced 2024-11-01 09:20:37 +02:00
fw/antorcha.c: crude synchronization of image with movement
Doesn't look too bad for a first try.
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@ -20,16 +20,84 @@
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#include "accel.h"
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#include "image.h"
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#include <avr/interrupt.h>
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#include "io.h"
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static struct sweep sweep = {
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.wait_ticks = 100000, /* 100 ms */
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.pixel_ticks = 5000, /* 5 ms */
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.wait_ticks = 60000, /* 60 ms */
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.pixel_ticks = 1000, /* 1 ms */
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.left = 0,
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.right = MAX_LINES-1,
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.right = 79,
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.forward = 1,
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};
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static volatile enum sync_state {
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IDLE,
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LEFT_DECEL,
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LEFT_ACCEL,
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FWD_START_SWEEP,
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FWD_SWEEP,
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} state = IDLE;
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#define LEFT_DECEL_THRESH 850
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#define LEFT_REVERSE_THRESH 900
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#define LEFT_ACCEL_THRESH 850
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#define RIGHT_DECEL_THRESH 200
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static void sync_sweep(bool x, uint16_t v)
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{
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static uint32_t t;
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if (!x)
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return;
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switch (state) {
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default:
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case IDLE:
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if (v < LEFT_DECEL_THRESH)
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break;
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state = LEFT_DECEL;
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t = uptime_irq();
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break;
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case LEFT_DECEL:
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if (v < LEFT_DECEL_THRESH) {
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t = uptime_irq();
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break;
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}
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#if 0
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if (v > LEFT_REVERSE_THRESH)
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state = LEFT_ACCEL;
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break;
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case LEFT_ACCEL:
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if (v > LEFT_ACCEL_THRESH)
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break;
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#else
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if (v < LEFT_REVERSE_THRESH)
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break;
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#endif
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if (sweeping) { /* we're confused */
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state = IDLE;
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break;
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}
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state = FWD_START_SWEEP;
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/* t = t1-(t1+t0)/2 = (t1-t0)/2 */
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t = (uptime_irq()-t) >> 1;
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// sweep.wait_ticks = kkkkkk
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break;
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case FWD_START_SWEEP:
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break;
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case FWD_SWEEP:
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if (v > RIGHT_DECEL_THRESH)
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break;
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state = IDLE;
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break;
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}
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}
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static const struct handler *protos[] = {
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&image_handler,
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&reset_handler,
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@ -49,13 +117,19 @@ int main(void)
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*/
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sweep_init();
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sample = sync_sweep;
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accel_start();
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sei();
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while (1) {
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got = rf_recv(buf, sizeof(buf));
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if (got > 2)
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dispatch(buf, got-2, protos);
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if (!sweeping)
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#if 1
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if (state == FWD_START_SWEEP && !sweeping) {
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state = FWD_SWEEP;
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sweep_image(&sweep);
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}
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#endif
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}
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}
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