mirror of
git://projects.qi-hardware.com/antorcha.git
synced 2024-11-22 14:50:15 +02:00
43686321a7
- we didn't send ACKs for the authentication packets - take multiple samples (4) - add 100 ms delay to let the battery voltage settle
80 lines
2.2 KiB
C
80 lines
2.2 KiB
C
/*
|
|
* fw/proto.h - Wireless protocol constants
|
|
*
|
|
* 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 PROTO_H
|
|
#define PROTO_H
|
|
|
|
#include <stdint.h>
|
|
|
|
|
|
#define PAYLOAD 64 /* most messages use a fixed 64 bytes payload */
|
|
|
|
enum pck_type {
|
|
PING = 0, /* version query */
|
|
PONG = 1, /* version response */
|
|
RESET = 2, /* reset to boot loader */
|
|
FIRMWARE = 4, /* firmware upload */
|
|
FIRMWARE_ACK = 5, /* firmware upload acknowledgement */
|
|
IMAGE = 6, /* image upload */
|
|
IMAGE_ACK = 7, /* image upload acknowledgement */
|
|
PARAM = 8, /* parameter upload */
|
|
PARAM_ACK = 9, /* parameter upload acknowledgement */
|
|
SAMPLE = 10, /* start/stop sampling */
|
|
SAMPLE_ACK = 11, /* start/stop sampling acknowledgement */
|
|
SAMPLES = 13, /* samples */
|
|
DIAG = 14, /* diagnostic request */
|
|
DIAG_ACK = 15, /* diagnostic response */
|
|
|
|
};
|
|
|
|
|
|
#define MAX_LINES 80
|
|
|
|
#define DIAG_SAMPLES 4
|
|
|
|
#define XA_HIGH_DEFAULT 850
|
|
#define XA_LOW_DEFAULT 170
|
|
|
|
#define PX_FWD_LEFT_DEFAULT 0
|
|
#define PX_FWD_RIGHT_DEFAULT (MAX_LINES-1)
|
|
#define PX_BWD_LEFT_DEFAULT 0
|
|
#define PX_BWD_RIGHT_DEFAULT (MAX_LINES-1)
|
|
|
|
#define TP_FWD_START_DEFAULT 70000 /* 70 ms */
|
|
#define TP_BWD_START_DEFAULT 70000 /* 70 ms */
|
|
#define TP_FWD_PIX_DEFAULT 1100 /* 1.1 ms */
|
|
#define TP_BWD_PIX_DEFAULT 1100 /* 1.1 ms */
|
|
|
|
|
|
struct params {
|
|
/* 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_left; /* first column in forward move */
|
|
uint8_t px_fwd_right; /* last column in forward move */
|
|
uint8_t px_bwd_left; /* last (low) column in backward move */
|
|
uint8_t px_bwd_right; /* first (high) col. in backward move */
|
|
|
|
/* Timer periods, for imaging */
|
|
|
|
uint32_t tp_fwd_start; /* forward image start */
|
|
uint32_t tp_bwd_start; /* backward image start */
|
|
uint16_t tp_fwd_pix; /* pixel size in forward move */
|
|
uint16_t tp_bwd_pix; /* pixel size in backward move */
|
|
};
|
|
|
|
#endif /* !PROTO_H */
|