mirror of
git://projects.qi-hardware.com/antorcha.git
synced 2024-11-29 01:27:11 +02:00
a70caced48
For some reason, DIAG often stalls the RF subsystem. The periodic reset brings it back to life.
157 lines
2.7 KiB
C
157 lines
2.7 KiB
C
/*
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* fw/antorcha.c - Initialization of Antorcha application firmware
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*
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* Written 2012 by Werner Almesberger
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* Copyright 2012 Werner Almesberger
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*/
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#include <stddef.h>
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#include <stdint.h>
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#include "proto.h"
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#include "param.h"
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#include "rf.h"
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#include "dispatch.h"
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#include "sweep.h"
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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 volatile enum sync_state {
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IDLE, /* undecided */
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BWD, /* backward sweep */
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LEFT, /* reversing from backward to forward */
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FWD, /* forward sweep */
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RIGHT, /* reversing from forward to backward */
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} state = IDLE;
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static volatile uint32_t tR0, tR1, tL0, tL1;
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static volatile uint32_t tL, tR;
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static volatile bool wake = 0;
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static void sync_sweep(bool x, uint16_t v)
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{
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uint32_t t;
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if (!x)
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return;
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t = uptime_irq();
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switch (state) {
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case IDLE:
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if (v < xa_low) {
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tR0 = t;
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state = RIGHT;
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} else if (v > xa_high) {
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tL0 = t;
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state = LEFT;
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}
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break;
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case RIGHT:
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if (v < xa_low)
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break;
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tR1 = t;
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tR = t-tR0;
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state = BWD;
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/* fall through */
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case BWD:
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if (v < xa_high)
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break;
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tL0 = t;
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state = LEFT;
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wake = 1;
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break;
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case LEFT:
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if (v > xa_high)
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break;
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tL1 = t;
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tL = t-tL0;
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state = FWD;
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/* fall through */
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case FWD:
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if (v > xa_low)
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break;
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tR0 = t;
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state = RIGHT;
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wake = 1;
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break;
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}
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}
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static void submit_fwd_sweep(void)
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{
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#if 0
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uint32_t tIMG;
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tIMG = (fwd_sweep.right-fwd_sweep.left+1)*(fwd_sweep.pixel_ticks)/2;
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fwd_sweep.start_ticks = tL0+110000-tIMG/2;
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#endif
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fwd_sweep.start_ticks = tL0+fwd_start;
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sweep_image(&fwd_sweep);
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}
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static void submit_bwd_sweep(void)
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{
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bwd_sweep.start_ticks = tR0+bwd_start;
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sweep_image(&bwd_sweep);
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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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&sample_handler,
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¶m_handler,
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&diag_handler,
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NULL
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};
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int main(void)
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{
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uint8_t buf[PAYLOAD+5]; /* 3 bytes header, 2 bytes CRC */
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uint8_t got;
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uint32_t idle = 0;
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/*
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* The boot loader has already initialized PORTx, DDRx, and MCUCR.PUD.
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* It has also brought up RF and the underlying SPI.
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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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idle = 0;
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}
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if (wake && !sweeping) {
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wake = 0;
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if (state == LEFT)
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submit_fwd_sweep();
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else if (state == RIGHT)
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submit_bwd_sweep();
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}
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/* about 1 Hz */
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if (++idle == 100000) {
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rf_init();
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idle = 0;
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}
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}
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}
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