mirror of
git://projects.qi-hardware.com/antorcha.git
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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
/*
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* fw/proto.h - Wireless protocol constants
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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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#ifndef PROTO_H
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#define PROTO_H
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#include <stdint.h>
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#define PAYLOAD 64 /* most messages use a fixed 64 bytes payload */
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enum pck_type {
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PING = 0, /* version query */
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PONG = 1, /* version response */
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RESET = 2, /* reset to boot loader */
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FIRMWARE = 4, /* firmware upload */
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FIRMWARE_ACK = 5, /* firmware upload acknowledgement */
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IMAGE = 6, /* image upload */
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IMAGE_ACK = 7, /* image upload acknowledgement */
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PARAM = 8, /* parameter upload */
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PARAM_ACK = 9, /* parameter upload acknowledgement */
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SAMPLE = 10, /* start/stop sampling */
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SAMPLE_ACK = 11, /* start/stop sampling acknowledgement */
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SAMPLES = 13, /* samples */
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DIAG = 14, /* diagnostic request */
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DIAG_ACK = 15, /* diagnostic response */
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};
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#define MAX_LINES 80
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#define DIAG_SAMPLES 4
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#define XA_HIGH_DEFAULT 850
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#define XA_LOW_DEFAULT 170
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#define PX_FWD_LEFT_DEFAULT 0
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#define PX_FWD_RIGHT_DEFAULT (MAX_LINES-1)
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#define PX_BWD_LEFT_DEFAULT 0
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#define PX_BWD_RIGHT_DEFAULT (MAX_LINES-1)
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#define TP_FWD_START_DEFAULT 70000 /* 70 ms */
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#define TP_BWD_START_DEFAULT 70000 /* 70 ms */
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#define TP_FWD_PIX_DEFAULT 1100 /* 1.1 ms */
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#define TP_BWD_PIX_DEFAULT 1100 /* 1.1 ms */
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struct params {
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/* Accelerator thresholds */
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uint16_t xa_high; /* X acceleration high threshold */
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uint16_t xa_low; /* X acceleration low threshold */
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/* Pixel offsets (in image) */
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uint8_t px_fwd_left; /* first column in forward move */
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uint8_t px_fwd_right; /* last column in forward move */
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uint8_t px_bwd_left; /* last (low) column in backward move */
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uint8_t px_bwd_right; /* first (high) col. in backward move */
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/* Timer periods, for imaging */
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uint32_t tp_fwd_start; /* forward image start */
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uint32_t tp_bwd_start; /* backward image start */
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uint16_t tp_fwd_pix; /* pixel size in forward move */
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uint16_t tp_bwd_pix; /* pixel size in backward move */
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};
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#endif /* !PROTO_H */
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