mirror of
git://projects.qi-hardware.com/antorcha.git
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62 lines
1.2 KiB
C
62 lines
1.2 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 "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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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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.left = 0,
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.right = MAX_LINES-1,
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.forward = 1,
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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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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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/*
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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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accel_start();
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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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sweep_image(&sweep);
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}
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}
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