+++ /dev/null
-#include <stdio.h>
-#include <stdlib.h>
-#include <math.h>
-#include <inttypes.h>
-
-#include <stdint.h>
-
-
-#include "scanner.h"
-
-#define ADC_REF_AVCC 0
-#define MUX_ADC13 0
-
-
-
-double TELEMETRE_A = TELEMETRE_A_INIT;
-double TELEMETRE_B = TELEMETRE_B_INIT;
-
-
-#define printf_P printf
-#define PSTR(a) (a)
-int32_t motor_angle = 0;
-int32_t scan_dist = 0;
-
-
-int32_t H_fin, L_fin;
-double L, H;
-
-#define nop()
-
-#define ABS(val) ({ \
- __typeof(val) __val = (val); \
- if (__val < 0) \
- __val = - __val; \
- __val; \
- })
-
-struct scan_params scan_params;
-
-int32_t encoders_spi_get_value_scanner_interpolation(void *a)
-{
- return motor_angle;
-}
-
-
-int16_t adc_get_value(uint8_t a)
-{
- return scan_dist;
-}
-
-
-
-/* get motor angle in radian; return mirror angle in radian, cos a sin a */
-void ang2_a_mirror(double b, double * c_a, double* s_a, double* a)
-{
- double x2, y2;
- double A, DELTA, B, D;
-
- b+=scan_params.offset_b;
- x2 = X + l1*cos(b);
- y2 = Y + l1*sin(b);
-
- A = (l3*l3 + x2*x2 + y2*y2 - l2*l2)/(2*l3);
-
- DELTA = -(A*A - x2*x2 - y2*y2);
- B = sqrt(DELTA);
-
- D = x2*x2 + y2*y2;
-
- *c_a = (x2*A + y2*B)/D;
- *s_a = -(x2*B - y2*A)/D;
-
- *a = atan2(*s_a, *c_a);
-
- *a += scan_params.offset_a;
- // *s_a = sin(*a);
- // *c_a = cos(*a);
-
-}
-
-/* get telemeter dist , cos a, sin a, a and return H, L of scanned point */
-void ang2_H_L(double l_telemetre, double c_a, double s_a, double a, double *H, double *L)
-{
- double d;
- d = h_mirror*c_a/s_a;
- *H = (l_telemetre - l_mirror - d)*sin(2*a);
- *L = l_mirror + d + *H/tan(2*a);
-
- //*H+= 8*sin(a-scan_params.offset_a);
-}
-
-
-
-//int32_t last_col_n;
-//int32_t last_row_n;
-//uint8_t last_sample;
-
-//uint8_t h_limit[] = {40, 53, 66, 78, 94, 111, 123};
-//uint8_t h_limit[] = {37, 48, 61, 72, 94, 111, 123};
-
-/* last high is dummy, to deal higher columns */
-//uint8_t h_limit[] = {68, 79, 93, 107, 121, 138, 155, 170, 250};
-
-
-//uint8_t h_limit[] = {60, 72, 85, 98, 112, 129, 250};
-
-//uint8_t h_limit[] = {80, 97, 118, 134, 145, 160, 250};
-
-
-//uint8_t h_limit[] = {79, 94, 108, 117, 129, 144, 250};
-
-uint8_t h_limit[] = {83, 95, 108, 120, 135, 147, 164, 250};
-#define H_MARGIN (-6)
-
-#define cs_set_consign(a, b)
-
-
-
-void do_scan(void * dummy)
-{
-
- unsigned int i;
- int16_t a;
- int32_t row_n;
- int32_t col_n;
-
-
- int32_t tour_pos;
- int32_t pos, last_pos;
- int32_t pos_tmp ;
- int32_t mot_pos;
- double dist;
- uint8_t min_sample;
-
- double b, c_a, s_a, /*H, L,*/ m_a;
- // int32_t H_fin;
-
-
- //printf("scan\n");
- if (scan_params.sample_i==0)
- return;
-
- mot_pos = encoders_spi_get_value_scanner_interpolation((void *)SCANNER_ENC);
-#if 0
- if (scan_params.sample_i==1){
- printf_P(PSTR("dump end enc %ld %d \r\n"), mot_pos, PIX_PER_SCAN);
- //scanner.flags &= (~CS_ON);
-
-
-
- /* stop scan at cur pos + 10 round */
- mot_pos = encoders_spi_get_value_scanner_interpolation((void *)SCANNER_ENC);
- mot_pos = SCANNER_STEP_TOUR * ((mot_pos/SCANNER_STEP_TOUR) + 1) ;
-
- printf_P(PSTR("set to %ld \r\n"), mot_pos);
-
- cs_set_consign(&sensorboard.scanner.cs, mot_pos);
- //pwm_ng_set(SCANNER_MOT_PWM, 0);
-
-
- }
-
- mot_pos-= scan_params.pos_start_scan;
-#endif
- a = adc_get_value( ADC_REF_AVCC | MUX_ADC13 );
-
-
- //dist = (a-TELEMETRE_B)/TELEMETRE_A;
- //dist = TELEMETRE_A * a +TELEMETRE_B;
- dist = telemetre_to_cm(a);
-
- //printf_P(PSTR("enc val = %ld\r\n"), encoders_microb_get_value((void *)SCANNER_ENC));
-
-
- //sample_tab[MAX_SAMPLE-sample_i] = a>0x1ff?0x1FF:a;
- //sample_tab[MAX_SAMPLE-sample_i] |= PINF&2?0x200:0;
-
-
- row_n = (mot_pos)/(SCANNER_STEP_TOUR/2);
-#if 0
- /* separe scan forward/backword */
- if (row_n%2){
- row_n/=2;
- }
- else{
- row_n/=2;
- row_n+=30;
- }
-#endif
-
- tour_pos = (mot_pos)%(SCANNER_STEP_TOUR);
-
- b = (2.*M_PI)*(double)tour_pos/(double)(SCANNER_STEP_TOUR);
-
- ang2_a_mirror(b, &c_a, &s_a, &m_a);
- ang2_H_L(dist, c_a, s_a, m_a, &H, &L);
-
-
- if (H >0){
- printf("zarb H\n");
- H = 0;
- }
-
- if (dist> SCAN_MAX_DIST){
- H = 0;
- L = 0;
- }
-
- H = H;//m_a*180/M_PI;
- L = L;//(L-100)*PIX_PER_SCAN;
-
- //printf_P(PSTR("polling : ADC0 = %i %f\r\n"),a, dist);
- //printf_P(PSTR("%f %f %2.2f %f\r\n"), H, L, m_a*180./M_PI, dist);
-
-
- //printf_P(PSTR("dist, b, a: %2.2f %2.2f %2.2f\r\n"), dist, b*180/M_PI, m_a*180/M_PI);
-
- H=(H+SCAN_H_MAX)*SCAN_H_COEF;
- L-=SCAN_L_MIN;
-
-
- /* XXX may never append */
- if (L<0)
- L=0;
-
-
- /* first filter => pixel modulo level */
-#define H_BASE 10
-#define H_MUL 14
- H_fin = H;//+SCAN_H_MAX;
- //H_fin = ((H_fin-H_BASE)/H_MUL)*H_MUL + H_BASE;
-
- if (scan_params.filter){
- H_fin = 11; // default is level 11
- for (i=0;i<sizeof(h_limit)/sizeof(uint8_t);i++){
- if (H < h_limit[i]+H_MARGIN){
- H_fin = i;
- break;
- }
- }
- }
-
- L_fin = L;
- //printf_P(PSTR("%f %f\r\n"), dist, m_a*180/M_PI);
- //printf_P(PSTR("%f %f\r\n"), m_a*180/M_PI, b*180/M_PI);
-
- //printf_P(PSTR("%d %f\r\n"), a, b*180/M_PI);
- //printf_P(PSTR("%f %f %f\r\n"), H, m_a*180/M_PI, offset_b);
-
- //printf_P(PSTR("a, tpos: %d %d \r\n"), a, tour_pos);
-
-
- //printf_P(PSTR("%f %f\r\n"), H, L);
-
-
- /*
- if (row_n%2){
- //tour_pos = ((SCANNER_STEP_TOUR/2)-tour_pos);
- tour_pos = (tour_pos*PIX_PER_SCAN)/(SCANNER_STEP_TOUR);
- }
- else{
- tour_pos = ((SCANNER_STEP_TOUR-tour_pos)*PIX_PER_SCAN)/(SCANNER_STEP_TOUR);
- }
- */
- col_n = (PIX_PER_SCAN*L)/(SCAN_L_MAX-SCAN_L_MIN);
- if (col_n>PIX_PER_SCAN)
- printf("BUG!!! RECALC MAX L\r\n");
-
- //col_n = (PIX_PER_SCAN+col_n -5)%PIX_PER_SCAN;
-
- //pos = (row_n*SCANNER_STEP_TOUR + tour_pos)/STEP_PER_POS;
- //pos= row_n*PIX_PER_SCAN+tour_pos;
- //last_pos= last_row_n*PIX_PER_SCAN+last_tour_pos;
-
-
-
- pos= row_n*PIX_PER_SCAN+col_n;
- last_pos= scan_params.last_row_n*PIX_PER_SCAN+scan_params.last_col_n;
-
- //printf_P(PSTR("%ld %ld %ld %ld\r\n"), row_n, col_n, pos, H_fin);
-
- //a-=0x100;
- a-=200;
- //a/=10;
-
- if (0<= pos && pos <MAX_SAMPLE)// && row_n%2)
- //sample_tab[pos] = a>0xff?0xFF:a;
- //sample_tab[(int)L] = H ;
- scan_params.sample_tab[pos] = H_fin;
- nop();
- if ((scan_params.last_row_n == row_n) && ABS(last_pos-pos)>1){
- /* we have a hole, pad it with minimal hight */
- if (H_fin>scan_params.last_sample)
- min_sample = scan_params.last_sample;
- else
- min_sample = H_fin;
-
- //printf("(%ld, %ld) (%ld %ld)\r\n", last_col_n, last_row_n, col_n, row_n);
-
- /* fill grow, avoid erasing curent pos */
- if (pos > last_pos){
- pos_tmp = last_pos;
- last_pos = pos;
- //printf("loop1 on (%ld, %ld) %ld\r\n", pos_tmp, last_pos, last_pos-pos_tmp);
-
- }
- else{
- pos_tmp = pos+1;
- //printf("loop1 on (%ld, %ld) %ld\r\n", pos_tmp, last_pos, last_pos-pos_tmp);
- }
-
-
- for (;pos_tmp< last_pos;pos_tmp++){
- if (0< pos_tmp && pos_tmp <MAX_SAMPLE)// && row_n%2)
- //sample_tab[pos_tmp] = min_sample;
- nop();
-
- }
-
-
- }
-
- scan_params.last_row_n = row_n;
- scan_params.last_col_n = col_n;
- scan_params.last_sample = H_fin;
-
-
- //printf("pos : %ld\r\n", pos);
- //sample_tab[sample_i] = a>0x1ff?0x1FF:a;
-
- //sample_ok_tab[MAX_SAMPLE-sample_i] = PORTF&2;
-
- /*
- if (((pos <MAX_SAMPLE)) && (tour_pos<=(SCANNER_STEP_TOUR/2)))
- sample_tab[pos] = 0xffff;
- */
- scan_params.sample_i--;
-}
-
-
-#define my_offset_a (0*M_PI/180)
-#define my_offset_b (34*M_PI/180)
-
-//#define my_offset_a (40*M_PI/180)
-//#define my_offset_b (-5*M_PI/180)
-
-
-
-/*
- *2 cause we don't known exactly limits
- at computation time
-*/
-lookup_h_l array_h_l[DIM_DIST*2][DIM_ANGLE*2];
-
-
-
-#define pgm_read_word_near(a) (*((uint16_t*)(a)))
-
-
-void do_scan_quick(void * dummy)
-{
-
- int i, j;
- int16_t a;
- int32_t row_n;
- int32_t col_n;
-
-
- int32_t tour_pos;
- int32_t pos, last_pos;
- int32_t pos_tmp ;
- int32_t mot_pos;
- uint8_t min_sample;
- //double H, L;
- //int32_t H_fin, L_fin;
-
-
- union{
- uint16_t u16;
- lookup_h_l h_l;
- }val;
- if (scan_params.sample_i==0)
- return;
-
- mot_pos = encoders_spi_get_value_scanner_interpolation((void *)SCANNER_ENC);
- if (scan_params.sample_i==1){
- printf_P(PSTR("dump end enc %ld %d \r\n"), mot_pos, PIX_PER_SCAN);
- //scanner.flags &= (~CS_ON);
-
-
-
- /* stop scan at cur pos + 10 round */
- mot_pos = encoders_spi_get_value_scanner_interpolation((void *)SCANNER_ENC);
- mot_pos = SCANNER_STEP_TOUR * ((mot_pos/SCANNER_STEP_TOUR) + 1) ;
-
- printf_P(PSTR("set to %ld \r\n"), mot_pos);
-
- cs_set_consign(&sensorboard.scanner.cs, mot_pos);
- //pwm_ng_set(SCANNER_MOT_PWM, 0);
-
-
- }
-
- mot_pos-= scan_params.pos_start_scan;
-
- a = adc_get_value( ADC_REF_AVCC | MUX_ADC13 );
-
-
- tour_pos = (mot_pos)%(SCANNER_STEP_TOUR);
-
-
- if (scan_params.offset_a != 0)
- printf_P(PSTR("%ld %d \r\n"), tour_pos, a);
-
- /* lookup in precomputed array */
-
-
- j = (DIM_DIST * (telemetre_to_cm(a)-TELEMETRE_MIN_CM))/(TELEMETRE_MAX_CM - TELEMETRE_MIN_CM);
- i = (DIM_ANGLE * tour_pos)/STEP_PER_ROUND;
-
-
- if (j<0)
- j=0;
- if (j>=DIM_DIST)
- j = DIM_DIST-1;
-
- if (i>=DIM_ANGLE)
- i = DIM_ANGLE-1;
-
-
- val.u16 = pgm_read_word_near(&array_h_l[j][i]);
-
-
- //val.u16 = pgm_read_word_near(&array_h_l[(a-TELEMETRE_MIN)/DIST_STEP][mot_pos/ANGLE_STEP]);
- //val.u16 = pgm_read_word_near(&array_h_l[a][tp]);
- H = val.h_l.h;
- L = val.h_l.l;
- /*
- val.u16 = pgm_read_word_near(&array_h_l[(a-TELEMETRE_MIN)/DIST_STEP][mot_pos/ANGLE_STEP]);
-
- H = val.h_l.h;
- L = val.h_l.l;
- */
- H_fin = H;
- L_fin = L;
-
-
-
- col_n = (PIX_PER_SCAN*L)/(SCAN_L_MAX-SCAN_L_MIN);
- if (col_n>PIX_PER_SCAN)
- printf("BUG!!! RECALC MAX L\r\n");
-
- //col_n = (PIX_PER_SCAN+col_n -5)%PIX_PER_SCAN;
-
- //pos = (row_n*SCANNER_STEP_TOUR + tour_pos)/STEP_PER_POS;
- //pos= row_n*PIX_PER_SCAN+tour_pos;
- //last_pos= last_row_n*PIX_PER_SCAN+last_tour_pos;
-
- row_n = (mot_pos)/(SCANNER_STEP_TOUR/2);
-
-
- pos= row_n*PIX_PER_SCAN+col_n;
- last_pos= scan_params.last_row_n*PIX_PER_SCAN+scan_params.last_col_n;
-
- //printf_P(PSTR("%ld %ld %ld %ld\r\n"), row_n, col_n, pos, H_fin);
-
- //a-=0x100;
- a-=200;
- //a/=10;
-
- if (0<= pos && pos <MAX_SAMPLE)// && row_n%2)
- //sample_tab[pos] = a>0xff?0xFF:a;
- //sample_tab[(int)L] = H ;
- scan_params.sample_tab[pos] = H_fin;
- nop();
- if ((scan_params.last_row_n == row_n) && ABS(last_pos-pos)>1){
- /* we have a hole, pad it with minimal hight */
- if (H_fin>scan_params.last_sample)
- min_sample = scan_params.last_sample;
- else
- min_sample = H_fin;
-
- //printf("(%ld, %ld) (%ld %ld)\r\n", last_col_n, last_row_n, col_n, row_n);
-
- /* fill grow, avoid erasing curent pos */
- if (pos > last_pos){
- pos_tmp = last_pos;
- last_pos = pos;
- //printf("loop1 on (%ld, %ld) %ld\r\n", pos_tmp, last_pos, last_pos-pos_tmp);
-
- }
- else{
- pos_tmp = pos+1;
- //printf("loop1 on (%ld, %ld) %ld\r\n", pos_tmp, last_pos, last_pos-pos_tmp);
- }
-
-
- for (;pos_tmp< last_pos;pos_tmp++){
- if (0< pos_tmp && pos_tmp <MAX_SAMPLE)// && row_n%2)
- //sample_tab[pos_tmp] = min_sample;
- nop();
-
- }
-
-
- }
-
- scan_params.last_row_n = row_n;
- scan_params.last_col_n = col_n;
- scan_params.last_sample = H_fin;
-
-
- //printf("pos : %ld\r\n", pos);
- //sample_tab[sample_i] = a>0x1ff?0x1FF:a;
-
- //sample_ok_tab[MAX_SAMPLE-sample_i] = PORTF&2;
-
- /*
- if (((pos <MAX_SAMPLE)) && (tour_pos<=(SCANNER_STEP_TOUR/2)))
- sample_tab[pos] = 0xffff;
- */
- scan_params.sample_i--;
-}
-
-
-int main(int argc, char** argv)
-{
- union{
- uint16_t u16;
- lookup_h_l h_l;
- }val;
-
- int i, j;
- FILE* f, *fin, *f_header;
-
- unsigned char line[1000];
- unsigned int a, b;
- unsigned int dist_max, angle_max;
-
- scan_params.filter = 1;
-
-
-
- f = fopen("oo", "w");
-
-
- TELEMETRE_B = 23.50;
-
- scan_params.offset_a = my_offset_a;
- scan_params.offset_b = my_offset_b;
-
-
-
-
-
- /*precompute H & L array */
- for (j = 0, scan_dist = TELEMETRE_MIN; scan_dist< TELEMETRE_MAX; j++, scan_dist+=DIST_STEP){
-
- for (i = 0, motor_angle = 0; motor_angle < STEP_PER_ROUND; i++, motor_angle+=ANGLE_STEP){
- scan_params.sample_i = 100;
- scan_params.pos_start_scan = 0;
- //printf("%d\n", i);
- do_scan(0);
- //printf("mangle, dist, h, l: %d %d, (%d, %2.2f)\n", motor_angle, scan_dist, H_fin, L);
- //fprintf(f, "mangle, dist, h, l: %d %d, (%d, %2.2f)\n", motor_angle, scan_dist, H_fin, L);
- /*
- j = (scan_dist - TELEMETRE_MIN)/DIST_STEP;
- i = motor_angle/ANGLE_STEP;
- //printf("%d %d (%d %d) (%d %d %d = %d)\n", i, j, motor_angle, ANGLE_STEP, scan_dist, TELEMETRE_MIN, DIST_STEP, (scan_dist - TELEMETRE_MIN)/DIST_STEP);
- array_h_l[j][i].h = H_fin;
- array_h_l[j][i].l = L_fin;
- */
- j = (DIM_DIST * (telemetre_to_cm(scan_dist)-TELEMETRE_MIN_CM))/(TELEMETRE_MAX_CM - TELEMETRE_MIN_CM);
- i = (DIM_ANGLE * motor_angle)/STEP_PER_ROUND;
- array_h_l[j][i].h = H_fin;
- array_h_l[j][i].l = L_fin;
-
- }
- }
-
-
- scan_params.filter = 0;
- if (argc>1 && !strcmp(argv[1], "1"))
- scan_params.filter = 1;
-
-
- printf("max i max j %d %d \n", i, j);
- dist_max = j;
- angle_max = i;
-
- f_header = fopen("scan_h_l.h", "w");
- fprintf(f_header, "PROGMEM lookup_h_l array_h_l[%d][%d] = {\n", dist_max, angle_max);
- for (j = 0, scan_dist = 0; j<dist_max; j++, scan_dist+=DIST_STEP){
- fprintf(f_header, "{\n");
-
- for (i = 0, motor_angle = 0; i < angle_max; i++, motor_angle+=ANGLE_STEP){
- fprintf(f_header, "{ .h = %d, .l = %d }, ", array_h_l[j][i].h, array_h_l[j][i].l);
-
- }
- fprintf(f_header, "},\n");
- }
- fprintf(f_header, "};\n", DIM_DIST, DIM_ANGLE);
-
- fclose(f_header);
-
-
-
- printf("IIIIIIIIIIII %d %d\n", array_h_l[38][152].h, array_h_l[38][152].l);
- val.u16 = pgm_read_word_near(&array_h_l[38][152]);
- printf("IIIIIIIIIIII %d %d\n", val.h_l.h, val.h_l.l);
-
- motor_angle = 9000;
- scan_dist = 388;
-
- for (motor_angle = 0; motor_angle<14000; motor_angle+=100){
- for (scan_dist = TELEMETRE_MIN; scan_dist<300; scan_dist+=10){
- scan_params.sample_i = 100;
- scan_params.pos_start_scan = 0;
-
- do_scan(0);
-
-
- //printf("m s %d %d\n", motor_angle, scan_dist);
- //printf("R %d %d\n", H_fin, L_fin);
-
- val.u16 = pgm_read_word_near(&array_h_l[(scan_dist-TELEMETRE_MIN)/DIST_STEP][motor_angle/ANGLE_STEP]);
- //printf("Q %d %d\n\n", val.h_l.h, val.h_l.l);
-
- if (val.h_l.h != H_fin || val.h_l.l != L_fin)
- printf("BUG BUG\n");
- }
- }
-
- fin = fopen("out", "r");
- while(fgets(line, sizeof(line), fin)){
- scan_params.sample_i = 100;
- scan_params.pos_start_scan = 0;
-
- //printf("[%s]\n", line);
- sscanf(line, "%d %d\n", &a, &b);
- //printf("%d %d\n", a, b);
- motor_angle = a;
- scan_dist = b;
- do_scan_quick(0);
- /*
- j = (DIM_DIST * (telemetre_to_cm(scan_dist)-TELEMETRE_MIN_CM))/(TELEMETRE_MAX_CM - TELEMETRE_MIN_CM);
- i = (DIM_ANGLE * motor_angle)/STEP_PER_ROUND;
-
- val.u16 = pgm_read_word_near(&array_h_l[j][i]);
- H_fin = val.h_l.h;
- L_fin = val.h_l.l;
- */
-
- printf("Q %d %d\n", H_fin, L_fin);
-
- do_scan(0);
-
- printf("R %d %d\n", H_fin, L_fin);
-
- fprintf(f, "mangle, dist, h, l: %d %d, (%d, %d)\n", motor_angle, scan_dist, H_fin, L_fin);
-
- }
- fclose(fin);
-
- fclose(f);
-
- return;
- /*
- for (j = 0, scan_dist = 0; j<DIM_DIST; j++, scan_dist+=DIST_STEP){
- for (i = 0, motor_angle = 0; i < DIM_ANGLE; i++, motor_angle+=ANGLE_STEP){
- do_scan(0);
- printf("%d %d, (%d, %2.2f)\n", motor_angle, scan_dist, H_fin, L);
-
- }
-
- }
- */
-
-
-}
git.droids-corp.org / aversive.git / blobdiff