+#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