+++ /dev/null
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
-#include <aversive.h>
-#include <aversive/wait.h>
-#include <aversive/error.h>
-#include <aversive/pgmspace.h>
-#include <pwm_ng.h>
-#include <pid.h>
-#include <time.h>
-#include <quadramp.h>
-#include <control_system_manager.h>
-#include <adc.h>
-#include <spi.h>
-#include <ax12.h>
-
-#include <time.h>
-#include <blocking_detection_manager.h>
-
-#include <encoders_spi.h>
-
-#include <rdline.h>
-
-#include "sensor.h"
-
-#include <uart.h>
-
-#include "main.h"
-#include "scanner.h"
-
-#include "cmdline.h"
-
-
-#include "scan_h_l.h"
-
-
-#include <vect_base.h>
-#include "img_processing.h"
-
-
-#include "../common/i2c_commands.h"
-
-#define SCANNER_DEBUG(args...) DEBUG(E_USER_SCANNER, args)
-#define SCANNER_NOTICE(args...) NOTICE(E_USER_SCANNER, args)
-#define SCANNER_ERROR(args...) ERROR(E_USER_SCANNER, args)
-
-
-#define MODULO_TIMER (1023L)
-
-#define COEFF_TIMER (2)
-#define COEFF_MULT (1000L)
-#define COEFF_MULT2 (1000L)
-
-double TELEMETRE_A = TELEMETRE_A_INIT;
-double TELEMETRE_B = TELEMETRE_B_INIT;
-
-
-
-
-struct scan_params scan_params;
-
-static volatile int32_t scan_delta_pos;
-static volatile int32_t scan_tick_cur = 0;
-static volatile int32_t scan_tick_prev = 0;
-/*static volatile int32_t count = 0;
-static volatile int32_t count_diff_rising = 0;
-static volatile int32_t count_diff_falling = 0;
-*/
-static int32_t scanner_coeff = 0;
-
-//static volatile int8_t valid_scanner = 0;
-
-static volatile int32_t scan_pos_cur = 0;
-
-static int32_t pos_ref = 0;
-
-
-int32_t encoders_spi_get_value_scanner(void *number)
-{
- int32_t ret;
-
- ret = encoders_spi_get_value(number);
- return ret*4;
-}
-
-
-void encoders_spi_set_value_scanner(void * number, int32_t v)
-{
- encoders_spi_set_value(number, v/4);
-}
-
-int32_t encoders_spi_update_scanner(void * number)
-{
- int32_t ret;
- uint8_t flags;
-
- IRQ_LOCK(flags);
- ret = encoders_spi_get_value_scanner(number);
- scan_delta_pos = ret - scan_pos_cur;
- scan_pos_cur = ret;
- scan_tick_prev = scan_tick_cur;
- scan_tick_cur = TCNT3;
-
- scanner_coeff = (scan_delta_pos * COEFF_MULT) /
- ((scan_tick_cur - scan_tick_prev + MODULO_TIMER + 1) & MODULO_TIMER);
-
- IRQ_UNLOCK(flags);
-
-
- return ret;
-}
-
-int32_t encoders_spi_get_value_scanner_interpolation(void * number)
-{
- uint8_t flags;
- int32_t pos;
-
- IRQ_LOCK(flags);
- pos = scan_pos_cur;
- pos += (scanner_coeff * ((TCNT3 - scan_tick_cur + MODULO_TIMER + 1)& MODULO_TIMER ))/
- COEFF_MULT;
-
- IRQ_UNLOCK(flags);
-
- return pos;
-}
-
-
-void scanner_reset_pos(void)
-{
- pwm_ng_set(SCANNER_PWM, 0);
- encoders_spi_set_value_scanner(SCANNER_ENCODER, 0);
-}
-
-void scanner_init(void)
-{
-
- scan_params.working = 0;
- scan_params.must_stop = 0;
-
- scanner_reset_pos();
- pos_ref = encoders_spi_get_value_scanner(SCANNER_ENCODER);
-
- //memset(&scanner, 0, sizeof(struct scanner));
-
- scan_delta_pos = 0;
-
- /*for(i=0;i<SCANNER_MAX_SAMPLE;i++)
- scanner_sample_size[i] = 0;*/
-
-
-
-}
-
-
-#define SCANNER_OFFSET_CALIBRE 1500
-
-#define CALIBRE_LASER_SAMPLE 100
-
-
-
-
-
-
-void scanner_calibre_laser(void)
-{
- unsigned int i;
- int32_t laser_value = 0;
-
- /* arm out */
- pwm_ng_set(&gen.servo3, SCANNER_POS_OUT);
-
- /* set mirror to have vertical laser */
- cs_set_consign(&sensorboard.scanner.cs, (35L*SCANNER_STEP_TOUR)/100);
-
- wait_ms(500);
-
- /*
- laser must point on the ground:
- we sample laser in order to determine
- laser cold/warm calibration
- */
-
- for (i = 0; i<CALIBRE_LASER_SAMPLE; i++){
- laser_value += adc_get_value( ADC_REF_AVCC | MUX_ADC13 );
- wait_ms(2);
- }
-
- laser_value/=CALIBRE_LASER_SAMPLE;
-
- SCANNER_NOTICE("laser calibration value %"PRIi32"", laser_value);
-
- quadramp_set_1st_order_vars(&sensorboard.scanner.qr, scan_params.speed, scan_params.speed); /* set speed */
- cs_set_consign(&sensorboard.scanner.cs, 0);
- wait_ms(200);
-
-
- TELEMETRE_B = TELEMETRE_B_INIT + ((double)(424 - laser_value))*6./90.;
-
- SCANNER_NOTICE("TEL B value %2.2f", TELEMETRE_B);
-
-
- /* arm in */
-
- pwm_ng_set(&gen.servo3, SCANNER_POS_IN);
-
-
-}
-
-
-
-
-
-void scanner_calibre_mirror(void)
-{
-
- sensorboard.flags &= ~DO_CS;
-
-
-
- /* set arm in calibre position */
- pwm_ng_set(&gen.servo3, SCANNER_POS_CALIBRE);
- wait_ms(500);
-
-
-
- /* init scanner pos */
- pwm_ng_set(SCANNER_PWM, 100);
-
- /* find rising edge of the mirror*/
- wait_ms(100);
- while (sensor_get(SCANNER_POS_SENSOR));
- wait_ms(100);
- while (!sensor_get(SCANNER_POS_SENSOR));
-
- pwm_ng_set(SCANNER_PWM, 0);
-
-
- scanner_reset_pos();
- pid_reset(&sensorboard.scanner.pid);
- cs_set_consign(&sensorboard.scanner.cs, 0);
-
-
- quadramp_reset(&sensorboard.scanner.qr);
-
-
- sensorboard.flags |= DO_CS;
-
-
- /*
- set mirror to set laser point at maximum
- distance from robot
- */
- encoders_spi_set_value_scanner(SCANNER_ENCODER, -SCANNER_OFFSET_CALIBRE);
- wait_ms(100);
-
- /* arm in */
-
- pwm_ng_set(&gen.servo3, SCANNER_POS_IN);
-
-}
-
-
-/* arm must be in OUT position! */
-void scanner_do_scan(void){
- scan_params.working = 1;
- scan_params.dropzone_h = -1;
-
-
- quadramp_set_1st_order_vars(&sensorboard.scanner.qr, scan_params.speed, scan_params.speed); /* set speed */
-
- scan_params.sample_i = MAX_SAMPLE;
- scan_params.pos_start_scan = encoders_spi_get_value_scanner(SCANNER_ENC);
-
- memset(scan_params.sample_tab, 0xff, MAX_SAMPLE*sizeof(uint8_t));
-
- cs_set_consign(&sensorboard.scanner.cs, scan_params.pos_start_scan+SCANNER_STEP_TOUR*200L);
-
- scan_params.last_col_n = 0;
- scan_params.last_row_n = 0;
- scan_params.last_sample = 0;
-
-
-}
-
-
-void scanner_end_process(void)
-{
- int16_t dropzone_x, dropzone_y;
- int8_t ret;
- uint32_t t1, t2;
-
- t1 = time_get_us2();
-
-
- SCANNER_NOTICE("process img algo %d", scan_params.algo);
- if (scan_params.algo == I2C_SCANNER_ALGO_COLUMN_DROPZONE) {
- SCANNER_NOTICE("column dropzone h: %d x:%d y:%d", scan_params.drop_zone.working_zone,
- scan_params.drop_zone.center_x, scan_params.drop_zone.center_y);
-
- ret = get_column_dropzone(scan_params.sample_tab, PIX_PER_SCAN, MAX_SAMPLE/PIX_PER_SCAN,
- scan_params.drop_zone.working_zone, scan_params.drop_zone.center_x, scan_params.drop_zone.center_y,
- &dropzone_x, &dropzone_y);
-
- scan_params.dropzone_h = ret;
- scan_params.dropzone_x = dropzone_x;
- scan_params.dropzone_y = dropzone_y;
-
- SCANNER_NOTICE("best column h:%d x:%d y:%d",
- scan_params.dropzone_h,
- scan_params.dropzone_x, scan_params.dropzone_y);
-
-
- }
- else if (scan_params.algo == I2C_SCANNER_ALGO_CHECK_TEMPLE){
- SCANNER_NOTICE("checktemple h: %d x:%d y:%d", scan_params.check_temple.level,
- scan_params.check_temple.temple_x, scan_params.check_temple.temple_y);
- ret = is_temple_there(scan_params.sample_tab, PIX_PER_SCAN, MAX_SAMPLE/PIX_PER_SCAN,
- scan_params.check_temple.level, scan_params.check_temple.temple_x, scan_params.check_temple.temple_y);
-
- scan_params.dropzone_h = ret?scan_params.check_temple.level:-1;
- }
- else if (scan_params.algo == I2C_SCANNER_ALGO_TEMPLE_DROPZONE){
- SCANNER_NOTICE("temple dropzone h: %d x:%d y:%d", scan_params.drop_zone.working_zone,
- scan_params.drop_zone.center_x, scan_params.drop_zone.center_y);
- ret = find_temple_dropzone(scan_params.sample_tab, PIX_PER_SCAN, MAX_SAMPLE/PIX_PER_SCAN,
- scan_params.drop_zone.working_zone, scan_params.drop_zone.center_x, scan_params.drop_zone.center_y,
- &dropzone_x, &dropzone_y);
-
- scan_params.dropzone_h = ret;
- scan_params.dropzone_x = dropzone_x;
- scan_params.dropzone_y = dropzone_y;
-
- SCANNER_NOTICE("best temple h:%d x:%d y:%d",
- scan_params.dropzone_h,
- scan_params.dropzone_x, scan_params.dropzone_y);
-
- }
-
- scan_params.working = 0;
-
- t2 = time_get_us2();
- SCANNER_NOTICE("process total time %"PRIi32"",t2-t1);
-
-
-}
-
-
-void scanner_scan_autonomous(void)
-{
- /* arm out*/
- pwm_ng_set(&gen.servo3, SCANNER_POS_OUT);
- time_wait_ms(300);
-
- scanner_do_scan();
-
- while(scan_params.sample_i > 0){
- time_wait_ms(10);
- }
-
- /* arm in */
- pwm_ng_set(&gen.servo3, SCANNER_POS_IN);
-
-}
-
-
-/*
- * called from IRQ:
- * mode can be off/prepare/start, see in i2c_commands.h
- */
-void scanner_set_mode(uint8_t mode)
-{
- if (mode == I2C_SENSORBOARD_SCANNER_PREPARE){
- /* reset flag max pos */
- scan_params.max_column_detected = 0;
-
- /* arm out */
- pwm_ng_set(&gen.servo3, SCANNER_POS_OUT);
-
- }
- else if (mode == I2C_SENSORBOARD_SCANNER_STOP){
- /* arm in */
- pwm_ng_set(&gen.servo3, SCANNER_POS_IN);
- scan_params.must_stop = 1;
- }
- else if (mode == I2C_SENSORBOARD_SCANNER_START){
- scan_params.max_column_detected = 0;
- scan_params.must_stop = 0;
-
-
- /* start scan in background */
- scanner_do_scan();
- }
-
-
-}
-
-/*
-void scanner_stop(void)
-{
- sensorboard.scanner.on = 0;
- pwm_ng_set(SCANNER_PWM, 0);
-}
-*/
-
-
-/*
-int32_t encoders_spi_get_scanner_speed(void * dummy)
-{
- return scanner_speed;
-}
-*/
-
-
-//uint8_t sample_tab[MAX_SAMPLE];
-//uint16_t sample_i = 0;
-
-
-//#define offset_a (75.*M_PI/180.)
-//float offset_a;
-//float offset_b;
-
-//int32_t pos_start_scan;
-
-
-/* get motor angle in radian; return mirror angle in radian, cos a sin a */
-void ang2_a_mirror(float b, float * c_a, float* s_a, float* a)
-{
- float x2, y2;
- float 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(float l_telemetre, float c_a, float s_a, float a, float *H, float *L)
-{
- float 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};
-#define H_MARGIN 7
-
-
-#if 0
-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;
- float dist;
- uint8_t min_sample;
-
- float b, c_a, s_a, H, L, m_a;
- int32_t H_fin;
-
-
- if (scan_params.sample_i==0)
- return;
-
- mot_pos = encoders_spi_get_value_scanner_interpolation((void *)SCANNER_ENC);
-
- if (scan_params.sample_i==1){
- SCANNER_DEBUG("dump end enc %ld %d ", 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) ;
-
- SCANNER_DEBUG("set to %ld ", 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 );
-
-
- //dist = (a-TELEMETRE_B)/TELEMETRE_A;
- dist = TELEMETRE_A * a +TELEMETRE_B;
-
- //SCANNER_DEBUG("enc val = %ld", 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)*(float)tour_pos/(float)(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);
-
-
- SCANNER_DEBUG("%ld %d", tour_pos, a);
-
- 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;
-
- //SCANNER_DEBUG("polling : ADC0 = %i %f",a, dist);
- //SCANNER_DEBUG("%f %f %2.2f %f", H, L, m_a*180./M_PI, dist);
-
-
- //SCANNER_DEBUG("%f %f", dist, 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;
- }
- }
- }
-
- //SCANNER_DEBUG("%f %f", dist, m_a*180/M_PI);
- //SCANNER_DEBUG("%f %f", m_a*180/M_PI, b*180/M_PI);
-
- //SCANNER_DEBUG("%d %f", a, b*180/M_PI);
- //SCANNER_DEBUG("%f %f %f", H, m_a*180/M_PI, offset_b);
-
- //SCANNER_DEBUG("%d %2.2f ", a, tour_pos);
-
-
- //SCANNER_DEBUG("%f %f %ld %d", H, L, tour_pos, a);
-
-
- /*
- 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");
-
- //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;
-
- //SCANNER_DEBUG("%ld %ld %ld %ld", 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)", 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", pos_tmp, last_pos, last_pos-pos_tmp);
-
- }
- else{
- pos_tmp = pos+1;
- //printf("loop1 on (%ld, %ld) %ld", 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", 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--;
-}
-#endif
-
-
-
-void do_scan(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;
-
- uint8_t flags;
-
- union{
- uint16_t u16;
- lookup_h_l h_l;
- }val;
-
-
-
- if (scan_params.sample_i==0)
- return;
-
-
-
- scan_params.max_column_detected = !!sensor_get(SCANNER_MAXCOLUMN_SENSOR);
-
- mot_pos = encoders_spi_get_value_scanner_interpolation((void *)SCANNER_ENC);
- if (scan_params.sample_i==1 || scan_params.max_column_detected || scan_params.must_stop ){
-
- /* reset sample num in case of max column detected */
- IRQ_LOCK(flags);
- scan_params.sample_i = 1;
- IRQ_UNLOCK(flags);
-
-
- SCANNER_DEBUG("dump end enc %"PRIi32" %d ", 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) ;
-
- SCANNER_DEBUG("set to %"PRIi32" ", mot_pos);
-
- cs_set_consign(&sensorboard.scanner.cs, mot_pos);
- //pwm_ng_set(SCANNER_MOT_PWM, 0);
-
-
- /* end working */
-
- //scanner_end_process();
- if (!scan_params.must_stop && !scan_params.max_column_detected)
- process_img_to_zone(scan_params.sample_tab, PIX_PER_SCAN, MAX_SAMPLE/PIX_PER_SCAN);
-
-
- scan_params.working = 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.debug != 0)
- SCANNER_DEBUG("%ld %d ", 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;
-
-
- if (L<=0)
- L = 0;
-
- col_n = (PIX_PER_SCAN*L)/(SCAN_L_MAX-SCAN_L_MIN);
- if (col_n>=PIX_PER_SCAN) {
- //printf("BUG!!! RECALC MAX L");
- col_n = PIX_PER_SCAN-1;
- }
-
- //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;
-
- //SCANNER_DEBUG("%ld %ld %ld %ld", 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)", 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", pos_tmp, last_pos, last_pos-pos_tmp);
-
- }
- else{
- pos_tmp = pos+1;
- //printf("loop1 on (%ld, %ld) %ld", pos_tmp, last_pos, last_pos-pos_tmp);
- }
-
-
- for (;pos_tmp< last_pos;pos_tmp++){
- if (0< pos_tmp && pos_tmp <MAX_SAMPLE){
- //scan_params.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", 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;
- */
- IRQ_LOCK(flags);
- scan_params.sample_i--;
- IRQ_UNLOCK(flags);
-
-}
git.droids-corp.org / aversive.git / blobdiff