+#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