microb 2010

[aversive.git] / projects / microb2010 / sensorboard / scanner.h

diff --git a/projects/microb2010/sensorboard/scanner.h b/projects/microb2010/sensorboard/scanner.h
new file mode 100644 (file)
index 0000000..2a549c8
--- /dev/null
+++ b/projects/microb2010/sensorboard/scanner.h
@@ -0,0 +1,158 @@
+
+#define SCANNER_ENC         ((void *)1)
+
+/* relative motor position from mirror axis */
+#define X  4.5
+#define Y  -1.25
+
+/* length of motor arm*/
+#define l1  0.9
+
+/* length of bielle */
+#define l2  2.113
+
+/* length of mirror (rotating axe to bielle) */
+//#define l3  4.714
+#define l3  4.1613
+
+/* distance from telemetre to mirror axis */
+#define l_mirror  24.0
+
+/* higth between mirror axis and horizontal laser beam*/
+#define h_mirror  -1.0
+
+
+/* transform telemeter unit to cm
+   using linear approximation
+   d_telemetre = a * cm + b
+*/
+//#define TELEMETRE_A (16.76)
+//#define TELEMETRE_B (-476.)
+
+
+#define TELEMETRE_A_INIT 0.067325
+#define TELEMETRE_B_INIT 23.225
+
+
+extern double TELEMETRE_A;
+extern double TELEMETRE_B;
+
+
+
+
+#define SCAN_L_MIN 15.
+#define SCAN_L_MAX 40.
+
+#define SCAN_H_MAX 40.
+#define SCAN_H_COEF (255./(SCAN_H_MAX+10.))
+
+#define SCAN_MAX_DIST 70.
+
+#define MAX_SAMPLE (1500L)
+
+
+// TRUE encoder value: 3531.75
+#define SCANNER_STEP_TOUR (14127L)
+
+//#define PIX_PER_SCAN 30L
+#define PIX_PER_SCAN (25L)
+
+void scanner_init(void);
+void scanner_set_mode(uint8_t mode);
+
+void scanner_end_process(void);
+
+void scanner_calibre_laser(void);
+void scanner_calibre_mirror(void);
+
+
+void scanner_scan_autonomous(void);
+
+int32_t encoders_spi_update_scanner(void * number);
+int32_t encoders_spi_get_value_scanner(void *number);
+
+void do_scan(void * dummy);
+
+
+
+struct  scan_params{
+       uint16_t sample_i;
+       float offset_a;
+       float offset_b;
+       int speed;
+       uint8_t filter;
+       int32_t pos_start_scan;
+
+       int32_t last_col_n;
+       int32_t last_row_n;
+       uint8_t last_sample;
+
+       uint8_t debug;
+       uint8_t sample_tab[MAX_SAMPLE+10];
+       volatile uint8_t working;
+       uint8_t must_stop;
+
+
+       uint8_t algo;   
+
+
+       union {
+               struct {
+                       uint8_t working_zone;
+                       int16_t center_x;
+                       int16_t center_y;
+               } drop_zone;
+               
+               struct {
+                       uint8_t level;
+                       int16_t temple_x;
+                       int16_t temple_y;
+               } check_temple;
+       };
+
+
+
+       /* 
+          for column drop zone answer
+       */
+       int8_t dropzone_h;
+       int16_t dropzone_x;
+       int16_t dropzone_y;
+
+       uint8_t max_column_detected;
+};
+
+
+
+#define STEP_PER_ROUND 14127
+
+#define TELEMETRE_MIN 66
+#define TELEMETRE_MAX 466
+
+
+#define TELEMETRE_MIN_CM (25)
+#define TELEMETRE_MAX_CM (55)
+
+
+#define DIM_ANGLE (400/4)
+#define DIM_DIST ((TELEMETRE_MAX_CM - TELEMETRE_MIN_CM)*3)
+
+
+
+#define ANGLE_STEP (STEP_PER_ROUND/DIM_ANGLE +1)
+#define DIST_STEP ((TELEMETRE_MAX - TELEMETRE_MIN) /DIM_DIST +1)
+
+
+typedef struct _lookup_h_l{
+       uint16_t h:4;
+       uint16_t l:12;
+}lookup_h_l;
+
+#define telemetre_to_cm(t)     ((double)(TELEMETRE_A * ((double)(t)) + TELEMETRE_B))
+
+#define SCAN_DEFAULT_SPEED 600
+
+
+extern struct scan_params scan_params;
+
+