HÅLLOKALISERING - Örebro universitet

Atlas Copco Rock Drills AB
ÖREBRO
Dokument - Document
Examensarbete - Hållokalisering
Uppgjord tjst, namn, tfn - Prepered dept, name, telephone Kontr - Chk Rev Dokumentnummer - Document number
UTSBP Bertil Planeskog, 5423 A
}
/*
10. Get the default brightness and contrast values. The board
sets default values after reset.
*/
status = FL_get_bright(&g_bright);
errhdlr(status);
status = FL_get_contrast(&g_contr);
errhdlr(status);
printf("Phase 10: FL_get_bright(%d), FL_get_contrast(%d)\n",
g_bright, g_contr);
/*
11. Set the current trigger mode. 0 means software trigger
at which FrameLocker snaps an image immediately when
calling the FL_snap function. 1 sets the board to wait
for a hardware trigger (raising edge) when FL_snap has
been called.
*/
status = FL_set_trig(0); /* Software trigger for snap */
errhdlr(status);
printf("Phase 11: FL_set_trig(0)\n");
/*
12. Turn off the Fast Conversion Mode.
*/
status = FL_set_fcm(0);
errhdlr(status);
printf("Phase 12: FL_set_fcm(0)\n");
printf("\n\nPress [Enter] to continue...");
flushall();
(void) getch();
printf("\n\n\n");
//------------------------------------------------------------------
// The user entered wrong startup parameters, therefore show some
// information on how to run this demo...
//------------------------------------------------------------------
void usage(void)
{
printf("Usage:\n");
printf("fl -n Run test with NTSC parameters\n");
printf("fl -p Run test with PAL parameters\n\n");
printf("FL assumes that FrameLocker has been set for base\n");
printf("address %3xh, (BS2 & BS1 open, BS0 closed).\n\n",
FL_get_base());
}
//------------------------------------------------------------------
// Set the VGA display to 320 x 300 pixel 256 color/shades mode
//-----------------------------------------------------------------void
set_vga_mode(int mode)
{
union REGS regs;
if (mode == VGAGRAPHICS)
regs.h.al = 0x13;
else if (mode == VGATEXT)
regs.h.al = 2;
else
{
regs.h.al = 2;
regs.h.ah = (char)0;
int86(0x10, &regs, &regs);
fprintf(stderr,"FL_setVGAmode: mode error.\n");
}
regs.h.ah = (char)0;
int86(0x10, &regs, &regs);
}
//------------------------------------------------------------------
// Make a gray scale palette
//------------------------------------------------------------------
void vga_greymap(void)
{
union REGS regs;
struct SREGS sregs;
register int i, j;
unsigned char far *ptr;
int count;
unsigned char map[770];
for (i = 0; i < 770; i++)
map[i] = 0;
j = 0;
count = 0;
for (i = 0; i < 768; i = i + 3)
{
map[i] = (unsigned char)j;
map[i + 1] = (unsigned char)j;
map[i + 2] = (unsigned char)j;
count++;
if (count >= 4)
{
count = 0;
j++;
}
if (j > 64)
j = 64;
}
regs.h.ah = 0x10;
regs.h.al = 0x12;
regs.x.bx = 0x0;
regs.x.cx = 0x100;
ptr = map;
sregs.es = FP_SEG(ptr);
regs.x.dx = FP_OFF(ptr);
int86x(0x10, &regs, &regs, &sregs);
}
//------------------------------------------------------------------
// Display an error message and quit...
//------------------------------------------------------------------
void errhdlr(int status)
{
int stat;
if (status == FALSE)
stat = FL_get_errcode();
else
return;
set_vga_mode(VGATEXT);
switch (stat) {
case FL_E_NOERR:
printf("No error code !\n");
return;
break;
case FL_E_RESET:
printf("\aResetting error !\n");
break;
case FL_E_READI2C:
printf("\aCan't read from I2C !\n");
break;
case FL_E_NODECODE:
printf("\aDecoding error !\n");
break;
case FL_E_BADDECODE:
printf("\aBad decode setting !\n");
break;
case FL_E_BADCHIP:
printf("\aBad I2C response from Bt819 !\n");
break;
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