srvpro.h

本程序为ST公司开发的源代码

  #define FE_ADJUST_PRO_SUBSTRATE_THS               pick_up_profile_ptr->fe_adjust_profile.substrate_ths
  #define FE_ADJUST_PRO_LOW_REFLECTIVE_THS          pick_up_profile_ptr->fe_adjust_profile.low_reflective_ths

  typedef struct
  {
      uint16  timeout;
      int16   starting_gain;
      uint16  fe_target_amplitude;
      uint8   abcdef_target_amplitude;
      uint8   substrate_ths;
      uint8   low_reflective_ths;
  } FE_ADJUST_PROFILE_STRUCT;
#endif

/*------- Focus Profile -----------------------------------------------------*/

#define DEF_FOCUS_PRO_OFFSET               (0x0000)
#define DEF_FOCUS_PRO_FOCUS_OK_LEVEL       (0x1000)
#define DEF_FOCUS_PRO_CLOSING_THS          (0x3000)
#define DEF_FOCUS_PRO_CLOSING_HYST         (0x0400)
#define DEF_FOCUS_PRO_CLOSING_TIMEOUT      (T3s)
#define DEF_FOCUS_PRO_MAX_RETRIES          (0x02)
#define DEF_FOCUS_PRO_FOCUS_FOUND_TIMEOUT  (T300ms)

#ifndef FOCUS_USE_PROFILE
  extern uint16 const DEF_FOCUS_PRO_CONTROLLER_COEFF[];

  #define FOCUS_PRO_OFFSET               DEF_FOCUS_PRO_OFFSET
  #define FOCUS_PRO_FOCUS_OK_LEVEL       DEF_FOCUS_PRO_FOCUS_OK_LEVEL
  #define FOCUS_PRO_CLOSING_THS          DEF_FOCUS_PRO_CLOSING_THS
  #define FOCUS_PRO_CLOSING_HYST         DEF_FOCUS_PRO_CLOSING_HYST
  #define FOCUS_PRO_CLOSING_TIMEOUT      DEF_FOCUS_PRO_CLOSING_TIMEOUT
  #define FOCUS_PRO_MAX_RETRIES          DEF_FOCUS_PRO_MAX_RETRIES
  #define FOCUS_PRO_FOCUS_FOUND_TIMEOUT  DEF_FOCUS_PRO_FOCUS_FOUND_TIMEOUT
  #define FOCUS_PRO_CONTROLLER_COEFF     DEF_FOCUS_PRO_CONTROLLER_COEFF
#else
  #define FOCUS_PRO_OFFSET               pick_up_profile_ptr->focus_profile.offset
  #define FOCUS_PRO_FOCUS_OK_LEVEL       pick_up_profile_ptr->focus_profile.focus_ok_level
  #define FOCUS_PRO_CLOSING_THS          pick_up_profile_ptr->focus_profile.closing_ths
  #define FOCUS_PRO_CLOSING_HYST         pick_up_profile_ptr->focus_profile.closing_hyst
  #define FOCUS_PRO_CLOSING_TIMEOUT      pick_up_profile_ptr->focus_profile.closing_timeout
  #define FOCUS_PRO_MAX_RETRIES          pick_up_profile_ptr->focus_profile.max_retries
  #define FOCUS_PRO_FOCUS_FOUND_TIMEOUT  pick_up_profile_ptr->focus_profile.focus_found_timeout
  #define FOCUS_PRO_CONTROLLER_COEFF     pick_up_profile_ptr->focus_profile.controller_coeff

  typedef struct
  {
      int16   offset;
      uint16  focus_ok_level;
      int16   closing_ths;
      int16   closing_hyst;
      uint16  closing_timeout;
      uint8   max_retries;
      uint16  focus_found_timeout;
      uint16  controller_coeff[16];
  } FOCUS_PROFILE_STRUCT;
#endif

/*------- TE Adjust Profile -------------------------------------------------*/

#define DEF_TE_ADJUST_PRO_TIMEOUT               (T3s)
#define DEF_TE_ADJUST_PRO_STARTING_GAIN         (0x2000)
#define DEF_TE_ADJUST_PRO_TE_TARGET_AMPLITUDE   (0xC000)
#define DEF_TE_ADJUST_PRO_MEAS_TIMEOUT          (T30ms)

#ifndef TE_ADJUST_USE_PROFILE
  #define TE_ADJUST_PRO_TIMEOUT               DEF_TE_ADJUST_PRO_TIMEOUT
  #define TE_ADJUST_PRO_STARTING_GAIN         DEF_TE_ADJUST_PRO_STARTING_GAIN
  #define TE_ADJUST_PRO_TE_TARGET_AMPLITUDE   DEF_TE_ADJUST_PRO_TE_TARGET_AMPLITUDE
  #define TE_ADJUST_PRO_MEAS_TIMEOUT          DEF_TE_ADJUST_PRO_MEAS_TIMEOUT
#else
  #define TE_ADJUST_PRO_TIMEOUT               pick_up_profile_ptr->te_adjust_profile.timeout
  #define TE_ADJUST_PRO_STARTING_GAIN         pick_up_profile_ptr->te_adjust_profile.starting_gain
  #define TE_ADJUST_PRO_TE_TARGET_AMPLITUDE   pick_up_profile_ptr->te_adjust_profile.te_target_amplitude
  #define TE_ADJUST_PRO_MEAS_TIMEOUT          pick_up_profile_ptr->te_adjust_profile.meas_timeout

  typedef struct
  {
      uint16  timeout;
      int16   starting_gain;
      uint16  te_target_amplitude;
      uint16  meas_timeout;
  } TE_ADJUST_PROFILE_STRUCT;
#endif

/*------- Tracking profile --------------------------------------------------*/

#define DEF_TRACKING_PRO_OFFSET                    (0x0000)
#define DEF_TRACKING_PRO_TRACKING_OK_THS           (0x4000)
#define DEF_TRACKING_PRO_CLOSING_TIMEOUT           (T3s)
#define DEF_TRACKING_PRO_WAIT_TIMEOUT              (T20ms)
#define DEF_TRACKING_PRO_WAIT_TIMEOUT_SHORT_JUMP   (T10ms)
#define DEF_TRACKING_PRO_RETRY_TIMEOUT_OFFSET      (T50ms)
#define DEF_TRACKING_PRO_RETRY_TIMEOUT_DITHER      (T10ms)
#define DEF_TRACKING_PRO_RETRY_MAX_DITHER_COUNTER  (5)
#define DEF_TRACKING_PRO_CHECK_TIMEOUT             (T10ms)
#define DEF_TRACKING_PRO_CHECK_TIMEOUT_SHORT_JUMP  (T4ms)
#define DEF_TRACKING_PRO_WAIT_FOR_RECHECK_TIMEOUT  (T4ms)

#ifndef TRACKING_USE_PROFILE
  extern uint16 const DEF_TRACKING_PRO_CONTROLLER_COEFF[];

  #define TRACKING_PRO_OFFSET                    DEF_TRACKING_PRO_OFFSET
  #define TRACKING_PRO_TRACKING_OK_THS           DEF_TRACKING_PRO_TRACKING_OK_THS
  #define TRACKING_PRO_CLOSING_TIMEOUT           DEF_TRACKING_PRO_CLOSING_TIMEOUT
  #define TRACKING_PRO_WAIT_TIMEOUT              DEF_TRACKING_PRO_WAIT_TIMEOUT
  #define TRACKING_PRO_WAIT_TIMEOUT_SHORT_JUMP   DEF_TRACKING_PRO_WAIT_TIMEOUT_SHORT_JUMP
  #define TRACKING_PRO_RETRY_TIMEOUT_OFFSET      DEF_TRACKING_PRO_RETRY_TIMEOUT_OFFSET
  #define TRACKING_PRO_RETRY_TIMEOUT_DITHER      DEF_TRACKING_PRO_RETRY_TIMEOUT_DITHER
  #define TRACKING_PRO_RETRY_MAX_DITHER_COUNTER  DEF_TRACKING_PRO_RETRY_MAX_DITHER_COUNTER
  #define TRACKING_PRO_CONTROLLER_COEFF          DEF_TRACKING_PRO_CONTROLLER_COEFF
  #define TRACKING_PRO_CHECK_TIMEOUT             DEF_TRACKING_PRO_CHECK_TIMEOUT
  #define TRACKING_PRO_CHECK_TIMEOUT_SHORT_JUMP  DEF_TRACKING_PRO_CHECK_TIMEOUT_SHORT_JUMP
  #define TRACKING_PRO_WAIT_FOR_RECHECK_TIMEOUT  DEF_TRACKING_PRO_WAIT_FOR_RECHECK_TIMEOUT
#else
  #define TRACKING_PRO_OFFSET                    pick_up_profile_ptr->tracking_profile.offset
  #define TRACKING_PRO_TRACKING_OK_THS           pick_up_profile_ptr->tracking_profile.tracking_ok_ths
  #define TRACKING_PRO_CLOSING_TIMEOUT           pick_up_profile_ptr->tracking_profile.closing_timeout
  #define TRACKING_PRO_WAIT_TIMEOUT              pick_up_profile_ptr->tracking_profile.wait_timeout
  #define TRACKING_PRO_WAIT_TIMEOUT_SHORT_JUMP   pick_up_profile_ptr->tracking_profile.wait_timeout_short_jump
  #define TRACKING_PRO_RETRY_TIMEOUT_OFFSET      pick_up_profile_ptr->tracking_profile.retry_timeout_offset
  #define TRACKING_PRO_RETRY_TIMEOUT_DITHER      pick_up_profile_ptr->tracking_profile.retry_timeout_dither
  #define TRACKING_PRO_RETRY_MAX_DITHER_COUNTER  pick_up_profile_ptr->tracking_profile.retry_max_dither_counter
  #define TRACKING_PRO_CONTROLLER_COEFF          pick_up_profile_ptr->tracking_profile.controller_coeff
  #define TRACKING_PRO_CHECK_TIMEOUT             pick_up_profile_ptr->tracking_profile.check_timeout
  #define TRACKING_PRO_CHECK_TIMEOUT_SHORT_JUMP  pick_up_profile_ptr->tracking_profile.check_timeout_short_jump
  #define TRACKING_PRO_WAIT_FOR_RECHECK_TIMEOUT  pick_up_profile_ptr->tracking_profile.wait_for_recheck_timeout

  typedef struct
  {
      int16   offset;
      uint16  tracking_ok_ths;
      uint16  closing_timeout;
      uint16  wait_timeout;
      uint16  wait_timeout_short_jump;
      uint16  retry_timeout_offset;
      uint16  retry_timeout_dither;
      uint8   retry_max_dither_counter;
      uint16  controller_coeff[16];
      uint16  check_timeout;
      uint16  check_timeout_short_jump;
      uint16  wait_for_recheck_timeout;
  } TRACKING_PROFILE_STRUCT;
#endif

/*------- AGC profile -------------------------------------------------------*/

/* Maximum allowed deviation from the default loop gain for the focus/tracking loop */
/* is defined using the following defines.                                          */
/* The following table gives the relation between the actual gain deviation limit   */
/* the values to which the defines below should be set. This is done by providing   */
/* some typical values:                                                             */
/*                                                                                  */
/* Actual gain deviation limit   | Value used in the #define                        */
/* ------------------------------+------------------------------                    */
/*            1/5.0              |          0x0033                                  */
/*            1/4.5              |          0x0038                                  */
/*            1/4.0              |          0x0040                                  */
/*            1/3.5              |          0x0049                                  */
/*            1/3.0              |          0x0055                                  */
/*            1/2.5              |          0x0066                                  */
/*            1/2.0              |          0x0080                                  */
/*            1/1.5              |          0x00aa                                  */
/*              1.5              |          0x0180                                  */
/*              2.0              |          0x0200                                  */
/*              2.5              |          0x0280                                  */
/*              3.0              |          0x0300                                  */
/*              3.5              |          0x0380                                  */
/*              4.0              |          0x0400                                  */
/*              4.5              |          0x0480                                  */
/*              5.0              |          0x0500                                  */
/*                                                                                  */
#define DEF_AGC_PRO_FOCUS_DELTA_GAIN_MIN        ((uint16)0x0040)
#define DEF_AGC_PRO_FOCUS_DELTA_GAIN_MAX        ((uint16)0x0400)
#define DEF_AGC_PRO_TRACKING_DELTA_GAIN_MIN     ((uint16)0x0040)
#define DEF_AGC_PRO_TRACKING_DELTA_GAIN_MAX     ((uint16)0x0400)

// AGC coefficients valid for both the focus and the
// radial tracking controller.
#define AGC_COEFF_0   ((int16)0x816b) /* Width of both notches (B = 20 Hz).                        */
#define AGC_COEFF_1   (0x011e)        /* DC gain of both lowpass filters (G(0) = pi/2).            */
#define AGC_COEFF_2   (0x7f49)        /* Cut off frequency of both lowpass filters (fp = 20 Hz).   */
#define AGC_COEFF_3   (0x4000)        /* Estimation gain (m = 0.5).                                */

// AGC coefficients for the focus controller designed for
// a bandwidth of 1100 Hz.
#define AGC_COEFF_4   (0x0e0d/4)      /* Gain of both notches.                                           */
#define AGC_COEFF_5   (0x7954)        /* Centre frequency of both notches (fo = 1.1 kHz).                */
#define AGC_COEFF_6   (0x1ef6)        /* Amplitude of impulse, results in a oscillator amplitude of 0.8. */
#define AGC_COEFF_7   (0x7A02)        /* Oscillator frequency (f = 1.1 kHz)                              */

// AGC coefficients for the radial tracking controller designed
// for a bandwidth of 1300 Hz.
#define AGC_COEFF_8   (0x1bf8)        /* Gain of both notches.                                           */
#define AGC_COEFF_9   (0x76fe)        /* Centre frequency of both notches (fo = 1.3 kHz).                */
#define AGC_COEFF_10  (0x245c)        /* Amplitude of impulse, results in a oscillator amplitude of 0.8. */
#define AGC_COEFF_11  (0x77a8)        /* Oscillator frequency (f = 1.3 kHz)                              */

#define DEF_AGC_PRO_TIMEOUT                       (T3s)
#define DEF_AGC_PRO_INJECTION_FOCUS_AMPLITUDE     (0x0800*4)
#define DEF_AGC_PRO_INJECTION_TRACKING_AMPLITUDE  (0x0400)
#define DEF_AGC_PRO_GAIN_FOCUS                    (0x4000)
#define DEF_AGC_PRO_GAIN_TRACKING                 (0x4000)
#define DEF_AGC_PRO_MINMAX_NR_CYCLES              (0x0003)
#define DEF_AGC_PRO_MINMAX_THRESHOLD              (0x0190)
#define DEF_AGC_PRO_WAIT_TIMEOUT                  (T100ms)

#ifndef AGC_USE_PROFILE
  extern int16 const agc_coeff_focus[];

  extern int16 const agc_coeff_tracking[];

  #define AGC_PRO_TIMEOUT                         DEF_AGC_PRO_TIMEOUT
  #define AGC_PRO_COEFF_FOCUS                     agc_coeff_focus
  #define AGC_PRO_COEFF_TRACKING                  agc_coeff_tracking
  #define AGC_PRO_INJECTION_FOCUS_AMPLITUDE       DEF_AGC_PRO_INJECTION_FOCUS_AMPLITUDE
  #define AGC_PRO_INJECTION_TRACKING_AMPLITUDE    DEF_AGC_PRO_INJECTION_TRACKING_AMPLITUDE
  #define AGC_PRO_GAIN_FOCUS                      DEF_AGC_PRO_GAIN_FOCUS
  #define AGC_PRO_GAIN_TRACKING                   DEF_AGC_PRO_GAIN_TRACKING
  #define AGC_PRO_MINMAX_NR_CYCLES                DEF_AGC_PRO_MINMAX_NR_CYCLES
  #define AGC_PRO_MINMAX_THRESHOLD                DEF_AGC_PRO_MINMAX_THRESHOLD
  #define AGC_PRO_WAIT_TIMEOUT                    DEF_AGC_PRO_WAIT_TIMEOUT
  #define AGC_PRO_FOCUS_DELTA_GAIN_MIN            DEF_AGC_PRO_FOCUS_DELTA_GAIN_MIN
  #define AGC_PRO_FOCUS_DELTA_GAIN_MAX            DEF_AGC_PRO_FOCUS_DELTA_GAIN_MAX
  #define AGC_PRO_TRACKING_DELTA_GAIN_MIN         DEF_AGC_PRO_TRACKING_DELT