autd3_core/defined/
mod.rs

1mod angle;
2mod freq;
3
4pub use std::f32::consts::PI;
5
6#[cfg(feature = "use_meter")]
7mod unit {
8    /// meter
9    pub const METER: f32 = 1.0;
10}
11#[cfg(not(feature = "use_meter"))]
12mod unit {
13    /// meter
14    pub const METER: f32 = 1000.0;
15}
16pub use unit::*;
17
18pub use angle::*;
19pub use freq::*;
20
21/// millimeter
22pub const MILLIMETER: f32 = METER / 1000.0;
23
24/// The absolute threshold of hearing in \[㎩\]
25pub const ABSOLUTE_THRESHOLD_OF_HEARING: f32 = 20e-6;
26
27/// The amplitude of T4010A1 in \[㎩*mm\]
28pub const T4010A1_AMPLITUDE: f32 = 275.574_25 * 200.0 * MILLIMETER; // [㎩*mm]
29
30/// The default timeout duration
31pub const DEFAULT_TIMEOUT: std::time::Duration = std::time::Duration::from_millis(200);
32
33/// The period of ultrasound in discrete time units
34pub const ULTRASOUND_PERIOD_COUNT: usize = 256;
35
36#[cfg(not(feature = "dynamic_freq"))]
37mod inner {
38    use super::Freq;
39    use std::time::Duration;
40
41    #[inline(always)]
42    #[must_use]
43    /// The frequency of ultrasound
44    pub const fn ultrasound_freq() -> Freq<u32> {
45        Freq { freq: 40000 }
46    }
47
48    #[inline(always)]
49    #[must_use]
50    /// The period of ultrasound
51    pub const fn ultrasound_period() -> Duration {
52        Duration::from_micros(25)
53    }
54}
55
56#[cfg(feature = "dynamic_freq")]
57mod inner {
58    use std::sync::LazyLock;
59
60    use super::Freq;
61    use crate::defined::Hz;
62
63    static LAZY_FREQ: LazyLock<Freq<u32>> =
64        LazyLock::new(|| match std::env::var("AUTD3_ULTRASOUND_FREQ") {
65            Ok(freq) => match freq.parse::<u32>() {
66                Ok(freq) => {
67                    tracing::info!("Set ultrasound frequency to {} Hz.", freq);
68                    freq * Hz
69                }
70                Err(_) => {
71                    tracing::error!(
72                        "Invalid ultrasound frequency ({} Hz), fallback to 40 kHz.",
73                        freq
74                    );
75                    Freq { freq: 40000 }
76                }
77            },
78            Err(_) => {
79                tracing::warn!(
80                    "Environment variable AUTD3_ULTRASOUND_FREQ is not set, fallback to 40 kHz."
81                );
82                Freq { freq: 40000 }
83            }
84        });
85
86    #[inline]
87    #[must_use]
88    /// The frequency of ultrasound
89    pub fn ultrasound_freq() -> Freq<u32> {
90        *LAZY_FREQ
91    }
92
93    #[doc(hidden)]
94    pub const DRP_ROM_SIZE: usize = 32;
95}
96
97pub use inner::*;
98
99/// \[㎜\]
100#[allow(non_upper_case_globals)]
101pub const mm: f32 = MILLIMETER;
autd3_core/defined/mod.rs

autd3_core/defined/
mod.rs
