From 32fbccbd7d90f1e456d1e477eab2128aaf88df93 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Thu, 16 Feb 2017 17:16:31 -0500 Subject: Move to having an angle callback. --- include/survive.h | 38 ++++++++++++++++++++++++++------------ 1 file changed, 26 insertions(+), 12 deletions(-) (limited to 'include') diff --git a/include/survive.h b/include/survive.h index 4a95a2f..3e8dc35 100644 --- a/include/survive.h +++ b/include/survive.h @@ -3,19 +3,19 @@ #include -#define SV_FLOAT double +#ifndef FLT +#define FLT double +#endif struct SurviveContext; //DANGER: This structure may be redefined. Note that it is logically split into 64-bit chunks //for optimization on 32- and 64-bit systems. - //Careful with this, you can't just add another one right now, would take minor changes in survive_data.c and the cal tools. //It will also require a recompile. TODO: revisit this and correct the comment once fixed. #define NUM_LIGHTHOUSES 2 - struct SurviveObject { struct SurviveContext * ctx; @@ -31,17 +31,26 @@ struct SurviveObject int8_t ison:1; int8_t additional_flags:6; - SV_FLOAT * sensor_locations; - SV_FLOAT * sensor_normals; + FLT * sensor_locations; + FLT * sensor_normals; + + //Timing sensitive data (mostly for disambiguation) + int32_t timebase_hz; //48,000,000 for normal vive hardware. (checked) + int32_t timecenter_ticks; //200,000 for normal vive hardware. (checked) + int32_t pulsedist_max_ticks; //500,000 for normal vive hardware. (guessed) + int32_t pulselength_min_sync; //2,200 for normal vive hardware. (guessed) + int32_t pulse_in_clear_time; //35,000 for normal vive hardware. (guessed) + int32_t pulse_max_for_sweep; //1,800 for normal vive hardware. (guessed) + int32_t pulse_synctime_offset; //20,000 for normal vive hardware. (guessed) + int32_t pulse_synctime_slack; //5,000 for normal vive hardware. (guessed) int8_t nr_locations; //Flood info, for calculating which laser is currently sweeping. int8_t oldcode; - - uint32_t last_time[NUM_LIGHTHOUSES]; - uint32_t last_length[NUM_LIGHTHOUSES]; int8_t sync_set_number; //0 = master, 1 = slave, -1 = fault. int8_t did_handle_ootx; //If unset, will send lightcap data for sync pulses next time a sensor is hit. + uint32_t last_time[NUM_LIGHTHOUSES]; + uint32_t last_length[NUM_LIGHTHOUSES]; uint32_t recent_sync_time; uint32_t last_lighttime; //May be a 24- or 32- bit number depending on what device. @@ -50,17 +59,19 @@ struct SurviveObject int tsl; }; -typedef void (*text_feedback_fnptr)( struct SurviveContext * ctx, const char * fault ); +typedef void (*text_feedback_func)( struct SurviveContext * ctx, const char * fault ); typedef void (*light_process_func)( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); typedef void (*imu_process_func)( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); +typedef void (*angle_process_func)( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); struct SurviveContext * survive_init(); //For any of these, you may pass in 0 for the function pointer to use default behavior. -void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_fnptr fbp ); -void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_fnptr fbp ); +void survive_install_info_fn( struct SurviveContext * ctx, text_feedback_func fbp ); +void survive_install_error_fn( struct SurviveContext * ctx, text_feedback_func fbp ); void survive_install_light_fn( struct SurviveContext * ctx, light_process_func fbp ); void survive_install_imu_fn( struct SurviveContext * ctx, imu_process_func fbp ); +void survive_install_angle_fn( struct SurviveContext * ctx, angle_process_func fbp ); void survive_close( struct SurviveContext * ctx ); int survive_poll(); @@ -77,8 +88,11 @@ int survive_usb_send_magic( struct SurviveContext * ctx, int on ); void survive_cal_install( struct SurviveContext * ctx ); //Call these from your callback if overridden. -void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); +//Accept higher-level data. +void survive_default_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length ); void survive_default_imu_process( struct SurviveObject * so, int16_t * accelgyro, uint32_t timecode, int id ); +void survive_default_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle ); + #endif -- cgit v1.2.3