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. --- src/survive_data.c | 32 +++++++++++++++++++------------- 1 file changed, 19 insertions(+), 13 deletions(-) (limited to 'src/survive_data.c') diff --git a/src/survive_data.c b/src/survive_data.c index c557951..ad834cf 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -37,36 +37,34 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement * // printf( "%s %d %d %d %d %d\n", so->codename, le->sensor_id, le->type, le->length, le->timestamp, le->timestamp-so->tsl ); so->tsl = le->timestamp; - if( le->length < 20 ) return; + if( le->length < 20 ) return; ///Assuming 20 is an okay value for here. //The sync pulse finder is taking Charles's old disambiguator code and mixing it with a more linear //version of Julian Picht's disambiguator, available in 488c5e9. Removed afterwards into this //unified driver. - - int ssn = so->sync_set_number; if( ssn < 0 ) ssn = 0; int last_sync_time = so->last_time [ssn]; int last_sync_length = so->last_length[ssn]; int32_t delta = le->timestamp - last_sync_time; //Handle time wrapping (be sure to be int32) - if( delta < -500000 || delta > 500000 ) + if( delta < -so->pulsedist_max_ticks || delta > so->pulsedist_max_ticks ) { //Reset pulse, etc. so->sync_set_number = -1; - delta = 500000; + delta = so->pulsedist_max_ticks; } - if( le->length > 2200 ) //Pulse longer indicates a sync pulse. + if( le->length > so->pulselength_min_sync ) //Pulse longer indicates a sync pulse. { - int is_new_pulse = delta > 1500 + last_sync_length; + int is_new_pulse = delta > so->pulselength_min_sync /*1500*/ + last_sync_length; so->did_handle_ootx = 0; if( is_new_pulse ) { - int is_master_sync_pulse = delta > 40000; + int is_master_sync_pulse = delta > so->pulse_in_clear_time /*40000*/; if( is_master_sync_pulse ) { @@ -110,7 +108,7 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement * //See if this is a valid actual pulse. - else if( le->length < 1800 && le->length > 40 && delta > 30000 && ssn >= 0 ) + else if( le->length < so->pulse_max_for_sweep && delta > so->pulse_in_clear_time && ssn >= 0 ) { int32_t dl = so->last_time[0]; int32_t tpco = so->last_length[0]; @@ -123,10 +121,13 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement * //Adding length //Long pulse-code from IR flood. //Make sure it fits nicely into a divisible-by-500 time. + + int32_t main_divisor = so->timebase_hz / 384000; //125 @ 48 MHz. + int32_t acode_array[2] = { - (so->last_length[0]+125+50)/250, - (so->last_length[1]+125+50)/250, + (so->last_length[0]+main_divisor+50)/(main_divisor*2), //+50 adds a small offset and seems to help always get it right. + (so->last_length[1]+main_divisor+50)/(main_divisor*2), //Check the +50 in the future to see how well this works on a variety of hardware. }; //XXX: TODO: Capture error count here. @@ -150,14 +151,19 @@ static void handle_lightcap( struct SurviveObject * so, struct LightcapElement * so->recent_sync_time = so->last_time[1]; //Throw out everything if our sync pulses look like they're bad. - if( delta1 < 375000 || delta1 > 385000 ) + + int32_t center_1 = so->timecenter_ticks*2 - so->pulse_synctime_offset; + int32_t center_2 = so->pulse_synctime_offset; + int32_t slack = so->pulse_synctime_slack; + + if( delta1 < center_1 - slack || delta1 > center_1 + slack ) { //XXX: TODO: Count faults. so->sync_set_number = -1; return; } - if( delta2 < 15000 || delta2 > 25000 ) + if( delta2 < center_2 - slack || delta2 > center_2 + slack ) { //XXX: TODO: Count faults. so->sync_set_number = -1; -- cgit v1.2.3