1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
|
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
typedef uint8_t pulse_data;
#if 0
struct sync_pulse_lengths {
uint32_t expected_offset;
uint16_t min;
uint16_t max;
pulse_data simple_data;
pulse_data data;
};
const struct sync_pulse_lengths sync_pulses[] = {
{400000, 2880, 3024, 0x0, 0x0}, // SKIP 0 DATA 0 AXIS 0
{400000, 3380, 3524, 0x1, 0x1}, // SKIP 0 DATA 0 AXIS 1
{400000, 3880, 4024, 0x0, 0x2}, // SKIP 0 DATA 1 AXIS 0
{400000, 4380, 4524, 0x1, 0x3}, // SKIP 0 DATA 1 AXIS 1
{ 20000, 4880, 5024, 0x2, 0x4}, // SKIP 1 DATA 0 AXIS 0
{ 20000, 5380, 5524, 0x3, 0x5}, // SKIP 1 DATA 0 AXIS 1
{ 20000, 5880, 6024, 0x2, 0x6}, // SKIP 1 DATA 1 AXIS 0
{ 20000, 6380, 6524, 0x3, 0x7}, // SKIP 1 DATA 1 AXIS 1
};
#endif
const uint32_t pulse_types[] = {
0, 1, 0, 1,
2, 3, 2, 3,
};
typedef enum {
PT_UNKNOWN = 0,
PT_SWEEP = 1,
PT_SYNC = 2
} pulse_type;
typedef enum {
AX_J = 0,
AX_K = 1
} scan_axis;
typedef enum {
SK_ON = 0x4,
SK_OFF = 0
} scan_skip;
#define DEBUG(...) printf(__VA_ARGS__)
#define PULSE_BIT_AXIS 0x1
#define PULSE_BIT_DATA 0x2
#define PULSE_BIT_SKIP 0x4
#define PULSE_DATA(D) ((D >> 1)&0x1)
#define PULSE_AXIS(D) ((scan_axis)(D&0x01))
#define PULSE_SKIP(D) ((D >> 2)&0x1)
pulse_data get_pulse_data(uint32_t length) {
uint16_t temp = length - 2880;
#if BETTER_SAFE_THAN_FAST
if (temp < 0 || length > 6525) {
return -1;
}
#endif
if ((temp % 500) < 150) {
return temp / 500;
}
return -1;
}
struct disambiguator;
typedef pulse_type (*pulse_fn)(struct disambiguator * d, uint32_t timestamp, uint32_t length);
typedef void (*data_fn)(struct disambiguator * d, uint8_t bit);
void null_data_fn(struct disambiguator * d __attribute__((unused)), uint8_t bit __attribute__((unused))) {
return;
}
struct disambiguator {
pulse_fn pulse_fn;
data_fn data_fn;
uint32_t last_master_sync;
bool locked;
};
void disambiguator_init(struct disambiguator * d);
pulse_type disambiguator_sync_start(struct disambiguator * d, uint32_t timestamp, uint32_t length);
pulse_type disambiguator_sync_A1(struct disambiguator * d, uint32_t timestamp, uint32_t length);
pulse_type disambiguator_sync_B0(struct disambiguator * d, uint32_t timestamp, uint32_t length);
pulse_type disambiguator_sync_B1(struct disambiguator * d, uint32_t timestamp, uint32_t length);
pulse_type disambiguator_sync_DONE(struct disambiguator * d, uint32_t timestamp, uint32_t length);
void disambiguator_init(struct disambiguator * d) {
d->data_fn = &null_data_fn;
d->pulse_fn = &disambiguator_sync_start;
d->locked = false;
}
pulse_type disambiguator_sync_start(struct disambiguator * d, uint32_t timestamp, uint32_t length) {
DEBUG("START %10d %6d %6d\n", timestamp, 0, length);
pulse_data dd = get_pulse_data(length);
if ((dd & (PULSE_BIT_AXIS | PULSE_BIT_SKIP)) == 0) {
d->pulse_fn = &disambiguator_sync_A1;
d->last_master_sync = timestamp;
}
return PT_UNKNOWN;
}
pulse_type disambiguator_sync_A1(struct disambiguator * d, uint32_t timestamp, uint32_t length) {
pulse_data dd = get_pulse_data(length);
uint32_t diff = timestamp - d->last_master_sync;
DEBUG("A1 %10d %6d %6d\n", timestamp, diff, length);
if (18720 > diff) {
return PT_UNKNOWN;
}
if (diff > 21600) {
d->pulse_fn = &disambiguator_sync_start;
return PT_UNKNOWN;
}
if ((dd & (PULSE_BIT_AXIS | PULSE_BIT_SKIP)) == PULSE_BIT_SKIP) {
d->pulse_fn = &disambiguator_sync_B0;
}
return PT_UNKNOWN;
}
pulse_type disambiguator_sync_B0(struct disambiguator * d, uint32_t timestamp, uint32_t length) {
pulse_data dd = get_pulse_data(length);
uint32_t diff = timestamp - d->last_master_sync;
DEBUG("B0 %10d %6d %6d\n", timestamp, diff, length);
if (398832 > diff) {
return PT_UNKNOWN;
}
if (diff > 401136) {
d->pulse_fn = &disambiguator_sync_start;
return PT_UNKNOWN;
}
if ((dd & (PULSE_BIT_AXIS | PULSE_BIT_SKIP)) == PULSE_BIT_AXIS) {
d->pulse_fn = &disambiguator_sync_B1;
d->last_master_sync = timestamp;
}
return PT_UNKNOWN;
}
pulse_type disambiguator_sync_B1(struct disambiguator * d, uint32_t timestamp, uint32_t length) {
pulse_data dd = get_pulse_data(length);
uint32_t diff = timestamp - d->last_master_sync;
DEBUG("B1 %10d %6d %6d\n", timestamp, diff, length);
if (18720 > diff) {
return PT_UNKNOWN;
}
if (diff > 21600) {
d->pulse_fn = &disambiguator_sync_start;
return PT_UNKNOWN;
}
if ((dd & (PULSE_BIT_AXIS | PULSE_BIT_SKIP)) == (PULSE_BIT_AXIS|PULSE_BIT_SKIP)) {
d->pulse_fn = &disambiguator_sync_DONE;
d->locked = true;
}
return PT_UNKNOWN;
}
pulse_type disambiguator_sync_DONE(struct disambiguator * d __attribute__((unused)), uint32_t timestamp, uint32_t length) {
DEBUG("DONE %10d %6d %6d\n", timestamp, 0, length);
return PT_UNKNOWN;
}
uint32_t fake_pulse_length(pulse_data d) {
return 3000 + (d*500);
}
int main() {
#ifdef TEST
struct disambiguator d;
d.data_fn = &null_data_fn;
d.pulse_fn = &disambiguator_sync_start;
d.pulse_fn(&d, 0, 3000);
d.pulse_fn(&d, 20000, fake_pulse_length(PULSE_BIT_SKIP));
d.pulse_fn(&d, 20000, 3500);
#else
FILE * f = fopen( "raw_light_data_from_watchman.sorted.csv", "r" );
if (f == NULL) {
fprintf(stderr, "ERROR OPENING INPUT FILE\n");
return -1;
}
//long last = 0, lastl = 0;
long lastl = 0;
struct disambiguator d;
disambiguator_init(&d);
for (;;) {
char controller[10];
int sensor;
int unknown;
int length;
long time;
if (fscanf(f, "%s %d %d %d %li", controller, &sensor, &unknown, &length, &time) != 5) {
break;
}
printf("%s: ", controller);
if (lastl > time) {
printf("BACKWARDS: %li %li\n", lastl, time);
}
lastl = time;
d.pulse_fn(&d, time, length);
/* switch (d.step_fn(&d, time, length)) {
default:
case P_UNKNOWN:
//printf("UNKN %s %2d %li %d\n", controller, sensor, time - last, length);
continue;
case P_SYNC:
{
double l = length;
char cc = round(l / 500) - 6;
int ll = (length+125)/250;
printf("SYNC %s %2d %10li %5d %c%d %10li %d %d\n", controller, sensor, time, length, (cc & 0x1) ? 'k' : 'j', (cc >> 1) & 0x3, time-last, ll & 1, (ll >> 1) - 6);
last = time;
}
continue;
case P_SWEEP:
printf("SWEEP %s %2d %10li %5d\n", controller, sensor, time - last, length);
continue;
}*/
}
fclose(f);
#endif
}
|
