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restructuring

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This commit is contained in:
Edward Emelianov
2022-03-10 11:04:14 +03:00
parent 29560b7c0c
commit 733dbd75d2
1758 changed files with 14 additions and 26855 deletions
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81
F1:F103/chronometer_v3/lidar.c Normal file
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/*
* This file is part of the chronometer project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "flash.h"
#include "lidar.h"
#include "usart.h"
uint16_t last_lidar_dist = 0;
uint16_t last_lidar_stren = 0;
uint16_t lidar_triggered_dist = 0;
extern uint32_t shotms[];
/**
* @brief parse_lidar_data - parsing of string from lidar
* @param txt - the string or NULL (if you want just check trigger state)
* @return trigger state
*/
uint8_t parse_lidar_data(char *txt){
static uint8_t triggered = 0;
if(!txt){
// clear trigger state after timeout -> need to monitor lidar
uint32_t len = Tms - shotms[LIDAR_TRIGGER];
//if(len > MAX_TRIG_LEN || len > (uint32_t)the_conf.trigpause[LIDAR_TRIGGER]){
if(len > MAX_TRIG_LEN){
triggered = 0;
DBG("MAX time gone, untrigger!");
}
return triggered;
}
last_lidar_dist = txt[2] | (txt[3] << 8);
last_lidar_stren = txt[4] | (txt[5] << 8);
if(last_lidar_stren < LIDAR_LOWER_STREN) return 0; // weak signal
if(!lidar_triggered_dist){ // first run
lidar_triggered_dist = last_lidar_dist;
return 0;
}
IWDG->KR = IWDG_REFRESH;
if(triggered){ // check if body gone
if(last_lidar_dist < the_conf.dist_min || last_lidar_dist > the_conf.dist_max || last_lidar_dist > lidar_triggered_dist + LIDAR_DIST_THRES){
triggered = 0;
#ifdef EBUG
SEND("Untriggered! distance=");
printu(1, last_lidar_dist);
SEND(" signal=");
printu(1, last_lidar_stren);
newline(1);
#endif
}
}else{
if(last_lidar_dist > the_conf.dist_min && last_lidar_dist < the_conf.dist_max){
savetrigtime();
triggered = 1;
lidar_triggered_dist = last_lidar_dist;
fillshotms(LIDAR_TRIGGER);
#ifdef EBUG
SEND("Triggered! distance=");
printu(1, last_lidar_dist);
SEND(" signal=");
printu(1, last_lidar_stren);
newline(1);
#endif
}
}
return triggered;
}