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