DotBots#292 LH_LOC: send processed LH2 data from the DotBot

bsp/lh2.h

@@ -79,8 +79,11 @@ void db_lh2_process_raw_data(db_lh2_t *lh2);
  * @brief Compute the location based on raw data coming from the lighthouse
  *
  * @param[in]   lh2 pointer to the lh2 instance
+ * @param[out]  out_sweep which sweep was processed. Only valid if return == True
+ * @param[out]  out_basestation which basestation was processed. Only valid if return == True
+ * @return      True if a sweep was processed, False if no processed occured
  */
-void db_lh2_process_location(db_lh2_t *lh2);
+bool db_lh2_process_location(db_lh2_t *lh2, uint8_t *out_sweep, uint8_t *out_basestation);
 
 /**
  * @brief Start the LH2 frame acquisition

bsp/nrf/lh2.c

@@ -903,9 +903,9 @@ void db_lh2_process_raw_data(db_lh2_t *lh2) {
     lh2->data_ready[sweep][temp_selected_polynomial >> 1]                   = DB_LH2_RAW_DATA_AVAILABLE;
 }
 
-void db_lh2_process_location(db_lh2_t *lh2) {
+bool db_lh2_process_location(db_lh2_t *lh2, uint8_t *out_sweep, uint8_t *out_basestation) {
     if (_lh2_vars.data.count == 0) {
-        return;
+        return false;
     }
 
     //*********************************************************************************//
@@ -921,7 +921,7 @@ void db_lh2_process_location(db_lh2_t *lh2) {
     // stop the interruptions while you're reading the data.
     uint32_t temp_timestamp = 0;  // default timestamp
     if (!_get_from_spi_ring_buffer(&_lh2_vars.data, temp_spi_bits, &temp_timestamp)) {
-        return;
+        return false;
     }
     // perform the demodulation + poly search on the received packets
     // convert the SPI reading to bits via zero-crossing counter demodulation and differential/biphasic manchester decoding
@@ -933,7 +933,7 @@ void db_lh2_process_location(db_lh2_t *lh2) {
 
     // If there was an error with the polynomial, leave without updating anything
     if (temp_selected_polynomial == LH2_POLYNOMIAL_ERROR_INDICATOR) {
-        return;
+        return false;
     }
 
     // Figure in which of the two sweep slots we should save the new data.
@@ -951,7 +951,7 @@ void db_lh2_process_location(db_lh2_t *lh2) {
     if ((temp_bits_sweep >> (47 - temp_bit_offset)) == 0x000000) {
         // Mark the data as wrong and keep going
         lh2->data_ready[sweep][basestation] = DB_LH2_NO_NEW_DATA;
-        return;
+        return false;
     }
 
     // Compute and save the lsfr location.
@@ -974,6 +974,14 @@ void db_lh2_process_location(db_lh2_t *lh2) {
     lh2->locations[sweep][basestation].selected_polynomial = temp_selected_polynomial;
     // Mark the data point as processed
     lh2->data_ready[sweep][basestation] = DB_LH2_PROCESSED_DATA_AVAILABLE;
+
+    //====================================================================================//
+    //                                  Return Status                                     //
+    //====================================================================================//
+
+    *out_basestation = basestation;
+    *out_sweep = sweep;
+    return true;
 }
 
 //=========================== private ==========================================

drv/protocol.h

@@ -104,10 +104,9 @@ typedef struct __attribute__((packed)) {
 } protocol_gps_waypoints_t;
 
 /// LH2 process data compressed for sending over radio.
-typedef struct  __attribute__((packed)) {
-    uint8_t  selected_polynomial;  ///< selected poly is the polyomial # (between 0 and 31) that the demodulation code thinks the demodulated bits are a part of, initialize to error state
-    uint32_t lfsr_location;        ///< LFSR location is the position in a given polynomial's LFSR that the decoded data is, initialize to error state
-    uint32_t delay_us;             ///< How many microseconds passed since the sample was taken
+typedef struct __attribute__((packed)) {
+    uint8_t  polynomial[2];     ///< selected poly is the polyomial # (between 0 and 31) that the demodulation code thinks the demodulated bits are a part of, initialize to error state
+    uint32_t lfsr_location[2];  ///< LFSR location is the position in a given polynomial's LFSR that the decoded data is, initialize to error state
 } protocol_lh2_processed_packet_t;
 
 //=========================== public ===========================================

projects/03app_dotbot/03app_dotbot.c

@@ -68,6 +68,8 @@ typedef struct {
     uint8_t                  lh2_update_counter;                 ///< Counter used to track when lh2 data were received and to determine if an advertizement packet is needed
     uint64_t                 device_id;                          ///< Device ID of the DotBot
     db_log_dotbot_data_t     log_data;
+    uint8_t                  out_sweep;
+    uint8_t                  out_basestation;
 } dotbot_vars_t;
 
 //=========================== variables ========================================
@@ -206,23 +208,29 @@ int main(void) {
 
         bool need_advertize = false;
         // Process available lighthouse data
-        db_lh2_process_location(&_dotbot_vars.lh2);
+
+        db_lh2_process_location(&_dotbot_vars.lh2, &_dotbot_vars.out_sweep, &_dotbot_vars.out_basestation);
 
         if (_dotbot_vars.update_lh2) {
             // Check if data is ready to send
             if (_dotbot_vars.lh2.data_ready[0][0] == DB_LH2_PROCESSED_DATA_AVAILABLE && _dotbot_vars.lh2.data_ready[1][0] == DB_LH2_PROCESSED_DATA_AVAILABLE) {
 
                 db_lh2_stop();
                 // Prepare the radio buffer
-                db_protocol_header_to_buffer(_dotbot_vars.radio_buffer, DB_BROADCAST_ADDRESS, DotBot, DB_PROTOCOL_DOTBOT_DATA);
-                memcpy(_dotbot_vars.radio_buffer + sizeof(protocol_header_t), &_dotbot_vars.direction, sizeof(int16_t));
-                // Add the LH2 sweep
+                db_protocol_header_to_buffer(_dotbot_vars.radio_buffer, DB_BROADCAST_ADDRESS, DotBot, DB_PROTOCOL_LH2_PROCESSED_DATA);
+                // Add the LH2 sweeps
+                protocol_lh2_processed_packet_t lh2_processed_packet;
                 for (uint8_t lh2_sweep_index = 0; lh2_sweep_index < LH2_SWEEP_COUNT; lh2_sweep_index++) {
-                    memcpy(_dotbot_vars.radio_buffer + sizeof(protocol_header_t) + sizeof(int16_t) + lh2_sweep_index * sizeof(db_lh2_raw_data_t), &_dotbot_vars.lh2.raw_data[lh2_sweep_index][0], sizeof(db_lh2_raw_data_t));
+                    // Copy data into the packet
+                    lh2_processed_packet.polynomial[lh2_sweep_index]    = _dotbot_vars.lh2.locations[lh2_sweep_index][0].selected_polynomial;
+                    lh2_processed_packet.lfsr_location[lh2_sweep_index] = _dotbot_vars.lh2.locations[lh2_sweep_index][0].lfsr_location;
                     // Mark the data as already sent
-                    _dotbot_vars.lh2.data_ready[lh2_sweep_index][0] = DB_LH2_NO_NEW_DATA;
+                    _dotbot_vars.lh2.data_ready[lh2_sweep_index][0]     = DB_LH2_NO_NEW_DATA;
                 }
-                size_t length = sizeof(protocol_header_t) + sizeof(int16_t) + sizeof(db_lh2_raw_data_t) * LH2_SWEEP_COUNT;
+
+                // Copy packet into the radio buffer
+                memcpy(_dotbot_vars.radio_buffer + sizeof(protocol_header_t), &lh2_processed_packet, sizeof(protocol_lh2_processed_packet_t));
+                size_t length = sizeof(protocol_header_t) + sizeof(protocol_lh2_processed_packet_t);
 
                 // Send the radio packet
                 db_radio_disable();