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271 optimizing lh2 code #1

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merged 13 commits into from
Jan 23, 2024
Merged

271 optimizing lh2 code #1

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610915f
#271 det_poly - start_val test
SaidAlvarado Jan 12, 2024
2e7bba9
#271 det_poly: limit iterations test
SaidAlvarado Jan 12, 2024
324fa14
#271 LH2: setup code to benchmark the _reverse_count_p function
SaidAlvarado Jan 15, 2024
511d69c
LH2 #271 benchmark test LSFR computation in _reverse_count_p()
SaidAlvarado Jan 15, 2024
fb7a2aa
#271 LH2: Make local copies of _end_buffers to speed up _reverse_count_p
SaidAlvarado Jan 16, 2024
4e8d846
#271 LH2: lsfr checkpoint check with hash table
SaidAlvarado Jan 17, 2024
21c3522
#271 LH2: reverse_count_p() counts up AND down
SaidAlvarado Jan 17, 2024
37422e0
#271 LH2: Try hashtables for dynamic checkpoints
SaidAlvarado Jan 19, 2024
339fcdf
#271 LH2: Add dynamically updating checkpoints
SaidAlvarado Jan 19, 2024
c3e5dce
#271 LH2: Increase checkpoints from 16 to 64
SaidAlvarado Jan 19, 2024
3e1506c
#271 LH2: Start of random update tests
SaidAlvarado Jan 19, 2024
538fcf3
#271 LH2: implement poly_check() with _pop_count()
SaidAlvarado Jan 19, 2024
ebd9b1b
#271 LH2: Remove benchmark code from the driver.
SaidAlvarado Jan 23, 2024
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11 changes: 0 additions & 11 deletions bsp/lh2_4.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,20 +23,10 @@

//=========================== defines ==========================================

#define LH2_4_LOCATIONS_COUNT 2 ///< Number of computed locations
#define LH2_4_BASESTATION_COUNT 4 ///< Number of supported concurrent basestations

#define LH2_4_SWEEP_COUNT 2 ///< Number of laser sweeps per basestations rotation


/// LH2 internal state
typedef enum {
DB_LH2_4_IDLE, ///< the lh2 engine is idle
DB_LH2_4_RUNNING, ///< the lh2 engine is running
DB_LH2_4_RAW_DATA_READY, ///< some lh2 raw data is available
DB_LH2_4_LOCATION_READY, ///< some lh2 location is ready to be read
} db_lh2_4_state_t;

/// LH2 data ready buffer state
typedef enum {
DB_LH2_4_NO_NEW_DATA, ///< The data occupying this spot of the buffer has already been sent.
Expand All @@ -59,7 +49,6 @@ typedef struct __attribute__((packed)) {

/// LH2 instance (one row per laser sweep, and one column per basestation.)
typedef struct {
db_lh2_4_state_t state; ///< current state of the lh2 engine
db_lh2_4_raw_data_t raw_data[2][LH2_4_BASESTATION_COUNT]; ///< raw data decoded from the lighthouse
db_lh2_4_location_t locations[2][LH2_4_BASESTATION_COUNT]; ///< buffer holding the computed locations
uint32_t timestamps[2][LH2_4_BASESTATION_COUNT]; ///< timestamp of when the raw data was received
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