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device/bootloader: check whether lighthouse is initialized, skip process data early #99

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device/bootloader: check whether lighthouse is initialized, skip process data early #99

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13 changes: 11 additions & 2 deletions device/bootloader/Source/localization.c
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

typedef struct {
db_lh2_t lh2;
uint32_t initialized;
double coordinates[2];
} localization_data_t;

Expand All @@ -16,7 +17,11 @@ static __attribute__((aligned(4))) localization_data_t _localization_data = { 0

void localization_init(void) {
puts("Initialize localization");
db_lh2_init(&_localization_data.lh2, &db_lh2_d, &db_lh2_e);
_localization_data.initialized = db_lh2_init(&_localization_data.lh2, &db_lh2_d, &db_lh2_e);
if (!_localization_data.initialized) {
return;
}

db_lh2_start();

#if LH2_CALIBRATION_IS_VALID
Expand All @@ -34,12 +39,16 @@ void localization_init(void) {
}

bool localization_process_data(void) {
if (!LH2_CALIBRATION_IS_VALID || !_localization_data.initialized) {
return false;
}

db_lh2_process_location(&_localization_data.lh2);
return (_localization_data.lh2.data_ready[0][0] == DB_LH2_PROCESSED_DATA_AVAILABLE && _localization_data.lh2.data_ready[1][0] == DB_LH2_PROCESSED_DATA_AVAILABLE);
}

bool localization_get_position(position_2d_t *position) {
if ((LH2_CALIBRATION_IS_VALID) && (_localization_data.lh2.data_ready[0][0] == DB_LH2_PROCESSED_DATA_AVAILABLE && _localization_data.lh2.data_ready[1][0] == DB_LH2_PROCESSED_DATA_AVAILABLE)) {
if ((LH2_CALIBRATION_IS_VALID) && (_localization_data.initialized) && (_localization_data.lh2.data_ready[0][0] == DB_LH2_PROCESSED_DATA_AVAILABLE && _localization_data.lh2.data_ready[1][0] == DB_LH2_PROCESSED_DATA_AVAILABLE)) {
db_lh2_stop();
db_lh2_calculate_position(_localization_data.lh2.locations[0][0].lfsr_counts, _localization_data.lh2.locations[1][0].lfsr_counts, _localization_data.lh2.locations[0][0].selected_polynomial, _localization_data.coordinates);
_localization_data.lh2.data_ready[0][0] = DB_LH2_NO_NEW_DATA;
Expand Down