├── .gitignore ├── LICENSE ├── README.md ├── firmware ├── InputCapture.cpp ├── InputCapture.h ├── LighthouseOOTX.cpp ├── LighthouseOOTX.h ├── LighthouseSensor.cpp ├── LighthouseSensor.h ├── LighthouseXYZ.cpp ├── LighthouseXYZ.h └── firmware.ino ├── pcb ├── detector-discrete.sch ├── detector-opamp.brd └── detector-opamp.sch └── solve-lighthouse /.gitignore: -------------------------------------------------------------------------------- 1 | .*.sw[po] 2 | .*.lck 3 | *.s#[0-9]* 4 | *.b#[0-9]* 5 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ![Two Lighthouse beacons and a Teensy on a breadboard](https://farm8.static.flickr.com/7336/27747465696_948e961a4c.jpg) 2 | 3 | Arduino (Teensy) and Processng library to interface with the HTC Vive 4 | Lighthouse beacons. Not fully functional yet. 5 | 6 | More info: https://trmm.net/Lighthouse 7 | 8 | 9 | -------------------------------------------------------------------------------- /firmware/InputCapture.cpp: -------------------------------------------------------------------------------- 1 | /** \file 2 | * Edge triggered input capture for the Teensy 3 3 | * 4 | * Derived from: 5 | * 6 | * PulsePosition Library for Teensy 3.1 7 | * High resolution input and output of PPM encoded signals 8 | * http://www.pjrc.com/teensy/td_libs_PulsePosition.html 9 | * Copyright (c) 2014, Paul Stoffregen, paul@pjrc.com 10 | * 11 | * Development of this library was funded by PJRC.COM, LLC by sales of Teensy 12 | * boards. Please support PJRC's efforts to develop open source software by 13 | * purchasing Teensy or other PJRC products. 14 | * 15 | * Permission is hereby granted, free of charge, to any person obtaining a copy 16 | * of this software and associated documentation files (the "Software"), to deal 17 | * in the Software without restriction, including without limitation the rights 18 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 19 | * copies of the Software, and to permit persons to whom the Software is 20 | * furnished to do so, subject to the following conditions: 21 | * 22 | * The above copyright notice, development funding notice, and this permission 23 | * notice shall be included in all copies or substantial portions of the Software. 24 | * 25 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 26 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 27 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 28 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 29 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 30 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 31 | * THE SOFTWARE. 32 | */ 33 | 34 | #include 35 | #include "InputCapture.h" 36 | 37 | 38 | // convert from microseconds to I/O clock ticks 39 | #if defined(KINETISK) 40 | #define CLOCKS_PER_MICROSECOND ((double)F_BUS / 1000000.0) 41 | #elif defined(KINETISL) 42 | #define CLOCKS_PER_MICROSECOND ((double)F_PLL / 2000000.0) 43 | #endif 44 | 45 | #define FTM0_SC_VALUE (FTM_SC_TOIE | FTM_SC_CLKS(1) | FTM_SC_PS(0)) 46 | 47 | #if defined(KINETISK) 48 | #define CSC_CHANGE(reg, val) ((reg)->csc = (val)) 49 | #define CSC_INTACK(reg, val) ((reg)->csc = (val)) 50 | #define CSC_CHANGE_INTACK(reg, val) ((reg)->csc = (val)) 51 | #define FRAME_PIN_SET() *framePinReg = 1 52 | #define FRAME_PIN_CLEAR() *framePinReg = 0 53 | #elif defined(KINETISL) 54 | #define CSC_CHANGE(reg, val) ({(reg)->csc = 0; while ((reg)->csc); (reg)->csc = (val);}) 55 | #define CSC_INTACK(reg, val) ((reg)->csc = (val) | FTM_CSC_CHF) 56 | #define CSC_CHANGE_INTACK(reg, val) ({(reg)->csc = 0; while ((reg)->csc); (reg)->csc = (val) | FTM_CSC_CHF;}) 57 | #define FRAME_PIN_SET() *(framePinReg + 4) = framePinMask 58 | #define FRAME_PIN_CLEAR() *(framePinReg + 8) = framePinMask 59 | #endif 60 | 61 | 62 | /** 63 | * Interrupt for the flexible timer module 0. 64 | * 65 | * This indicates either a timer overflow or a transition on one of 66 | * the inputs. 67 | */ 68 | void ftm0_isr(void) 69 | { 70 | if (FTM0_SC & 0x80) { 71 | #if defined(KINETISK) 72 | FTM0_SC = FTM0_SC_VALUE; 73 | #elif defined(KINETISL) 74 | FTM0_SC = FTM0_SC_VALUE | FTM_SC_TOF; 75 | #endif 76 | InputCapture::overflow_count++; 77 | InputCapture::overflow_inc = true; 78 | } 79 | 80 | // TODO: this could be efficient by reading FTM0_STATUS 81 | //const uint8_t maskin = 0x18; 82 | const uint8_t maskin = InputCapture::channelmask; 83 | if ((maskin & 0x01) && (FTM0_C0SC & 0x80)) InputCapture::list[0]->isr(); 84 | if ((maskin & 0x02) && (FTM0_C1SC & 0x80)) InputCapture::list[1]->isr(); 85 | if ((maskin & 0x04) && (FTM0_C2SC & 0x80)) InputCapture::list[2]->isr(); 86 | if ((maskin & 0x08) && (FTM0_C3SC & 0x80)) InputCapture::list[3]->isr(); 87 | if ((maskin & 0x10) && (FTM0_C4SC & 0x80)) InputCapture::list[4]->isr(); 88 | if ((maskin & 0x20) && (FTM0_C5SC & 0x80)) InputCapture::list[5]->isr(); 89 | #if defined(KINETISK) 90 | if ((maskin & 0x40) && (FTM0_C6SC & 0x80)) InputCapture::list[6]->isr(); 91 | if ((maskin & 0x80) && (FTM0_C7SC & 0x80)) InputCapture::list[7]->isr(); 92 | #endif 93 | InputCapture::overflow_inc = false; 94 | } 95 | 96 | // some explanation regarding this C to C++ trickery can be found here: 97 | // http://forum.pjrc.com/threads/25278-Low-Power-with-Event-based-software-architecture-brainstorm?p=43496&viewfull=1#post43496 98 | 99 | uint16_t InputCapture::overflow_count = 0; 100 | bool InputCapture::overflow_inc = false; 101 | volatile uint8_t InputCapture::channelmask = 0; 102 | InputCapture * InputCapture::list[8]; 103 | 104 | InputCapture::InputCapture() 105 | { 106 | } 107 | 108 | 109 | bool InputCapture::begin(uint8_t pin, int polarity) 110 | { 111 | uint32_t channel; 112 | volatile void *reg; 113 | 114 | cscEdge = (polarity == FALLING) ? 0b01001000 : 0b01000100; 115 | 116 | if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) { 117 | FTM0_SC = 0; 118 | FTM0_CNT = 0; 119 | FTM0_MOD = 0xFFFF; 120 | FTM0_SC = FTM0_SC_VALUE; 121 | #if defined(KINETISK) 122 | FTM0_MODE = 0; 123 | #endif 124 | } 125 | 126 | switch (pin) { 127 | case 6: channel = 4; reg = &FTM0_C4SC; break; 128 | case 9: channel = 2; reg = &FTM0_C2SC; break; 129 | case 10: channel = 3; reg = &FTM0_C3SC; break; 130 | case 20: channel = 5; reg = &FTM0_C5SC; break; 131 | case 22: channel = 0; reg = &FTM0_C0SC; break; 132 | case 23: channel = 1; reg = &FTM0_C1SC; break; 133 | #if defined(KINETISK) 134 | case 21: channel = 6; reg = &FTM0_C6SC; break; 135 | case 5: channel = 7; reg = &FTM0_C7SC; break; 136 | #endif 137 | default: 138 | return false; 139 | } 140 | 141 | write_index = 0; 142 | read_index = 0; 143 | 144 | ftm = (struct ftm_channel_struct *)reg; 145 | 146 | // Check for already installed on this pin 147 | if (channelmask & (1 << channel)) 148 | return false; 149 | 150 | channelmask |= (1<cv; 168 | 169 | CSC_INTACK(ftm, cscEdge); // input capture & interrupt on desired edge 170 | 171 | // if the pulse happened recently and we registered an overflow 172 | // on this interrupt then we assume that the pulse was in the last 173 | // window, not this one. 174 | if (val > 0xE000 && overflow_inc) 175 | count--; 176 | 177 | // update the high bits on the counter 178 | val |= (count << 16); 179 | 180 | samples[write_index++ % SAMPLE_COUNT] = val; 181 | } 182 | 183 | 184 | // 0 == no data, 1 == data, -1 == lost data 185 | int InputCapture::read(uint32_t * val) 186 | { 187 | __disable_irq(); 188 | const uint32_t w = write_index; 189 | 190 | // fast return if no data 191 | if (w == read_index) 192 | { 193 | __enable_irq(); 194 | return 0; 195 | } 196 | 197 | int rc = 1; 198 | 199 | if (w - read_index > SAMPLE_COUNT) 200 | { 201 | // we lost data. catch up. 202 | rc = -1; 203 | read_index = w - SAMPLE_COUNT+1; 204 | } 205 | 206 | *val = samples[read_index++ % SAMPLE_COUNT]; 207 | 208 | __enable_irq(); 209 | 210 | return rc; 211 | } 212 | -------------------------------------------------------------------------------- /firmware/InputCapture.h: -------------------------------------------------------------------------------- 1 | /** \file 2 | * Edge triggered input capture for the Teensy 3 3 | * 4 | * Derived from: 5 | * 6 | * PulsePosition Library for Teensy 3.1 7 | * High resolution input and output of PPM encoded signals 8 | * http://www.pjrc.com/teensy/td_libs_PulsePosition.html 9 | * Copyright (c) 2014, Paul Stoffregen, paul@pjrc.com 10 | * 11 | * Development of this library was funded by PJRC.COM, LLC by sales of Teensy 12 | * boards. Please support PJRC's efforts to develop open source software by 13 | * purchasing Teensy or other PJRC products. 14 | * 15 | * Permission is hereby granted, free of charge, to any person obtaining a copy 16 | * of this software and associated documentation files (the "Software"), to deal 17 | * in the Software without restriction, including without limitation the rights 18 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 19 | * copies of the Software, and to permit persons to whom the Software is 20 | * furnished to do so, subject to the following conditions: 21 | * 22 | * The above copyright notice, development funding notice, and this permission 23 | * notice shall be included in all copies or substantial portions of the Software. 24 | * 25 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 26 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 27 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 28 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 29 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 30 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 31 | * THE SOFTWARE. 32 | */ 33 | 34 | #include 35 | 36 | #define SAMPLE_COUNT 64 37 | 38 | struct ftm_channel_struct { 39 | volatile uint32_t csc; 40 | volatile uint32_t cv; 41 | }; 42 | 43 | class InputCapture 44 | { 45 | public: 46 | InputCapture(); 47 | 48 | // rxPin can be 5,6,9,10,20,21,22,23 49 | // can polarity be both? 50 | bool begin(uint8_t rxPin, int polarity=FALLING); 51 | 52 | // 0 == no data, 1 == data, -1 == data, but lost samples 53 | int read(uint32_t * val); 54 | 55 | friend void ftm0_isr(void); 56 | 57 | private: 58 | void isr(void); 59 | struct ftm_channel_struct *ftm; 60 | 61 | uint32_t samples[SAMPLE_COUNT]; 62 | volatile uint32_t write_index; 63 | uint32_t read_index; 64 | 65 | uint8_t cscEdge; 66 | 67 | // track which channels we have installed 68 | static uint16_t overflow_count; 69 | static volatile uint8_t channelmask; 70 | static bool overflow_inc; 71 | static InputCapture *list[8]; 72 | }; 73 | 74 | 75 | -------------------------------------------------------------------------------- /firmware/LighthouseOOTX.cpp: -------------------------------------------------------------------------------- 1 | /** \file 2 | * Decode the OOTX frame. 3 | * 4 | * Described here: https://github.com/nairol/LighthouseRedox/blob/master/docs/Light%20Emissions.md 5 | */ 6 | 7 | #include "LighthouseOOTX.h" 8 | 9 | LighthouseOOTX::LighthouseOOTX() 10 | { 11 | reset(); 12 | complete = 0; 13 | length = 0; 14 | } 15 | 16 | void LighthouseOOTX::reset() 17 | { 18 | waiting_for_preamble = 1; 19 | waiting_for_length = 1; 20 | accumulator = 0; 21 | accumulator_bits = 0; 22 | rx_bytes = 0; 23 | } 24 | 25 | void LighthouseOOTX::add(unsigned bit) 26 | { 27 | if (bit != 0 && bit != 1) 28 | { 29 | // something is wrong. dump what we have received so far 30 | reset(); 31 | return; 32 | } 33 | 34 | // add this bit to our incoming word 35 | accumulator = (accumulator << 1) | bit; 36 | accumulator_bits++; 37 | 38 | if (waiting_for_preamble) 39 | { 40 | // 17 zeros, followed by a 1 == 18 bits 41 | if (accumulator_bits != 18) 42 | return; 43 | 44 | if (accumulator == 0x1) 45 | { 46 | // received preamble, start on data 47 | // first we'll need the length 48 | waiting_for_preamble = 0; 49 | waiting_for_length = 1; 50 | return; 51 | } 52 | 53 | // we've received 18 bits worth of preamble, 54 | // but it is not a valid thing. hold onto the 55 | // last 17 bits worth of data 56 | accumulator_bits--; 57 | accumulator = accumulator & 0x1FFFF; 58 | return; 59 | } 60 | 61 | // we're receiving data! accumulate until we get a sync bit 62 | if (accumulator_bits != 17) 63 | return; 64 | 65 | if ((accumulator & 1) == 0) 66 | { 67 | // no sync bit. go back into waiting for preamble mode 68 | reset(); 69 | return; 70 | } 71 | 72 | // hurrah! the sync bit was set 73 | unsigned word = accumulator >> 1; 74 | accumulator = 0; 75 | accumulator_bits = 0; 76 | 77 | add_word(word); 78 | } 79 | 80 | 81 | void LighthouseOOTX::add_word(unsigned word) 82 | { 83 | if (waiting_for_length) 84 | { 85 | length = word + 4; // add in the CRC32 length 86 | padding = length & 1; 87 | waiting_for_length = 0; 88 | rx_bytes = 0; 89 | 90 | // error! 91 | if (length > sizeof(bytes)) 92 | reset(); 93 | 94 | return; 95 | } 96 | 97 | bytes[rx_bytes++] = (word >> 8) & 0xFF; 98 | bytes[rx_bytes++] = (word >> 0) & 0xFF; 99 | 100 | if (rx_bytes < length + padding) 101 | return; 102 | 103 | // we are at the end! 104 | 105 | // todo: check crc32 106 | 107 | complete = 1; 108 | waiting_for_length = 1; 109 | 110 | // reset to wait for a preamble 111 | reset(); 112 | } 113 | -------------------------------------------------------------------------------- /firmware/LighthouseOOTX.h: -------------------------------------------------------------------------------- 1 | /** \file 2 | * Record the Lighthouse OOTX messages 3 | */ 4 | #pragma once 5 | 6 | 7 | class LighthouseOOTX 8 | { 9 | public: 10 | LighthouseOOTX(); 11 | 12 | void add(unsigned bit); 13 | 14 | bool complete; 15 | unsigned length; // message length in bytes 16 | unsigned char bytes[256]; 17 | 18 | private: 19 | void reset(); 20 | void add_word(unsigned word); 21 | 22 | bool waiting_for_preamble; 23 | bool waiting_for_length; 24 | 25 | unsigned long accumulator; 26 | unsigned accumulator_bits; 27 | 28 | 29 | unsigned rx_bytes; 30 | unsigned padding; // if there is a padding byte 31 | }; 32 | -------------------------------------------------------------------------------- /firmware/LighthouseSensor.cpp: -------------------------------------------------------------------------------- 1 | #include "LighthouseSensor.h" 2 | 3 | #if defined(KINETISK) 4 | //#define CLOCKS_PER_MICROSECOND ((double)F_BUS / 1000000.0) 5 | #define CLOCKS_PER_MICROSECOND (F_BUS / 1000000) 6 | #elif defined(KINETISL) 7 | // PLL is 48 Mhz, which is 24 clocks per microsecond, but 8 | // there is a divide by two for some reason. 9 | #define CLOCKS_PER_MICROSECOND (F_PLL / 2000000) 10 | #endif 11 | 12 | 13 | void 14 | LighthouseSensor::begin(int id, int icp0, int icp1) 15 | { 16 | this->id = id; 17 | this->icp_rising.begin(icp0, RISING); 18 | this->icp_falling.begin(icp1, FALLING); 19 | } 20 | 21 | 22 | int 23 | LighthouseSensor::sweep_pulse( 24 | unsigned val, 25 | unsigned len, 26 | unsigned duty 27 | ) 28 | { 29 | 30 | // Sweep! The 0 degree mark is when the rotor 31 | // that was not skpped sent its high pulse. 32 | // midpoint of the pulse is what we'll use 33 | unsigned now = val - len/2; 34 | unsigned delta = now - this->zero_time; 35 | const int ind = this->lighthouse*2 + this->axis; 36 | 37 | // todo: filter if we don't know the axis 38 | int valid = !this->got_sweep 39 | && this->lighthouse != 9 40 | && delta < 8000 * CLOCKS_PER_MICROSECOND; 41 | 42 | if (debug) 43 | { 44 | Serial.print(val); 45 | Serial.print(","); 46 | Serial.print(this->id); 47 | Serial.print(",S,"); 48 | Serial.print(this->lighthouse); 49 | Serial.print(","); 50 | Serial.print(this->axis); 51 | Serial.print(","); 52 | Serial.print(delta); 53 | Serial.print(","); 54 | Serial.print(valid); 55 | Serial.print(","); 56 | Serial.print(len / CLOCKS_PER_MICROSECOND); 57 | Serial.println(); 58 | #if 0 59 | } else 60 | if (valid) 61 | { 62 | Serial.print(val); 63 | Serial.print(","); 64 | Serial.print(i); 65 | Serial.print(","); 66 | Serial.print(lighthouse[i]); 67 | Serial.print(","); 68 | Serial.print(axis[i]); 69 | Serial.print(","); 70 | Serial.print(delta); 71 | Serial.println(); 72 | #endif 73 | } 74 | 75 | // flag that we have the sweep for this one already 76 | // even if it is not a valid length 77 | this->got_sweep = 1; 78 | this->got_skip = this->got_not_skip = 0; 79 | this->lighthouse = 9; 80 | 81 | if (!valid) 82 | return -1; 83 | 84 | // update our angle measurement (raw and floating point) 85 | this->raw[ind] = delta; 86 | this->angles[ind] = (delta - 4000.0 * CLOCKS_PER_MICROSECOND) 87 | * M_PI / (8333 * CLOCKS_PER_MICROSECOND); 88 | 89 | // let the caller know that we have a new valid measurement 90 | return ind; 91 | } 92 | 93 | 94 | int 95 | LighthouseSensor::poll() 96 | { 97 | uint32_t val; 98 | int rc = this->icp_falling.read(&val); 99 | if (rc != 0) 100 | { 101 | // we have a falling edge pulse, store the time stamp 102 | this->last_falling = val; 103 | } 104 | 105 | rc = this->icp_rising.read(&val); 106 | if (rc <= 0) 107 | return -1; 108 | 109 | // We have a rising edge pulse, process it 110 | const uint32_t len = val - this->last_falling; 111 | const uint32_t duty = val - this->last_rising; 112 | this->last_rising = val; 113 | 114 | // short pulse means sweep by the laser. 115 | if (len < 15 * CLOCKS_PER_MICROSECOND) 116 | return this->sweep_pulse(val, len, duty); 117 | 118 | 119 | // this is our first non-sweep pulse, 120 | // reset our parameters to wait for our next sync. 121 | if (this->got_sweep || duty > 800 * CLOCKS_PER_MICROSECOND) 122 | { 123 | this->lighthouse = 9; // invalid 124 | this->got_sweep = this->got_skip = this->got_not_skip = 0; 125 | } 126 | 127 | int skip = 9; 128 | int rotor = 9; 129 | int data = 9; 130 | const char * name = "??"; 131 | 132 | const unsigned window = 4 * CLOCKS_PER_MICROSECOND; 133 | 134 | static const unsigned midpoints[] = { 135 | (unsigned) (62.5 * CLOCKS_PER_MICROSECOND), 136 | (unsigned) (83.3 * CLOCKS_PER_MICROSECOND), 137 | (unsigned) (72.9 * CLOCKS_PER_MICROSECOND), 138 | (unsigned) (93.8 * CLOCKS_PER_MICROSECOND), 139 | (unsigned) (104.0 * CLOCKS_PER_MICROSECOND), 140 | (unsigned) (125.0 * CLOCKS_PER_MICROSECOND), 141 | (unsigned) (115.0 * CLOCKS_PER_MICROSECOND), 142 | (unsigned) (135.0 * CLOCKS_PER_MICROSECOND), 143 | }; 144 | 145 | static const char * const names[] = { 146 | "j0", "j1", "k0", "k1", "j2", "j3", "k2", "k3", 147 | }; 148 | 149 | for (int i = 0 ; i < 8 ; i++) 150 | { 151 | if (len < midpoints[i] - window) 152 | continue; 153 | if (len > midpoints[i] + window) 154 | continue; 155 | 156 | skip = (i >> 2) & 1; 157 | rotor = (i >> 1) & 1; 158 | data = (i >> 0) & 1; 159 | name = names[i]; 160 | break; 161 | } 162 | 163 | if (skip == 0) 164 | { 165 | // store the time of the rising edge of this pulse 166 | // and the rotor that is being sent 167 | this->zero_time = last_falling; 168 | this->axis = rotor; 169 | this->got_not_skip = 1; 170 | 171 | // if we have already seen the skip sync pluse, 172 | // then this is lighthouse 0, 173 | if (this->got_skip) 174 | { 175 | this->lighthouse = 0; 176 | ootx.add(data); 177 | //Serial.println((unsigned) data); 178 | } 179 | } else 180 | if (skip == 1) 181 | { 182 | this->got_skip = 1; 183 | 184 | // if we have already seen the not-skip sync pulse, 185 | // then this is lighthouse 1 186 | if (this->got_not_skip) 187 | this->lighthouse = 1; 188 | } 189 | 190 | 191 | 192 | if (debug) 193 | { 194 | Serial.print(val); 195 | Serial.print(","); 196 | Serial.print(this->id); 197 | Serial.print(",X,"); 198 | Serial.print(name); 199 | Serial.print(","); 200 | Serial.print(skip); 201 | Serial.print(","); 202 | Serial.print(rotor); 203 | Serial.print(","); 204 | Serial.print(data); 205 | Serial.print(","); 206 | Serial.print(len / CLOCKS_PER_MICROSECOND); 207 | Serial.println(); 208 | } 209 | 210 | // no new samples 211 | return -1; 212 | } 213 | -------------------------------------------------------------------------------- /firmware/LighthouseSensor.h: -------------------------------------------------------------------------------- 1 | /** \file 2 | * Raw interface to the TS3633 sensor. 3 | * 4 | */ 5 | #ifndef _LighthouseSensor_h_ 6 | #define _LighthouseSensor_h_ 7 | 8 | #include "InputCapture.h" 9 | #include "LighthouseOOTX.h" 10 | 11 | class LighthouseSensor 12 | { 13 | public: 14 | LighthouseSensor() {} 15 | 16 | // Two input capture pins, one for rising, one for falling 17 | void begin(int id, int input_capture0, int input_capture1); 18 | 19 | // Check for any activity, 20 | // return the sample index if a new angle measurement is available 21 | int poll(); 22 | 23 | // Measured angles from the sweep pulses 24 | uint32_t raw[4]; 25 | float angles[4]; 26 | 27 | static const bool debug = 0; 28 | 29 | LighthouseOOTX ootx; 30 | 31 | private: 32 | int id; 33 | InputCapture icp_rising; 34 | InputCapture icp_falling; 35 | 36 | // process a sweep pulse and return -1 if no new pulse detected 37 | int sweep_pulse(unsigned when, unsigned len, unsigned duty); 38 | 39 | // What was the last pulse times in each direction? 40 | uint32_t last_rising; 41 | uint32_t last_falling; 42 | 43 | // When did the non-skipped rotor report 0 degrees? 44 | uint32_t zero_time; 45 | 46 | // Which rotor was reported by the sync pulse? 47 | unsigned axis; 48 | 49 | // Have we seen a sweep pulse? 50 | unsigned got_sweep; 51 | 52 | // Have we seen a sync pulse that says skip? 53 | unsigned got_skip; 54 | 55 | // Have we seen a sync pulse that says not-skipped? 56 | unsigned got_not_skip; 57 | 58 | // Which lighthouse did we compute this sweep was for? 59 | unsigned lighthouse; 60 | }; 61 | 62 | #endif 63 | -------------------------------------------------------------------------------- /firmware/LighthouseXYZ.cpp: -------------------------------------------------------------------------------- 1 | // adapted from https://github.com/ashtuchkin/vive-diy-position-sensor 2 | #include "LighthouseXYZ.h" 3 | #include 4 | 5 | static const int vec3d_size = 3; 6 | typedef float vec3d[vec3d_size]; 7 | typedef float mat33[3*3]; 8 | 9 | static void 10 | vec_cross_product( 11 | const vec3d &a, 12 | const vec3d &b, 13 | vec3d &res 14 | ) 15 | { 16 | res[0] = a[1]*b[2] - a[2]*b[1]; 17 | res[1] = a[2]*b[0] - a[0]*b[2]; 18 | res[2] = a[0]*b[1] - a[1]*b[0]; 19 | } 20 | 21 | 22 | static float 23 | vec_length( 24 | vec3d &vec 25 | ) 26 | { 27 | float pow, res; 28 | 29 | arm_power_f32(vec, vec3d_size, &pow); 30 | arm_sqrt_f32(pow, &res); 31 | 32 | return res; 33 | } 34 | 35 | static void 36 | calc_ray_vec( 37 | float rotation[9], 38 | float angle1, 39 | float angle2, 40 | vec3d &res 41 | ) 42 | { 43 | // Normal vector to X plane 44 | vec3d a = { 45 | +arm_cos_f32(angle1), 46 | 0, 47 | -arm_sin_f32(angle1), 48 | }; 49 | 50 | // Normal vector to Y plane 51 | vec3d b = { 52 | 0, 53 | +arm_cos_f32(angle2), 54 | +arm_sin_f32(angle2), 55 | }; 56 | 57 | vec3d ray = {}; 58 | 59 | // Intersection of two planes -> ray vector. 60 | vec_cross_product(b, a, ray); 61 | 62 | // Normalize ray length. 63 | float len = vec_length(ray); 64 | arm_scale_f32(ray, 1/len, ray, vec3d_size); 65 | 66 | arm_matrix_instance_f32 source_rotation_matrix = {3, 3, rotation}; 67 | arm_matrix_instance_f32 ray_vec = {3, 1, ray}; 68 | arm_matrix_instance_f32 ray_rotated_vec = {3, 1, res}; 69 | 70 | // rotate the ray by the lighthouse's rotation matrix, 71 | // which translates the lighthouse-relative ray into 72 | // the XYZ-space. 73 | arm_mat_mult_f32(&source_rotation_matrix, &ray_vec, &ray_rotated_vec); 74 | } 75 | 76 | 77 | 78 | 79 | void LighthouseXYZ::begin( 80 | int id, 81 | lightsource * lh1, 82 | lightsource * lh2 83 | ) 84 | { 85 | #if 0 86 | // Convert Y up -> Z down; then rotate XY around Z clockwise and inverse X & Y 87 | this->ned_rotation[0] = -cosf(ne_angle); 88 | this->ned_rotation[1] = 0.0f; 89 | this->ned_rotation[2] = sinf(ne_angle); 90 | 91 | this->ned_rotation[3] = -sinf(ne_angle); 92 | this->ned_rotation[4] = 0.0f; 93 | this->ned_rotation[5] = -cosf(ne_angle); 94 | 95 | this->ned_rotation[6] = 0.0f; 96 | this->ned_rotation[7] = -1.0f; 97 | this->ned_rotation[8] = 0.0f; 98 | #endif 99 | 100 | this->id = id; 101 | 102 | // store the lighthouse positions 103 | this->lighthouse[0] = lh1; 104 | this->lighthouse[1] = lh2; 105 | 106 | this->xyz[0] = 0; 107 | this->xyz[1] = 0; 108 | this->xyz[2] = 0; 109 | }; 110 | 111 | 112 | /* 113 | * Algoritm: 114 | * http://geomalgorithms.com/a07-_distance.html#Distance-between-Lines 115 | */ 116 | static bool 117 | intersect_lines( 118 | vec3d &orig1, 119 | vec3d &vec1, 120 | vec3d &orig2, 121 | vec3d &vec2, 122 | float res[3], 123 | float *dist 124 | ) 125 | { 126 | vec3d w0 = {}; 127 | arm_sub_f32(orig1, orig2, w0, vec3d_size); 128 | 129 | float a, b, c, d, e; 130 | arm_dot_prod_f32(vec1, vec1, vec3d_size, &a); 131 | arm_dot_prod_f32(vec1, vec2, vec3d_size, &b); 132 | arm_dot_prod_f32(vec2, vec2, vec3d_size, &c); 133 | arm_dot_prod_f32(vec1, w0, vec3d_size, &d); 134 | arm_dot_prod_f32(vec2, w0, vec3d_size, &e); 135 | 136 | float denom = a * c - b * b; 137 | if (fabs(denom) < 1e-5f) 138 | return false; 139 | 140 | // Closest point to 2nd line on 1st line 141 | float t1 = (b * e - c * d) / denom; 142 | vec3d pt1 = {}; 143 | arm_scale_f32(vec1, t1, pt1, vec3d_size); 144 | arm_add_f32(pt1, orig1, pt1, vec3d_size); 145 | 146 | // Closest point to 1st line on 2nd line 147 | float t2 = (a * e - b * d) / denom; 148 | vec3d pt2 = {}; 149 | arm_scale_f32(vec2, t2, pt2, vec3d_size); 150 | arm_add_f32(pt2, orig2, pt2, vec3d_size); 151 | 152 | // Result is in the middle 153 | vec3d tmp = {}; 154 | arm_add_f32(pt1, pt2, tmp, vec3d_size); 155 | arm_scale_f32(tmp, 0.5f, res, vec3d_size); 156 | 157 | // Dist is distance between pt1 and pt2 158 | arm_sub_f32(pt1, pt2, tmp, vec3d_size); 159 | *dist = vec_length(tmp); 160 | 161 | return true; 162 | } 163 | 164 | 165 | 166 | // First 2 angles - x, y of station B; second 2 angles - x, y of station C. Center is 4000. 180 deg = 8333. 167 | // Y - Up; X -> Z v 168 | // Station ray is inverse Z axis. 169 | bool 170 | LighthouseXYZ::compute() 171 | { 172 | vec3d ray1 = {}; 173 | vec3d ray2 = {}; 174 | 175 | // translate the angle measurements of the Lighthouse sweeping 176 | // lasers into XYZ-space rays so that we can compute their 177 | // intersection in the real space. 178 | calc_ray_vec(this->lighthouse[0]->mat, this->angles[0], this->angles[1], ray1); 179 | 180 | calc_ray_vec(this->lighthouse[1]->mat, this->angles[2], this->angles[3], ray2); 181 | 182 | 183 | // compute the point of closest intersection between the two 184 | // XYZ-space rays coming from the lighthouses at their XYZ-space 185 | // positions. 186 | // 187 | // if the intersection isn't well defined (likely parallel?) 188 | // then don't update the position and signal an error. 189 | if (!intersect_lines( 190 | this->lighthouse[0]->origin, ray1, 191 | this->lighthouse[1]->origin, ray2, 192 | this->xyz, 193 | &this->dist 194 | )) 195 | return false; 196 | 197 | #if 0 198 | // Convert from the XYZ space of the lighthouses into NED 199 | // we don't need to do this? 200 | arm_matrix_instance_f32 pt_mat = {3, 1, this->xyz}; 201 | arm_matrix_instance_f32 ned_mat = {3, 1, this->ned }; 202 | arm_matrix_instance_f32 ned_rotation_mat = {3, 3, this->ned_rotation}; 203 | 204 | arm_mat_mult_f32(&ned_rotation_mat, &pt_mat, &ned_mat); 205 | #endif 206 | 207 | return true; 208 | } 209 | 210 | 211 | bool 212 | LighthouseXYZ::update( 213 | unsigned ind, 214 | float angle 215 | ) 216 | { 217 | if (ind >= 4) 218 | return false; 219 | 220 | this->angles[ind] = angle; 221 | this->fresh |= 1 << ind; 222 | if (this->fresh != 0xF) 223 | return false; 224 | this->fresh = 0; 225 | 226 | return this->compute(); 227 | } 228 | -------------------------------------------------------------------------------- /firmware/LighthouseXYZ.h: -------------------------------------------------------------------------------- 1 | /** \file 2 | * Geometry for computing the position of a sensor with the Lighthouses. 3 | * 4 | * This computes the XYZ position of a single sensor, based on the 5 | * four laser angle measurements from the two lighthouses and the 6 | * computed position/angles of the lighthouses. 7 | */ 8 | #ifndef _lighthouse_h_ 9 | #define _lighthouse_h_ 10 | 11 | struct lightsource { 12 | float mat[9]; 13 | float origin[3]; 14 | }; 15 | 16 | 17 | class LighthouseXYZ 18 | { 19 | public: 20 | LighthouseXYZ() {}; 21 | 22 | void begin(int id, lightsource * lh1, lightsource * lh2); 23 | 24 | bool update(unsigned ind, float angle); 25 | 26 | float xyz[3]; 27 | float dist; 28 | 29 | private: 30 | int id; 31 | lightsource * lighthouse[2]; 32 | 33 | unsigned fresh; 34 | float angles[4]; 35 | 36 | bool compute(); 37 | }; 38 | 39 | 40 | #endif 41 | -------------------------------------------------------------------------------- /firmware/firmware.ino: -------------------------------------------------------------------------------- 1 | /** \file 2 | * XYZ position using the Vive Lighthouse beacons. 3 | * 4 | * This uses up to four Triad Semiconductor TS3633-CM1 sensor modules, 5 | * which have a built-in 850nm photodiode and an amplifier circuit. 6 | * 7 | * The pulses are captured with the Teensy 3's "flexible timer" 8 | * that uses the 48 MHz system clock to record transitions on the 9 | * input lines. 10 | * 11 | * The sync pulses are at 120 Hz, or roughly 8000 usec. This means that 12 | * any pulse *longer* than 8 usec can be discarded since it is not 13 | * a valid measurement. 14 | * 15 | * The Teensy FTM might be able to capture both rising and falling edges, 16 | * but we can fake it by using all eight input channels for four 17 | * sensors. 18 | * 19 | * If we can't see the lighthouse that this 20 | * time slot goes with, we'll see the next sync pulse at 8 usec later. 21 | * If we do see this lighthouse, we'll see a sweep pulse at time T, 22 | * then roughly 8 usec - T later the next sync. 23 | * 24 | * Meaning of the sync pulses lengths: 25 | * https://github.com/nairol/LighthouseRedox/blob/master/docs/Light%20Emissions.md 26 | */ 27 | 28 | #include "LighthouseSensor.h" 29 | #include "LighthouseXYZ.h" 30 | 31 | 32 | #define IR0 5 33 | #define IR1 6 34 | #define IR2 9 35 | #define IR3 10 36 | #define IR4 20 37 | #define IR5 21 38 | #define IR6 22 39 | #define IR7 23 40 | 41 | 42 | // Lighthouse sources rotation matrix & 3d-position 43 | // needs to be computed and read from EEPROM instead of constant. 44 | static lightsource lightsources[2] = {{ 45 | { -0.88720f, 0.25875f, -0.38201f, 46 | -0.04485f, 0.77566f, 0.62956f, 47 | 0.45920f, 0.57568f, -0.67656f}, 48 | { -1.28658f, 2.32719f, -2.04823f} 49 | }, { 50 | { 0.52584f, -0.64026f, 0.55996f, 51 | 0.01984f, 0.66739f, 0.74445f, 52 | -0.85035f, -0.38035f, 0.36364f}, 53 | { 1.69860f, 2.62725f, 0.92969f} 54 | }}; 55 | 56 | 57 | LighthouseSensor sensors[4]; 58 | LighthouseXYZ xyz[4]; 59 | 60 | void setup() 61 | { 62 | sensors[0].begin(0, IR0, IR1); 63 | sensors[1].begin(1, IR2, IR3); 64 | sensors[2].begin(2, IR4, IR5); 65 | sensors[3].begin(3, IR6, IR7); 66 | 67 | for(int i = 0 ; i < 4 ; i++) 68 | xyz[i].begin(i, &lightsources[0], &lightsources[1]); 69 | 70 | Serial.begin(115200); 71 | } 72 | 73 | static char hexdigit(unsigned val) 74 | { 75 | val &= 0XF; 76 | if (val <= 9) 77 | return '0' + val; 78 | else 79 | return 'A' + val - 0xA; 80 | } 81 | 82 | static void print_ootx(LighthouseOOTX & o) 83 | { 84 | Serial.print(o.length); 85 | for(unsigned i = 0 ; i < o.length ; i++) 86 | { 87 | const uint8_t b = o.bytes[i]; 88 | Serial.print(" "); 89 | Serial.print(hexdigit(b >> 4)); 90 | Serial.print(hexdigit(b >> 0)); 91 | } 92 | 93 | Serial.println(); 94 | 95 | // flag that we have processed this message 96 | o.complete = 0; 97 | } 98 | 99 | 100 | void loop() 101 | { 102 | for(int i = 0 ; i < 4 ; i++) 103 | { 104 | LighthouseSensor * const s = &sensors[i]; 105 | LighthouseXYZ * const p = &xyz[i]; 106 | 107 | int ind = s->poll(); 108 | if (ind < 0) 109 | continue; 110 | 111 | if (s->ootx.complete) 112 | print_ootx(s->ootx); 113 | 114 | if (!p->update(ind, s->angles[ind])) 115 | continue; 116 | 117 | Serial.print(i); 118 | Serial.print(","); 119 | Serial.print(s->raw[0]); 120 | Serial.print(","); 121 | Serial.print(s->raw[1]); 122 | Serial.print(","); 123 | Serial.print(s->raw[2]); 124 | Serial.print(","); 125 | Serial.print(s->raw[3]); 126 | Serial.print(","); 127 | Serial.print((int)(p->xyz[0]*1000)); 128 | Serial.print(","); 129 | Serial.print((int)(p->xyz[1]*1000)); 130 | Serial.print(","); 131 | Serial.print((int)(p->xyz[2]*1000)); 132 | Serial.print(","); 133 | Serial.println(p->dist); 134 | } 135 | } 136 | -------------------------------------------------------------------------------- /pcb/detector-opamp.brd: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | <b>Linear Devices</b><p> 151 | Operational amplifiers, comparators, voltage regulators, ADCs, DACs, etc.<p> 152 | <author>Created by librarian@cadsoft.de</author> 153 | 154 | 155 | <b>Small Outline Package 8</b><br> 156 | NS Package M08A 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | >NAME 173 | >VALUE 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | <b>Siemens Opto Transistors</b><p> 187 | <author>Created by librarian@cadsoft.de</author> 188 | 189 | 190 | <B>PHOTO DIODE</B> 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | >NAME 214 | >VALUE 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | <b>Ceramic Chip Capacitor KEMET 0603 Reflow solder</b><p> 223 | Metric Code Size 1608 224 | 225 | 226 | 227 | 228 | >NAME 229 | >VALUE 230 | 231 | 232 | 233 | 234 | <b>RESISTOR</b><p> 235 | chip 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | >NAME 245 | >VALUE 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | >Name 274 | >Value 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | <b>EAGLE Design Rules</b> 289 | <p> 290 | Die Standard-Design-Rules sind so gewählt, dass sie für 291 | die meisten Anwendungen passen. Sollte ihre Platine 292 | besondere Anforderungen haben, treffen Sie die erforderlichen 293 | Einstellungen hier und speichern die Design Rules unter 294 | einem neuen Namen ab. 295 | <b>EAGLE Design Rules</b> 296 | <p> 297 | The default Design Rules have been set to cover 298 | a wide range of applications. Your particular design 299 | may have different requirements, so please make the 300 | necessary adjustments and save your customized 301 | design rules under a new name. 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | 451 | 452 | 453 | 454 | 455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 524 | 525 | 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 537 | 538 | 539 | 540 | 541 | 542 | 543 | 544 | 545 | 546 | 547 | 548 | 549 | 550 | 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 594 | 595 | 596 | -------------------------------------------------------------------------------- /solve-lighthouse: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # Compute the position of a Lighthouse given 3 | # sensor readings in a known configuration. 4 | 5 | from sympy import * 6 | from sympy import solve_poly_system 7 | from math import pi 8 | from sys import stdin 9 | 10 | 11 | # The few vector math functions that we need 12 | def cross(a, b): 13 | return [ 14 | a[1]*b[2] - a[2]*b[1], 15 | a[2]*b[0] - a[0]*b[2], 16 | a[0]*b[1] - a[1]*b[0] 17 | ] 18 | 19 | def vecmul(a, k): 20 | return [ 21 | a[0]*k, 22 | a[1]*k, 23 | a[2]*k 24 | ] 25 | def vecsub(a, b): 26 | return [ 27 | a[0] - b[0], 28 | a[1] - b[1], 29 | a[2] - b[2] 30 | ] 31 | 32 | def dot(a, b): 33 | return a[0]*b[0] + a[1]*b[1] + a[2]*b[2] 34 | 35 | def len(a): 36 | return sqrt(dot(a,a)) 37 | 38 | def unitv(a): 39 | mag = len(a) 40 | return [a[0]/mag, a[1]/mag, a[2]/mag] 41 | 42 | def ray(a1,a2): 43 | #print "a1=", a1*180/pi 44 | #print "a2=", a2*180/pi 45 | 46 | # Normal to X plane 47 | plane1 = [+cos(a1), 0, -sin(a1)] 48 | # Normal to Y plane 49 | plane2 = [0, +cos(a2), +sin(a2)] 50 | 51 | # Cross the two planes to get the ray vector 52 | return unitv(cross(plane2,plane1)) 53 | 54 | def tick2angle(a): 55 | return pi * (a / 48.0 - 4000) / 8333 56 | 57 | 58 | # The default sensor array is 22mm square 59 | # This fits easily on a breadboard. 60 | 61 | pos = [ 62 | [+11,-11,0], 63 | [-11,-11,0], 64 | [-11,+11,0], 65 | [+11,+11,0], 66 | ] 67 | 68 | # Compute the distances between each of the sensors 69 | r01 = N(len(vecsub(pos[0],pos[1]))) 70 | r02 = N(len(vecsub(pos[0],pos[2]))) 71 | r03 = N(len(vecsub(pos[0],pos[3]))) 72 | r12 = N(len(vecsub(pos[1],pos[2]))) 73 | r13 = N(len(vecsub(pos[1],pos[3]))) 74 | r23 = N(len(vecsub(pos[2],pos[3]))) 75 | 76 | 77 | # Translate them into angles, compute each ray vector for each sensor 78 | # and then compute the angles between them 79 | def lighthouse_pos(samples,id): 80 | v0 = ray(tick2angle(samples[0][id*2]), tick2angle(samples[0][id*2+1])) 81 | v1 = ray(tick2angle(samples[1][id*2]), tick2angle(samples[1][id*2+1])) 82 | v2 = ray(tick2angle(samples[2][id*2]), tick2angle(samples[2][id*2+1])) 83 | v3 = ray(tick2angle(samples[3][id*2]), tick2angle(samples[3][id*2+1])) 84 | 85 | v01 = dot(v0,v1) 86 | v02 = dot(v0,v2) 87 | v03 = dot(v0,v3) 88 | v12 = dot(v1,v2) 89 | v13 = dot(v1,v3) 90 | v23 = dot(v2,v3) 91 | 92 | #print "v0=", v0 93 | #print "v1=", v1 94 | #print "v2=", v2 95 | #print "v3=", v3 96 | print "v01=", acos(v01) * 180/pi, " deg" 97 | print "v02=", acos(v02) * 180/pi, " deg" 98 | print "v03=", acos(v03) * 180/pi, " deg" 99 | print "v12=", acos(v12) * 180/pi, " deg" 100 | print "v13=", acos(v13) * 180/pi, " deg" 101 | print "v23=", acos(v23) * 180/pi, " deg" 102 | 103 | k0, k1, k2, k3 = symbols('k0, k1, k2, k3') 104 | 105 | sol = nsolve(( 106 | k0**2 + k1**2 - 2*k0*k1*v01 - r01**2, 107 | k0**2 + k2**2 - 2*k0*k2*v02 - r02**2, 108 | k0**2 + k3**2 - 2*k0*k3*v03 - r03**2, 109 | k2**2 + k1**2 - 2*k2*k1*v12 - r12**2, 110 | k3**2 + k1**2 - 2*k3*k1*v13 - r13**2, 111 | k2**2 + k3**2 - 2*k2*k3*v23 - r23**2, 112 | ), 113 | (k0, k1, k2, k3), 114 | (1000,1000,1000,1000), 115 | verify=False # ignore tolerance of solution 116 | ) 117 | 118 | #print sol 119 | 120 | p0 = vecmul(v0,sol[0]) 121 | p1 = vecmul(v1,sol[1]) 122 | p2 = vecmul(v2,sol[2]) 123 | p3 = vecmul(v3,sol[3]) 124 | 125 | print "p0=", p0 126 | print "p1=", p1 127 | print "p2=", p2 128 | print "p3=", p3 129 | 130 | # compute our own estimate of the error 131 | print "err01=", len(vecsub(p0,p1)) - r01, " mm" 132 | print "err02=", len(vecsub(p0,p2)) - r02, " mm" 133 | print "err03=", len(vecsub(p0,p3)) - r03, " mm" 134 | print "err12=", len(vecsub(p1,p2)) - r12, " mm" 135 | print "err13=", len(vecsub(p1,p3)) - r13, " mm" 136 | print "err23=", len(vecsub(p2,p3)) - r23, " mm" 137 | 138 | 139 | # 140 | # The four parameter sets as input are the raw tick measurements 141 | # in 48 MHz system clock values. 142 | # 143 | 144 | # Accumulate lots of samples for each sensor while they 145 | # are stationary at the origin (0,0,0) and compute 146 | # the average of them so that we have a better measurement. 147 | # 148 | # If we have a good view this should be just a few seconds. 149 | total_count = 0 150 | count = [0,0,0,0] 151 | samples = [ 152 | [0,0,0,0], 153 | [0,0,0,0], 154 | [0,0,0,0], 155 | [0,0,0,0], 156 | ] 157 | 158 | # Throw away any old serial data 159 | for n in range(0,200): 160 | line = stdin.readline() 161 | 162 | 163 | for n in range(0,200): 164 | line = stdin.readline() 165 | cols = line.split(",", 6) 166 | print cols 167 | i = int(cols[0]) 168 | if i < 0 or i > 3: 169 | print "parse error" 170 | continue 171 | 172 | total_count += 1 173 | count[i] += 1 174 | samples[i][0] += int(cols[1]) 175 | samples[i][1] += int(cols[2]) 176 | samples[i][2] += int(cols[3]) 177 | samples[i][3] += int(cols[4]) 178 | 179 | # Check that we have enough of each 180 | # at least 10% of the samples must be from this one 181 | fail = False 182 | print count 183 | for i in range(0,4): 184 | if count[i] < total_count / 10: 185 | print str(i) + ": too few samples" 186 | exit(-1) 187 | samples[i][0] /= count[i] 188 | samples[i][1] /= count[i] 189 | samples[i][2] /= count[i] 190 | samples[i][3] /= count[i] 191 | 192 | print samples 193 | 194 | lighthouse_pos(samples, 0) 195 | lighthouse_pos(samples, 1) 196 | --------------------------------------------------------------------------------