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+/* formula.h */
+/* Beacon triangulation algorithms. {{{
+ *
+ * Copyright (C) 2011 Florent Duchon
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#ifndef _FORMULA_H
+#define _FORMULA_H
+
+/* Formula calibration */
+#define LARGEUR_TABLE 2000
+#define LONGUEUR_TABLE 3000
+#define LARGEUR_DEMI_TABLE LARGEUR_TABLE/2
+
+#define BLIND_ZONE_PRECISION 0.18 //10 degrees
+// #define BLIND_ZONE_PRECISION 0.18/2 //5 degrees
+#define BLIND_ZONE_BEACON1_ANGLE12_MAX 0 + BLIND_ZONE_PRECISION//10 degrees
+#define BLIND_ZONE_BEACON1_ANGLE13_MIN 1.25856505285 - BLIND_ZONE_PRECISION //72 degrees
+#define BLIND_ZONE_BEACON1_ANGLE13_MAX 1.25856505285 + BLIND_ZONE_PRECISION //72 degrees
+
+#define BLIND_ZONE_BEACON2_ANGLE12_MAX 0 + BLIND_ZONE_PRECISION //10 degrees
+#define BLIND_ZONE_BEACON2_ANGLE23_MIN 1.25856505285 - BLIND_ZONE_PRECISION//72 degrees
+#define BLIND_ZONE_BEACON2_ANGLE23_MAX 1.25856505285 + BLIND_ZONE_PRECISION //72 degrees
+
+#define BLIND_ZONE_BEACON3_ANGLE13_MIN 1.24765037811 - BLIND_ZONE_PRECISION //70 degrees
+#define BLIND_ZONE_BEACON3_ANGLE13_MAX 1.24765037811 + BLIND_ZONE_PRECISION//70 degrees
+#define BLIND_ZONE_BEACON3_ANGLE23_MIN 1.24765037811 - BLIND_ZONE_PRECISION//70 degrees
+#define BLIND_ZONE_BEACON3_ANGLE23_MAX 1.24765037811 + BLIND_ZONE_PRECISION//70 degrees
+
+
+/* Status return */
+typedef enum
+{
+ FORMULA_VALID_POSITION,
+ FORMULA_BLIND_ZONE_DETECTED,
+ FORMULA_OUT_OF_TABLE,
+ FORMULA_UNKNOWN_FORMULA
+} TFormulaStatus;
+
+
+/* This function computes an absolute position using 2 angles from 2 beacons */
+TFormulaStatus formula_compute_position(int formula, int current_beacon_ID, float latest_angle, float current_angle, coord_s * result);
+
+/* This function computes coords using formula 3 mode ie for beacon 1 + 2*/
+TFormulaStatus formula3_compute_coord(coord_s * position, float angle_beacon1, float angle_beacon2);
+
+/* This function computes coords using formula 4 mode ie for beacon 1 + 3*/
+TFormulaStatus formula4_compute_coord(coord_s * position, float angle_beacon1, float angle_beacon3);
+
+/* This function computes coords using formula 5 mode ie for beacon 2 + 3*/
+TFormulaStatus formula5_compute_coord(coord_s * position, float angle_beacon2, float angle_beacon3);
+
+#endif