Official Beacon Tracking Code Posted

[Phil Roth]

I'm trying to fully understand the code and working with the External ISRs first. It seems their sole purpose is to measure the amount of time of the active low pulse, categorize it as beacon 1 or 2, and then update Sensor_Stats[0].Beacon_Count[n] accordingly. Beacon 0 pulses every 1 MS and Beacon 2 pulses every 2 MS.


SO:
SENSOR #1
Sensor_Stats[0].Beacon_Count[0] increments a running count of pulses from beacon 1
Sensor_Stats[0].Beacon_Count[1] increments a running count of pulses from beacon 2

SENSOR #2
Sensor_Stats[1].Beacon_Count[0] increments a running count of pulses from beacon 1
Sensor_Stats[1].Beacon_Count[1] increments a running count of pulses from beacon 2

SENSOR #3
Sensor_Stats[2].Beacon_Count[0] increments a running count of pulses from beacon 1
Sensor_Stats[2].Beacon_Count[1] increments a running count of pulses from beacon 2

SENSOR #4
Sensor_Stats[3].Beacon_Count[0] increments a running count of pulses from beacon 1
Sensor_Stats[3].Beacon_Count[1] increments a running count of pulses from beacon 2


Ideally counts for beacon #1 should be incremented 26 times for beacon 1 and 13 times for beacon 2 when the Timer_1_Int_handler runs
Every 26.2MS, Timer_1_int_handler subtracts the "last" running count of pulses from the "new" running count of pulses to determine the number of pulses that occured over the last 26.2MS perion.

SO:
Sensor_Stats[0].Beacon_Quality[0] = Number of pulses that sensor #1 received from beacon 1 that occurred during the last 26.2 MS
Sensor_Stats[0].Beacon_Quality[1] = Number of pulses that sensor #1 received from beacon 2 that occurred during the last 26.2 MS

Sensor_Stats[1].Beacon_Quality[0] = Number of pulses that sensor #2 received from beacon 1 that occurred during the last 26.2 MS
Sensor_Stats[1]Beacon_Quality[1] = Number of pulses that sensor #2 received from beacon 2 that occurred during the last 26.2 MS

Sensor_Stats[2].Beacon_Quality[0] = Number of pulses that sensor #3 received from beacon 1 that occurred during the last 26.2 MS
Sensor_Stats[2].Beacon_Quality[1] = Number of pulses that sensor #3 received from beacon 2 that occurred during the last 26.2 MS

Sensor_Stats[3].Beacon_Quality[0] = Number of pulses that sensor #4 received from beacon 1 that occurred during the last 26.2 MS
Sensor_Stats[3].Beacon_Quality[1] = Number of pulses that sensor #4 received from beacon 2 that occurred during the last 26.2 MS


End result is:
The values held in the element Beacon.Quality[n] are the number of pulses from each sensor that occurr every 26.2MS where n = beacon #1 or #2. These values are updated every 26.2MS

AND

There are 4 sensors index by Sensor_Stats[n]
where n = of of 4 sensors

Ideally Beacon.Quality[n] should be contain 26 for beacon #1 and 13 for beacon #2.

Is this basically what's happenning in receiver.c ??
Sorry to be so "anal" but I like to fully understand how the code works in order to understand the entire system and move on to understanding tracker.c and then navigate.c where the rubber meets the road. All this while trying to work out out an approach to manage current and software optomization of a 4 motor drive system. I guess my weekend is shot.

-Phil