A routine to automatically refine latency offsets of LED blink times using constellation samples. More...

#include "util/u_time.h"
#include "util/u_logging.h"
#include "os/os_threading.h"
#include "tracking/t_time_sync.h"
#include "tracking/t_constellation.h"

Include dependency graph for t_led_sync_refinement.h:

Go to the source code of this file.

Data Structures
struct	t_led_sync_refinement_options
	Options for the LED sync refinement. More...

struct	t_led_sync_sample
	A sample read out from the driver, to pass to the device in question. More...

struct	t_led_sync_refinement

Macros
#define	T_LED_SYNC_DEFAULT_RESYNC_TIME (time_duration_ns)(U_TIME_1S_IN_NS * 5LL)
	10 seconds after last visually seen sample to resync

Enumerations
enum	t_led_sync_refinement_flags { T_LED_SYNC_REFINEMENT_FLAGS_NONE = 0 , T_LED_SYNC_REFINEMENT_FLAGS_BLINK_DURATION = 1 << 0 }
	Flags to control the behavior of the LED sync refinement routine. More...

enum	t_led_sync_phase { T_LED_SYNC_SEARCH_PHASE_INIT = 0 , T_LED_SYNC_SEARCH_PHASE_FIND_INITIAL_OFFSET = 1 , T_LED_SYNC_SEARCH_PHASE_FIND_RIGHT_EDGE = 2 , T_LED_SYNC_SEARCH_PHASE_FIND_LEFT_EDGE = 3 , T_LED_SYNC_SEARCH_PHASE_REFINE_BLINK_DURATION = 4 , T_LED_SYNC_SEARCH_PHASE_MAINTAIN_OFFSET = 5 }

Functions
int	t_led_sync_refinement_init (struct t_led_sync_refinement refinement, const struct t_led_sync_refinement_options options)

void	t_led_sync_refinement_destroy (struct t_led_sync_refinement *refinement)

void	t_led_sync_push_timing_event (struct t_led_sync_refinement refinement, const struct t_timing_event_camera_exposure_start event)

void	t_led_sync_push_constellation_sample (struct t_led_sync_refinement refinement, const struct t_constellation_tracker_sample sample)

bool	t_led_sync_get_sample (struct t_led_sync_refinement refinement, struct t_led_sync_sample out_sample)

void	t_led_sync_mark_latest_sample_applied (struct t_led_sync_refinement *refinement, timepoint_ns apply_time_ns)

void	t_led_sync_update_minimum_blink_time (struct t_led_sync_refinement *refinement, time_duration_ns new_minimum_ns)

Detailed Description

A routine to automatically refine latency offsets of LED blink times using constellation samples.

Author: Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Macro Definition Documentation

◆ T_LED_SYNC_DEFAULT_RESYNC_TIME

#define T_LED_SYNC_DEFAULT_RESYNC_TIME (time_duration_ns)(U_TIME_1S_IN_NS * 5LL)

10 seconds after last visually seen sample to resync

Enumeration Type Documentation

◆ t_led_sync_phase

enum t_led_sync_phase

Enumerator
T_LED_SYNC_SEARCH_PHASE_INIT	The initial phase, where we haven't made any adjustments yet.
T_LED_SYNC_SEARCH_PHASE_FIND_INITIAL_OFFSET	Trying to find some offset that gets us in sync at all.
T_LED_SYNC_SEARCH_PHASE_FIND_RIGHT_EDGE	Trying to align the rising edge of the LED blinks with the falling edge of the camera exposure.
T_LED_SYNC_SEARCH_PHASE_FIND_LEFT_EDGE	Trying to align the falling edge of the LED blinks with the rising edge of the camera exposure.
T_LED_SYNC_SEARCH_PHASE_REFINE_BLINK_DURATION	We've found an offset, now we can optimize the blink duration to something that keeps it tracking.
T_LED_SYNC_SEARCH_PHASE_MAINTAIN_OFFSET	We've found an offset and optimized the center of the LED blink to the center of the exposure.

◆ t_led_sync_refinement_flags

enum t_led_sync_refinement_flags

Flags to control the behavior of the LED sync refinement routine.

Enumerator
T_LED_SYNC_REFINEMENT_FLAGS_BLINK_DURATION	Whether to try to optimize the blink duration after finding an offset, to lessen power usage.

Data Structures

Macros