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Factor out detection + display loop

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Refactor code that does not depend on y.

Essentially, the following logic:

Recall that some loops are folds, some are maps.

Maps look at only elements with one index. The important property of maps
is that map(f . g) = map(f) . map(g) - parts of the loop body can be split
into separate loops. Another property of maps is that if map(f) does not
depend on the output of map(g), then map(f) . map(g) = map(g) . map(f) -
the loops can be reordered.
This commit is contained in:
Sassa NF
2024-09-21 16:36:21 +01:00
parent 05bad0a3b8
commit c5ac3896fb
5 changed files with 197 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main.cpp
+52 -96
View File
@@ -144,8 +144,6 @@ bool ANIMATED_RELOAD = false;
#define UP_FILTER 5
// Trim low signals - nose level
#define START_LOW 6
// Remove reading without neighbors
#define FILTER_SPECTRUM_RESULTS true
#define FILTER_SAMPLES_MIN
constexpr bool DRAW_DETECTION_TICKS = true;
int16_t max_x_rssi[STEPS] = {999};
@@ -888,9 +886,7 @@ void loop(void)
float step = (range * ((float)x / (STEPS * SCAN_RBW_FACTOR)));
freq = fr_begin + step;
#ifdef PRINT_DEBUG
Serial.println("setFrequency:" + String(freq));
#endif
LOG("setFrequency:%f\n", freq);
#ifdef USING_SX1280PA
state = radio.setFrequency(freq); // 1280 doesn't have calibration
@@ -911,9 +907,7 @@ void loop(void)
continue;
}
#ifdef PRINT_DEBUG
Serial.printf("Step:%d Freq: %f\n", x, freq);
#endif
LOG("Step:%d Freq: %f\n", x, freq);
// SpectralScan Method
#ifdef METHOD_SPECTRAL
{
@@ -971,59 +965,21 @@ void loop(void)
display.setColor(WHITE);
}
#endif
detected = false;
detected_y[display_x] = false;
max_rssi_x = 999;
size_t detected_at = r.detect(
result, filtered_result, RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE, samples);
for (y = 0; y < RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE; y++)
if (max_rssi_x > detected_at)
{
// MAx bin Value not RSSI
max_rssi_x = detected_at;
}
#ifdef PRINT_DEBUG
Serial.print(String(y) + ":");
Serial.print(String(result[y]) + ",");
#endif
#if !defined(FILTER_SPECTRUM_RESULTS) || FILTER_SPECTRUM_RESULTS == false
if (result[y] && result[y] != 0)
{
filtered_result[y] = 1;
}
else
{
filtered_result[y] = 0;
}
#endif
detected = detected_at < RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE;
detected_y[display_x] = false;
// if samples low ~1 filter removes all values
#if FILTER_SPECTRUM_RESULTS
filtered_result[y] = 0;
// Filter Elements without neighbors
// if RSSI method actual value is -xxx dB
if (result[y] > 0 && samples > 1)
{
// do not process 'first' and 'last' row to avoid out of index
// access.
if ((y > 0) && (y < (RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE - 2)))
{
if (((result[y + 1] != 0) && (result[y + 2] != 0)) ||
(result[y - 1] != 0))
{
filtered_result[y] = 1;
// Fill empty pixel
result[y + 1] = 1;
}
else
{
#ifdef PRINT_DEBUG
Serial.print("Filtered:" + String(x) + ":" + String(y) + ",");
#endif
}
}
} // not filtering if samples == 1 because it will be filtered
else if (result[y] > 0 && samples == 1)
{
filtered_result[y] = 1;
}
for (int y = 0; y < RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE; y++)
{
// calculating max window x RSSI after filters
x_window = (int)(display_x / WINDOW_SIZE);
int abs_result = abs(result[y]);
@@ -1031,16 +987,15 @@ void loop(void)
max_x_window[x_window] > abs_result)
{
max_x_window[x_window] = abs_result;
#ifdef PRINT_DEBUG
Serial.println("MAX x window: " + String(x_window) + " " +
String(abs_result));
#endif
LOG("MAX x window: %i %i\n", x_window, abs_result);
}
}
#endif
if (detected_at <= drone_detection_level)
{
// check if we should alarm about a drone presence
if ((filtered_result[y] == 1) // we have some data and
&& (y <= drone_detection_level) &&
detected_y[display_x] == false) // detection threshold match
if (detected_y[display_x] == false) // detection threshold match
{
// Set LED to ON (filtered in UI component)
UI_setLedFlag(true);
@@ -1084,8 +1039,7 @@ void loop(void)
}
}
#if (WATERFALL_ENABLED == true)
if ((filtered_result[y] == 1) && (y <= drone_detection_level) &&
(single_page_scan) && (waterfall[display_x] != true) && new_pixel)
if ((single_page_scan) && (waterfall[display_x] != true) && new_pixel)
{
// If drone not found set dark pixel on the waterfall
// TODO: make something like scrolling up if possible
@@ -1095,44 +1049,46 @@ void loop(void)
display.setColor(WHITE);
}
#endif
// next 2 If's ... adds !!!! 10ms of runtime ......tfk ???
}
#ifdef PRINT_DEBUG
for (int y = 0; y < RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE; y++)
{
if (filtered_result[y] == 1)
{
#ifdef PRINT_DEBUG
Serial.print("Pixel:" + String(display_x) + "(" + String(x) + ")" +
":" + String(y) + ",");
#endif
if (max_rssi_x > y)
{
// MAx bin Value not RSSI
max_rssi_x = y;
}
// Set MAIN signal level pixel
if (y < MAX_POWER_LEVELS - START_LOW)
{
display.setPixel(display_x, y + START_LOW);
}
if (!detected)
{
detected = true;
}
LOG("Pixel:%i(%i):%i,", display_x, x, y);
}
}
#endif
// -------------------------------------------------------------
// Draw "Detection Level line" every 2 pixel
// -------------------------------------------------------------
if ((y == drone_detection_level) && (display_x % 2 == 0))
for (int y = 0; y < min(RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE,
MAX_POWER_LEVELS - START_LOW);
y++)
{
if (filtered_result[y] == 1)
{
// Set MAIN signal level pixel
display.setPixelColor(display_x, y + START_LOW, WHITE);
}
}
// -------------------------------------------------------------
// Draw "Detection Level line" every 2 pixel
// -------------------------------------------------------------
if (display_x % 2 == 0)
{
if (filtered_result[drone_detection_level] == 1)
{
display.setColor(INVERSE);
}
else
{
display.setColor(WHITE);
if (filtered_result[y] == 1)
{
display.setColor(INVERSE);
}
display.setPixel(display_x, y + START_LOW);
// display.setPixel(display_x, y + START_LOW - 1); // 2 px wide
display.setColor(WHITE);
}
display.setPixel(display_x, drone_detection_level + START_LOW);
// display.setPixel(display_x, y + START_LOW - 1); // 2 px wide
display.setColor(WHITE);
}
#ifdef JOYSTICK_ENABLED