diff options
Diffstat (limited to 'ezdop/src/host/hunter')
| -rw-r--r-- | ezdop/src/host/hunter/config/hunter_wx.m4 | 4 | ||||
| -rw-r--r-- | ezdop/src/host/hunter/configure.ac | 2 | ||||
| -rw-r--r-- | ezdop/src/host/hunter/src/Makefile.am | 16 | ||||
| -rw-r--r-- | ezdop/src/host/hunter/src/doppler.cc | 358 | ||||
| -rw-r--r-- | ezdop/src/host/hunter/src/doppler.h | 51 | ||||
| -rw-r--r-- | ezdop/src/host/hunter/src/hunter.cc | 31 | ||||
| -rw-r--r-- | ezdop/src/host/hunter/src/search.cc | 8 | ||||
| -rw-r--r-- | ezdop/src/host/hunter/src/serial.cc | 6 |
8 files changed, 121 insertions, 355 deletions
diff --git a/ezdop/src/host/hunter/config/hunter_wx.m4 b/ezdop/src/host/hunter/config/hunter_wx.m4 index 5d6dd08e7..ffee16a59 100644 --- a/ezdop/src/host/hunter/config/hunter_wx.m4 +++ b/ezdop/src/host/hunter/config/hunter_wx.m4 @@ -4,8 +4,8 @@ AC_DEFUN([HUNTER_WX], [ AC_MSG_ERROR(["wxWidgets is required, not found, stop."]) fi - WX_FLAGS=`$WXCONFIG --cflags` - WX_LIBS=`$WXCONFIG --libs` + WX_FLAGS=`$WXCONFIG --debug --cflags` + WX_LIBS=`$WXCONFIG --debug --libs` AC_SUBST(WX_FLAGS) AC_SUBST(WX_LIBS) ]) diff --git a/ezdop/src/host/hunter/configure.ac b/ezdop/src/host/hunter/configure.ac index b6bd4cf7e..b0af6cba0 100644 --- a/ezdop/src/host/hunter/configure.ac +++ b/ezdop/src/host/hunter/configure.ac @@ -32,7 +32,7 @@ AC_CHECK_FUNCS([modf sqrt]) # Application specific checks HUNTER_WX -HUNTER_FTDI +#HUNTER_FTDI AC_CONFIG_FILES([ \ Makefile diff --git a/ezdop/src/host/hunter/src/Makefile.am b/ezdop/src/host/hunter/src/Makefile.am index d1fe5eec2..392b79eff 100644 --- a/ezdop/src/host/hunter/src/Makefile.am +++ b/ezdop/src/host/hunter/src/Makefile.am @@ -33,10 +33,18 @@ hunter_SOURCES = \ spherical.cc \ tactical.cc +# FIXME: put in config macro +EZDOP_LIBS = -L/usr/local/lib -lezdop + hunter_CXXFLAGS = $(WX_FLAGS) hunter_LDADD = \ - $(FTDI_LIBS) \ - $(WX_LIBS) + $(WX_LIBS) \ + $(EZDOP_LIBS) + +BUILT_SOURCES = \ + $(top_builddir)/src/resource.cc -resource.cc: hunter.xrc - wxrc -c -o resource.cc hunter.xrc +$(top_builddir)/src/resource.cc: hunter.xrc + wxrc -c -o $(top_builddir)/src/resource.cc $(top_srcdir)/src/hunter.xrc + +MOSTLYCLEANFILES = $(BUILT_SOURCES)
\ No newline at end of file diff --git a/ezdop/src/host/hunter/src/doppler.cc b/ezdop/src/host/hunter/src/doppler.cc index 1e7b3cf49..99b5aa616 100644 --- a/ezdop/src/host/hunter/src/doppler.cc +++ b/ezdop/src/host/hunter/src/doppler.cc @@ -25,14 +25,18 @@ #include <wx/log.h> #include <wx/frame.h> +// Boost includes +#include <boost/scoped_array.hpp> + // System level includes #include <cmath> +// TODO: read from ezdop.h #define SAMPLERATE 8000 -#define QUANTUM 0.2 // Sample period in seconds #define MAXSAMPLE 0x3FF // 12 bit ADC - #define DEFAULT_SELECTED_ROTATION_RATE 2 // 500 Hz until told otherwise + +#define QUANTUM 0.2 // Sample period in seconds #define DEFAULT_FILTER_LEVEL 20 #define NORMALIZEPHASE(x) \ @@ -80,7 +84,7 @@ ExitCode DopplerBackground::Entry() m_running = true; while (!TestDestroy()) { - if (m_doppler->Sample((int)(QUANTUM*SAMPLERATE), in_phase, quadrature, volume)) { + if (m_doppler->Sample(in_phase, quadrature, volume)) { EZDopplerUpdate update(wxEVT_DOPPLER_UPDATE, in_phase, quadrature, volume); wxPostEvent(m_dest, update); } @@ -93,209 +97,66 @@ EZDoppler::EZDoppler(wxWindow *gui) wxASSERT(gui); m_thread = NULL; - m_online = false; - m_selected_rate = DEFAULT_SELECTED_ROTATION_RATE; m_gui = gui; - m_in_phase = 0.0; - m_quadrature = 0.0; - m_alpha = 1.0/(DEFAULT_FILTER_LEVEL*200); - m_beta = 1.0-m_alpha; - m_phase = 0.0; + + m_phase = complex<float>(0.0, 0.0); + m_output = complex<float>(0.0, 0.0); + m_alpha = complex<float>(0.0, 0.0); + m_beta = complex<float>(0.0, 0.0); + m_offset = 0.0; + m_angle = 0.0; for(int i = 0; i < NUM_RATES; i++) m_calibration[i] = 0.0; -#if HAVE_LIBFTDI - m_device = new struct ftdi_context; - wxASSERT(m_device); - if (ftdi_init(m_device)) { - wxLogWarning(_T("ftdi_init: %s"), m_device->error_str); - return; - } -#endif - + m_ezdop = ezdop_sptr(new ezdop()); + m_selected_rate = DEFAULT_SELECTED_ROTATION_RATE; } EZDoppler::~EZDoppler() { - if (m_online) { + if (m_ezdop->is_online()) { wxLogMessage(_T("EZDoppler::~EZDoppler(): doppler still online in destructor, finalizing")); Finalize(); } -#if HAVE_LIBFTDI - wxASSERT(m_device); - ftdi_deinit(m_device); - delete m_device; -#endif } bool EZDoppler::Initialize() { - m_online = false; - -#if HAVE_LIBFTDI - if (ftdi_usb_open(m_device, EZDOP_VENDORID, EZDOP_PRODUCTID)) { - wxLogDebug(_T("ftdi_usb_open: %s"), m_device->error_str); - return false; - } -#elif HAVE_LIBFTD2XX - if ((m_status = FT_Open(0, &m_handle)) != FT_OK) { - wxLogError(_T("FT_Open failed: %i"), m_status); - return false; - } -#endif - - m_online = true; - if (m_online) + m_ezdop->init(); + if (m_ezdop->is_online()) Reset(); - return m_online; - } + return m_ezdop->is_online(); +} bool EZDoppler::Finalize() { - if (!m_online) - return true; - if (m_thread && m_thread->IsRunning()) { wxLogDebug(_T("EZDoppler::Finalize: finalizing a running doppler")); Stop(); } - -#if HAVE_LIBFTDI - if (ftdi_usb_close(m_device)) { - wxLogWarning(_T("ftdi_usb_close: %s"), m_device->error_str); - return false; - } -#elif HAVE_LIBFTD2XX - if ((m_status = FT_Close(m_handle)) != FT_OK) { - wxLogWarning(_T("FT_Close failed: %i"), m_status); - return false; - } -#endif - - m_online = false; - return true; } bool EZDoppler::IsOnline() { - return m_online; -} - -bool EZDoppler::send_byte(unsigned char data) -{ - wxASSERT(m_online); -#if HAVE_LIBFTDI - if (ftdi_write_data(m_device, &data, 1) != 1) { - wxLogWarning(_T("ftdi_write_data: %s"), m_device->error_str); - return false; - } -#elif HAVE_LIBFTD2XX - DWORD written; - if ((m_status = FT_Write(m_handle, &data, 1, &written)) != FT_OK || written != 1) { - wxLogError(_T("FT_Write failed: %i"), m_status); - return false; - } -#endif - return true; + return m_ezdop->is_online(); } bool EZDoppler::Reset() { - wxASSERT(m_online); - if (m_thread && m_thread->IsRunning()) { wxLogDebug(_T("EZDoppler::Reset: resetting running doppler")); Stop(); } - - // Reset FTDI chipset -#if HAVE_LIBFTDI - if (ftdi_usb_reset(m_device)) { - wxLogWarning(_T("ftdi_usb_reset: %s"), m_device->error_str); - return false; - } -#elif HAVE_LIBFTD2XX - if ((m_status = FT_ResetDevice(m_handle) != FT_OK)) { - wxLogError(_T("FT_ResetDevice failed: %i"), m_status); - return false; - } -#endif - - // Set FTDI chipset baudrate for bitbang -#if HAVE_LIBFTDI - if (ftdi_set_baudrate(m_device, EZDOP_BAUDRATE)) { - wxLogWarning(_T("ftdi_set_baudrate: %s"), m_device->error_str); - return false; - } -#elif HAVE_LIBFTD2XX - if ((m_status = FT_SetBaudRate(m_handle, EZDOP_BAUDRATE)) != FT_OK) { - wxLogError(_T("FT_SetBaudRate failed: %i"), m_status); - return false; - } -#endif - - // Toggle DTR (-->AVR RESET) -#if HAVE_LIBFTDI - // Enable bitbang - if (ftdi_enable_bitbang(m_device, EZDOP_BBDIR)) { - wxLogWarning(_T("ftdi_enable_bitbang: %s"), m_device->error_str); - return false; - } - - // Lower DTR by writing 0 to bitbang output - if (!send_byte(0x00)) // HMMM: this actually lowers all outputs, of course - return false; -#elif HAVE_LIBFTD2XX - // Set DTR line (goes low) to reset AVR and delay - if ((m_status = FT_SetDtr(m_handle)) != FT_OK) { - wxLogError(_T("FT_SetDtr failed: %i"), m_status); - return false; - } -#endif - - // 10 ms sleep with RESET low - wxMilliSleep(10); - -#if HAVE_LIBFTDI - // Now raise DTR by writing 1 to bitbang output - if (!send_byte(0xFF)) - return false; - - if (ftdi_disable_bitbang(m_device)) { - wxLogWarning(_T("ftdi_disable_bitbang: %s"), m_device->error_str); - return false; - } - - // Minimum chunk size for reads to reduce latency - if (ftdi_read_data_set_chunksize(m_device, 256)) { - wxLogWarning(_T("ftdi_read_data_set_chunksize: %s"), m_device->error_str); - return false; - } -#elif HAVE_LIBFTD2XX - if ((m_status = FT_ClrDtr(m_handle)) != FT_OK) { - wxLogError(_T("FT_ClrDtr failed: %i"), m_status); - return false; - } -#endif - - // 100 ms after RESET cleared to let things warm up - wxMilliSleep(100); - - m_selected_rate = DEFAULT_SELECTED_ROTATION_RATE; - - return true; + return m_ezdop->reset(); } bool EZDoppler::Start() { - wxASSERT(m_online); - // TODO: flush stream data - - if (!send_byte(EZDOP_CMD_ROTATE) || !send_byte(EZDOP_CMD_STREAM)) + if (!(m_ezdop->rotate() && m_ezdop->stream())) return false; m_thread = new DopplerBackground(m_gui, this); @@ -304,9 +165,6 @@ bool EZDoppler::Start() bool EZDoppler::Stop() { - wxASSERT(m_online); - // TODO: flush stream data - if (m_thread && m_thread->IsRunning()) { m_thread->Delete(); while (m_thread->IsRunning()) { @@ -315,172 +173,85 @@ bool EZDoppler::Stop() } m_thread = NULL; - return (send_byte(EZDOP_CMD_STROFF) && send_byte(EZDOP_CMD_STOP)); + return (m_ezdop->stop_streaming() && m_ezdop->stop_rotating()); } bool EZDoppler::SelectRotationRate(int n) { - wxASSERT(m_online); wxASSERT(n >= 0 && n < 6); - - unsigned char rate = rotation_rates[n]; - if (send_byte(EZDOP_CMD_RATE) && send_byte(rate)) { - m_selected_rate = n; - m_in_phase = 0.0; - m_quadrature = 0.0; - return true; - } - - return false; + wxLogDebug(_T("EZDoppler::SelectRotationRate: %i %i"), n, (int)(2000/rotation_rates[n])); + m_selected_rate = n; + return m_ezdop->set_rate(2000/rotation_rates[n]); } -int EZDoppler::GetSelectedRotationRate() +int EZDoppler::GetRotationRate() { return m_selected_rate; } -bool EZDoppler::Zero() -{ - return true; -} - bool EZDoppler::SetFilter(int n) { - wxASSERT(n > 0); - m_alpha = 1.0/(n*200); // Time constant is filter value divided by 5 (empirically determined) - m_beta = 1.0-m_alpha; + float beta = 30.0/(n*m_ezdop->rate()); // Empirically determined + + m_alpha = complex<float>(1.0-beta, 0.0); + m_beta = complex<float>(beta, 0.0); + return true; } -bool EZDoppler::Sample(int nsamples, float &in_phase, float &quadrature, float &volume) +typedef boost::scoped_array<complex<float> > complexf_scoped_array; + +// IQ is 2 complex floats, maximum rate is 2000, QUANTUM is period in seconds +complex<float> buffer[(int)(2*QUANTUM*2000)]; + +bool EZDoppler::Sample(float &in_phase, float &quadrature, float &volume) { - unsigned short *audio = new unsigned short[nsamples*2]; - unsigned char *antenna = new unsigned char[nsamples]; - - unsigned int rd; - unsigned int count = 0; - - // Read samples from USB port, 2 bytes per sample - while (count < nsamples*2) { - unsigned int amt = nsamples*2-count; - unsigned char *ptr = (unsigned char *)&audio[count/2]; // if count is odd, causes frame slip? - if ((count/2)*2 != count) - wxLogDebug(_T("EZDoppler::Sample: count is odd (%i)"), count); -#if HAVE_LIBFTDI - rd = ftdi_read_data(m_device, ptr, amt); - if (rd < 0) { - wxLogWarning(_T("ftdi_read_data: %s"), m_device->error_str); - return false; // FIXME: memory leak for antenna and audio! - } - count += rd; -#elif HAVE_LIBFTD2XX - DWORD num; - FT_STATUS status = FT_Read(m_handle, ptr, amt, &num); - if (status != FT_OK) { - wxLogWarning(_T("FT_Read: %i"), status); - return false; // FIXME: memory leak for antenna and audio! - } - count += num; -#endif - } - - // Extract antenna array position from samples, flag unsynced if not a valid antenna value - bool sync = true; - for (int i = 0; i < nsamples; i++) { - unsigned char ant = (audio[i] & 0xF000) >> 12; - if (ant != 8 && ant != 4 && ant != 2 && ant != 1) - sync = false; - antenna[i] = ant; - audio[i] &= 0x03FF; - } - - // If not synced, throw away a byte in receive stream to resync - unsigned char dummy; - if (!sync) { - wxLogDebug(_T("EZDoppler::Sample: sync failure detected")); -#if HAVE_LIBFTDI - ftdi_read_data(m_device, &dummy, 1); -#elif HAVE_LIBFTD2XX - DWORD rd; - FT_Read(m_handle, &dummy, 1, &rd); -#endif - return false; // FIXME: memory leak for antenna and audio! - } + int nsamples = (int)(m_ezdop->rate()*QUANTUM); - // Calculate DC offset and max and min values - float sum = 0.0; - float mean = 0.0; - for (int i = 0; i < nsamples; i++) - sum += audio[i]; - mean = sum/nsamples; - - // Calculate doppler response - unsigned char ant; - float sample; - volume = 0.0; - for (int i = 0; i < nsamples; i++) { - ant = antenna[i]; - - // Subtract DC offset and scale to -1 to 1 - sample = 2*(((float)audio[i])-mean)/MAXSAMPLE; - - // Calculate peak volume - if (fabs(sample) > volume) - volume = fabs(sample); - - // Integrate and lowpass filter sample into I/Q based on which antenna is selected - // Order here creates a clockwise rotating I/Q phasor - switch(ant) { - case 8: - m_in_phase = m_in_phase*m_beta + sample*m_alpha; - break; - case 4: - m_quadrature = m_quadrature*m_beta - sample*m_alpha; - break; - case 2: - m_in_phase = m_in_phase*m_beta - sample*m_alpha; - break; - case 1: - m_quadrature = m_quadrature*m_beta + sample*m_alpha; - break; - default: - wxLogError(_T("EZDoppler::Sample: Unknown antenna value %i"), ant); - break; - } - } + if (!m_ezdop->read_iq(buffer, nsamples, volume)) + return false; + + for (int i=0; i < nsamples; i++) + m_phase = m_alpha*m_phase + m_beta*buffer[i]; - // m_phase is the actual instrument reading regardless of calibration - m_phase = atan2(m_quadrature, m_in_phase); + // m_angle is the actual instrument reading regardless of calibration + m_angle = atan2(m_phase.imag(), m_phase.real()); // Calibration angle is sum of equalized offset and global offset - float cal = m_calibration[m_selected_rate] + m_offset; + float cal_angle = m_calibration[m_selected_rate] + m_offset; // Rotate I, Q by calibration angle - float i_cal = cos(cal); - float q_cal = sin(cal); - in_phase = m_in_phase*i_cal - m_quadrature*q_cal; - quadrature = m_quadrature*i_cal + m_in_phase*q_cal; + complex<float> cal = complex<float>(cos(cal_angle), sin(cal_angle)); + m_output = m_phase*cal; - delete antenna; - delete audio; + in_phase = m_output.real()*nsamples/512.0; + quadrature = m_output.imag()*nsamples/512.0; + // adjust volume + +// wxLogDebug(_T("%f %f %f"), in_phase, quadrature, volume); return true; } bool EZDoppler::Calibrate(float phase) { - float offset = phase - m_phase; + + float offset = phase - m_angle; NORMALIZEPHASE(offset); m_calibration[m_selected_rate] = offset; + return true; } bool EZDoppler::SetCalibration(int rate, float offset) { + wxASSERT(rate >= 0 && rate < 7); if (rate < 6) m_calibration[rate] = offset; else m_offset = offset; + + return true; } float EZDoppler::GetCalibration(int rate) @@ -490,11 +261,13 @@ float EZDoppler::GetCalibration(int rate) return m_calibration[rate]; else return m_offset; + + return 0.0; } bool EZDoppler::SetOffset(float offset) { - m_offset = offset-m_phase-m_calibration[m_selected_rate]; + m_offset = offset-m_angle-m_calibration[m_selected_rate]; NORMALIZEPHASE(m_offset); NORMALIZEPHASE(m_offset); NORMALIZEPHASE(m_offset); @@ -506,6 +279,7 @@ bool EZDoppler::Nudge(float amount) cal += amount; NORMALIZEPHASE(cal); m_calibration[m_selected_rate] = cal; + return true; } diff --git a/ezdop/src/host/hunter/src/doppler.h b/ezdop/src/host/hunter/src/doppler.h index 1471de6a4..cf3d96da3 100644 --- a/ezdop/src/host/hunter/src/doppler.h +++ b/ezdop/src/host/hunter/src/doppler.h @@ -24,19 +24,13 @@ #include "config.h" #endif -// USB access library -#if HAVE_LIBFTDI - #include <ftdi.h> -#elif HAVE_LIBFTD2XX - #if __WIN32__ - #include <windows.h> - #endif - #include <FTD2XX.H> -#endif - +// Application level includes +#include <ezdop.h> +#include <boost/shared_ptr.hpp> #include <wx/event.h> -#define NUM_RATES 6 +// TODO: Read this from ezdop.h +#define NUM_RATES 6 class EZDoppler; @@ -76,6 +70,8 @@ typedef void(wxEvtHandler::*EZDopplerUpdateFunction)(EZDopplerUpdate&); (wxObject *)NULL \ ), +typedef boost::shared_ptr<ezdop> ezdop_sptr; + class EZDoppler { public: @@ -88,12 +84,11 @@ public: bool IsOnline(); bool Start(); bool Stop(); - bool Zero(); bool SetFilter(int n); bool SelectRotationRate(int n); - int GetSelectedRotationRate(); + int GetRotationRate(); bool Reset(); - bool Sample(int nsamples, float &in_phase, float &quadrature, float &volume); + bool Sample(float &in_phase, float &quadrature, float &volume); bool Calibrate(float phase); bool SetCalibration(int rate, float offset); float GetCalibration(int rate); @@ -102,28 +97,18 @@ public: bool NudgeAll(float amount); private: - // USB interaction -#if HAVE_LIBFTDI - struct ftdi_context *m_device; // libftdi device instance data -#elif HAVE_LIBFTD2XX - FT_HANDLE m_handle; // FTD2XX device instance data - FT_STATUS m_status; // FTD2XX device function call results -#endif - bool send_byte(unsigned char data); - - // Doppler control - bool m_online; - int m_selected_rate; + ezdop_sptr m_ezdop; + int m_selected_rate; wxWindow *m_gui; DopplerBackground *m_thread; - // DSP state - float m_in_phase; // Filtered I value - float m_quadrature; // Filtered Q value - float m_alpha; // Exponential lowpass constant - float m_beta; // Exponential lowpass constant = 1-alpha - float m_phase; // Actual phase of doppler before calibration - float m_offset; // Global calibration angle + complex<float> m_phase; // Actual phase of doppler before calibration + complex<float> m_output; // Calibrated output phase + complex<float> m_alpha; // Exponential average constant + complex<float> m_beta; // Exponential average constant + + float m_angle; // Actual angle of doppler before calibration + float m_offset; // Global calibration angle float m_calibration[NUM_RATES]; // Individual rotation rate offset }; diff --git a/ezdop/src/host/hunter/src/hunter.cc b/ezdop/src/host/hunter/src/hunter.cc index 39b8325c8..0aabfe29e 100644 --- a/ezdop/src/host/hunter/src/hunter.cc +++ b/ezdop/src/host/hunter/src/hunter.cc @@ -513,19 +513,6 @@ void HunterFrame::OnDopplerUpdate(EZDopplerUpdate &event) m_sample.Phase(atan2(event.m_quadrature, event.m_in_phase)); UpdateDopplerStatus(true); - - if (m_log && m_gps_started && m_capture && - m_sample.Speed() >= 5.0 && m_sample.Valid()) { - m_log->Add(m_sample); - if (m_one_shot == true) { - StopCapture(); - CalcSolution(); - if (m_search.HasSolution()) { - UpdateSearchStatus(true); - UpdateSearchDirection(true); - } - } - } } void HunterFrame::UpdateDopplerStatus(bool display) @@ -606,7 +593,7 @@ void HunterFrame::DoCalibrationStep(int which) static int delay; if (which == 0) { // Set up doppler - delay = XRCCTRL(*this, "doppler_filter_slider", wxSlider)->GetValue()/3; // Empirically determined + delay = XRCCTRL(*this, "doppler_filter_slider", wxSlider)->GetValue(); // Empirically determined if (delay == 0) delay = 1; } @@ -699,12 +686,20 @@ void HunterFrame::OnGPSUpdate(GPSUpdate &update) UpdateGPSValidity(update.m_gprmc->m_valid); // Colors red for invalid, black for valid UpdateGPSStatus(true); // gps lat, lon, heading, speed UpdateKnownDirection(); // actual bearing and range - CalcKnownStatistics(); - if (m_capture) + + if (m_log && m_capture && m_doppler_started && + m_sample.Speed() >= 5.0 && m_sample.Valid()) { + m_log->Add(m_sample); CalcSolution(); - if (m_search.HasSolution()) + if (m_one_shot == true) + StopCapture(); + } + + if (m_search.HasSolution()) { + UpdateSearchStatus(true); UpdateSearchDirection(true); + } delete update.m_gprmc; } @@ -747,7 +742,7 @@ void HunterFrame::UpdateSearchStatus(bool display) str.Printf(_T("%i"), m_log->Count()); XRCCTRL(*this, "search_count_text", wxStaticText)->SetLabel(str); - str.Printf(_T("%s"), m_search.Busy() ? "BUSY" : ""); + str.Printf(_T("%s"), m_search.Busy() ? _T("BUSY") : _T("")); XRCCTRL(*this, "search_status_text", wxStaticText)->SetLabel(str); str.Printf(_T("%i"), m_search.Mode()); diff --git a/ezdop/src/host/hunter/src/search.cc b/ezdop/src/host/hunter/src/search.cc index 9992cb896..d15a406b6 100644 --- a/ezdop/src/host/hunter/src/search.cc +++ b/ezdop/src/host/hunter/src/search.cc @@ -197,10 +197,12 @@ float TransmitterSearch::calc_trial_error(const vector<Sample>&samples, sample.CalcError(trial, angle, ierror, qerror); // Wrapped cauchy distribution - float p = m_scale; - float likelihood = (1-p*p)/(1+p*p-2*p*cos(angle*M_PI/180.0)); + //float p = m_scale; + //float likelihood = (1-p*p)/(1+p*p-2*p*cos(angle*M_PI/180.0)); + //trial_error += -log(likelihood)*sample.Strength(); - trial_error += -log(likelihood)*sample.Strength(); + // Adjusted exponential distribution + trial_error += sqrt(1+angle*angle)*sample.Strength(); wsum += sample.Strength(); } diff --git a/ezdop/src/host/hunter/src/serial.cc b/ezdop/src/host/hunter/src/serial.cc index 5ace5aac1..67325d3b4 100644 --- a/ezdop/src/host/hunter/src/serial.cc +++ b/ezdop/src/host/hunter/src/serial.cc @@ -19,6 +19,7 @@ #include "serial.h" #include <wx/log.h> +#include <errno.h> #ifdef __WIN32__ // I hate Windows. @@ -122,9 +123,10 @@ bool SerialPort::Open(int speed) m_opened = true; #else - m_fd = open((char *)m_port.c_str(), O_RDWR|O_NONBLOCK); + // Fixed at first USB port until string bug fixed + m_fd = open("/dev/ttyUSB0", O_RDWR|O_NONBLOCK); if (m_fd < 0) { - wxLogError(_T("SerialPort::Open: open() returned %i"), m_fd); + wxLogError(_T("SerialPort::Open: open(): %i"), errno); return false; } |