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aotag: calculate (hopefully) correct coeffs

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souldbminersmwc
2026-05-03 15:44:31 -04:00
parent 72f5e11c42
commit bf6bfa3e57
1 changed files with 21 additions and 6 deletions
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27
Source/hoc-clk/sysmodule/src/aotag.cpp
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@@ -81,15 +81,31 @@ namespace aotag {
.tsample_ate = 39, .tsample_ate = 39,
}; };
// These coeffs are likely NOT accurate. Probably need to dump them from L4T? /*
Calculate AOTAG coeffs:
offset_C = 5000
halfA = low millis * 2 - offset_C * 2
halfB = high millis * 2 - offset_C * 2
count_A = (aotag_half_A + |thermb|) × 8192 / therma
count_B = (aotag_half_B + |thermb|) × 8192 / therma
therma_target = (soctherm_half_B - soctherm_half_A) × 8192 / (count_B - count_A)
thermb_target = (soctherm_half_A - D×2) - therma_target × count_A / 8192
alpha = therma_target x 1,000,000 / therma_raw
beta = thermb_target x 1,000,000 - thermb_raw × alpha
*/
static const struct FuseCorrCoeff tegra_aotag_coeff = { static const struct FuseCorrCoeff tegra_aotag_coeff = {
.alpha = 4496200, .alpha = 1290000,
.beta = -4496200, .beta = 40500000,
}; };
static const struct FuseCorrCoeff tegra210b01_aotag_coeff = { static const struct FuseCorrCoeff tegra210b01_aotag_coeff = {
.alpha = 4496200, .alpha = 1290000,
.beta = -4496200, .beta = 40500000,
}; };
struct aotag_sensor_info_t { struct aotag_sensor_info_t {
@@ -219,7 +235,6 @@ namespace aotag {
thermb = div64_s64_precise(temp, CALIB_COEFFICIENT); thermb = div64_s64_precise(temp, CALIB_COEFFICIENT);
calib = ((u16)therma << SENSOR_CONFIG2_THERMA_SHIFT) | ((u16)thermb << SENSOR_CONFIG2_THERMB_SHIFT); calib = ((u16)therma << SENSOR_CONFIG2_THERMA_SHIFT) | ((u16)thermb << SENSOR_CONFIG2_THERMB_SHIFT);
*calibration = calib; *calibration = calib;
} }