Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 625:028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
The vector implementation is mor robust against influences of roll and yaw to the pitch angle. To improve the performance the old sector based implementation has been replaced. In addition after entering focus state the roll angle is ignored.
To improve readability and due to removal of some no longer needed function codes, function names have been updated
| author | Ideenmodellierer |
|---|---|
| date | Mon, 08 Feb 2021 21:35:46 +0100 |
| parents | 6826731ff2be |
| children | 189f945ae4ba |
| rev | line source |
|---|---|
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1 /* |
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2 * motion.c |
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3 * |
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4 * Created on: 20.05.2019 |
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5 * Author: Thorsten Sonntag |
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6 */ |
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7 |
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8 #include <stdint.h> |
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9 #include <string.h> |
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10 #include <stdlib.h> |
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11 #include <math.h> |
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12 #include "motion.h" |
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13 #include "data_central.h" |
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14 #include "t7.h" |
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15 #include "t3.h" |
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16 #include "settings.h" |
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17 #include "base.h" |
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18 |
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19 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ |
| 363 | 20 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ |
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21 |
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22 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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23 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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24 #define SECTOR_MAX_CNT 5 /* max number of views used for sector control */ |
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25 |
| 551 | 26 #define MOTION_DELTA_STABLE 0 |
| 27 #define MOTION_DELTA_JITTER 1 | |
| 28 #define MOTION_DELTA_RAISE 2 | |
| 29 #define MOTION_DELTA_FALL 3 | |
| 30 | |
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31 #define MOTION_DELTA_JITTER_LEVEL 2.0 /* lower values are considered as stable */ |
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32 #define MOTION_DELTA_RAISE_LEVEL 4.0 /* Movement causing a significant change detected */ |
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33 #define MOTION_DELTA_FALL_LEVEL -4.0 /* Movement causing a significant change detected */ |
| 551 | 34 |
| 35 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 36 | |
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37 detectionState_t detectionState = DETECT_NOTHING; |
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38 SSector sectorDetection; |
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39 |
| 551 | 40 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 41 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 42 | |
| 43 static uint8_t focusCnt = 0; | |
| 44 static uint8_t inFocus = 0; | |
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45 static uint8_t sectorMap[SECTOR_MAX_CNT]; |
| 551 | 46 |
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47 static uint8_t suspendMotionDetectionSec = 0; |
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48 |
| 551 | 49 void resetMotionDeltaHistory() |
| 50 { | |
| 51 motionDeltaHistoryIdx = 0; | |
| 52 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 53 } | |
| 54 | |
| 55 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 56 { | |
| 57 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 58 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 59 uint8_t axis; | |
| 60 float curValue; | |
| 61 | |
| 62 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 63 { | |
| 64 nextIndex = 0; | |
| 65 } | |
| 66 for(axis=0; axis < 3; axis++) | |
| 67 { | |
| 68 switch(axis) | |
| 69 { | |
| 70 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 71 break; | |
| 72 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 73 break; | |
| 74 default: | |
| 75 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 76 { | |
| 77 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 78 } | |
| 79 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 80 { | |
| 81 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 82 } | |
| 83 curValue = yaw; | |
| 84 break; | |
| 85 } | |
| 86 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 87 { | |
| 88 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 89 } | |
| 90 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 91 { | |
| 92 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 93 } | |
| 94 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 95 { | |
| 96 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 97 } | |
| 98 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 99 { | |
| 100 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 101 } | |
| 102 lastValue[axis] = curValue; | |
| 103 } | |
| 104 motionDeltaHistoryIdx = nextIndex; | |
| 105 } | |
| 106 | |
| 107 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 108 { | |
| 578 | 109 uint8_t loop; |
| 551 | 110 uint8_t index = motionDeltaHistoryIdx; |
| 111 | |
| 112 SDeltaHistory result = {0,0,0}; | |
| 113 | |
| 578 | 114 stepback++; /* motionDeltaHistoryIdx is pointing to future entry => step back one to get the latest */ |
| 115 loop = stepback; | |
| 551 | 116 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 117 { | |
| 118 while(loop != 0) /* find requested entry */ | |
| 119 { | |
| 120 loop--; | |
| 121 index--; | |
| 122 if(index == 0) | |
| 123 { | |
| 124 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 125 } | |
| 126 } | |
| 127 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 128 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 129 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 130 } | |
| 131 return result; | |
| 132 } | |
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133 |
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134 uint8_t GetSectorForFocus(float focusOffset) |
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135 { |
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136 uint8_t sector = 0; |
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137 float compare = 0.1; |
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138 |
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139 while(compare <= 0.5) |
| 381 | 140 { |
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141 if(focusOffset > compare) |
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142 { |
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143 sector++; |
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144 } |
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145 else |
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146 { |
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147 break; |
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148 } |
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149 compare += 0.1; |
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150 } |
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151 if(sector > sectorDetection.count) |
| 381 | 152 { |
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153 sector = sectorDetection.count; |
| 381 | 154 } |
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155 return sector; |
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156 } |
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157 |
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158 void DefineSectorCount(uint8_t numOfSectors) |
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159 { |
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160 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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161 { |
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162 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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163 { |
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164 sectorDetection.count = t3_GetEnabled_customviews(); |
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165 } |
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166 else |
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167 { |
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168 sectorDetection.count = t7_GetEnabled_customviews(); |
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169 } |
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170 if(sectorDetection.count > SECTOR_MAX_CNT) |
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171 { |
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172 sectorDetection.count = SECTOR_MAX_CNT; /* more views are hard to manually control */ |
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173 } |
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174 } |
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175 else |
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176 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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177 { |
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178 sectorDetection.count = numOfSectors; |
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179 } |
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180 } |
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181 |
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182 |
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183 uint8_t GetCVForSector(uint8_t selSector) |
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184 { |
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185 if(selSector < sectorDetection.count) |
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186 { |
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187 return sectorMap[selSector]; |
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188 } |
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189 else |
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190 { |
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191 return 0; |
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192 } |
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193 } |
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194 |
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195 void MapCVToSector() |
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196 { |
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197 uint8_t ViewIndex = 0; |
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198 |
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199 memset(sectorMap, 0, sizeof(sectorMap)); |
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200 |
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201 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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202 { |
| 595 | 203 t3_set_customview_to_primary(); |
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204 sectorMap[ViewIndex] = t3_change_customview(ACTION_END); |
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205 } |
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206 else |
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207 { |
| 595 | 208 t7_set_customview_to_primary(); |
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209 sectorMap[ViewIndex] = t7_change_customview(ACTION_END); |
| 595 | 210 |
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211 } |
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212 |
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213 ViewIndex++; |
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214 while(ViewIndex < sectorDetection.count) |
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215 { |
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216 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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217 { |
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218 sectorMap[ViewIndex] = t3_change_customview(ACTION_BUTTON_ENTER); |
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219 } |
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220 else |
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221 { |
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222 sectorMap[ViewIndex] = t7_change_customview(ACTION_BUTTON_ENTER); |
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223 } |
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224 ViewIndex++; |
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225 } |
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226 |
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227 } |
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228 |
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229 void InitMotionDetection(void) |
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230 { |
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231 sectorDetection.target = 0; |
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232 sectorDetection.current = 0; |
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233 sectorDetection.size = 0; |
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234 sectorDetection.count = 0; |
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235 |
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236 switch(settingsGetPointer()->MotionDetection) |
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237 { |
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238 case MOTION_DETECT_SECTOR: DefineSectorCount(CUSTOMER_DEFINED_VIEWS); |
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239 MapCVToSector(); |
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240 break; |
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241 case MOTION_DETECT_MOVE: DefineSectorCount(SECTOR_MAX); |
|
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242 break; |
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243 case MOTION_DETECT_SCROLL: DefineSectorCount(SECTOR_SCROLL); |
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244 break; |
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245 default: |
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246 break; |
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247 } |
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248 |
| 551 | 249 resetMotionDeltaHistory(); |
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250 } |
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251 |
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252 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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253 detectionState_t detectSectorButtonEvent(float focusOffset) |
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254 { |
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255 uint8_t newTargetSector; |
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256 |
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257 newTargetSector = GetSectorForFocus(focusOffset); |
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258 |
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259 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
|
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260 { |
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261 t3_select_customview(GetCVForSector(newTargetSector)); |
|
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262 } |
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263 else |
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264 { |
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265 t7_select_customview(GetCVForSector(newTargetSector)); |
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266 } |
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267 |
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268 return DETECT_NOTHING; |
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269 } |
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270 |
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271 /* Check if pitch is not in center position and trigger a button action if needed */ |
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272 detectionState_t detectScrollButtonEvent(float focusOffset) |
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273 { |
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274 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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275 |
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276 uint8_t PitchEvent = DETECT_NOTHING; |
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277 |
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278 if(delayscroll == 0) |
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279 { |
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280 if(focusOffset > 0.3) |
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281 { |
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282 PitchEvent = DETECT_POS_PITCH; |
| 574 | 283 delayscroll = 7; |
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284 } |
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285 } |
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286 else |
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287 { |
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288 delayscroll--; |
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289 } |
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290 return PitchEvent; |
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291 } |
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292 |
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293 |
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294 /* Detect if user is generating an pitch including return to starting position */ |
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295 /* This is done by feeding the past movements value per value into a state machine */ |
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296 detectionState_t detectPitch(float currentPitch) |
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297 { |
| 578 | 298 static int8_t lastStart = 0; |
| 551 | 299 uint8_t exit = 0; |
| 578 | 300 int8_t step = 0; |
| 574 | 301 uint8_t duration = 0; |
| 551 | 302 SDeltaHistory test; |
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303 |
| 578 | 304 if(lastStart < 0) |
| 305 { | |
| 306 detectionState = DETECT_NOTHING; | |
| 307 lastStart = 0; | |
| 308 } | |
| 309 else | |
| 310 { | |
| 311 detectionState = DETECT_START; | |
| 312 } | |
| 313 step = lastStart; | |
| 314 do | |
| 551 | 315 { |
| 316 test = GetDeltaHistory(step); | |
| 574 | 317 duration++; |
| 551 | 318 switch (detectionState) |
| 319 { | |
| 320 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 321 { | |
| 322 exit = 1; | |
| 578 | 323 lastStart = -2; |
| 551 | 324 } |
| 325 else | |
| 326 { | |
| 327 detectionState = DETECT_START; | |
| 578 | 328 lastStart = -1; |
| 551 | 329 } |
| 330 break; | |
| 331 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 332 { | |
| 333 detectionState = DETECT_POS_MOVE; | |
| 578 | 334 lastStart = step; |
| 551 | 335 } |
| 578 | 336 else |
| 551 | 337 if(test.pitch == MOTION_DELTA_FALL) |
| 338 { | |
| 339 detectionState = DETECT_NEG_MOVE; | |
| 578 | 340 lastStart = step; |
| 341 } | |
| 342 else | |
| 343 { | |
| 344 lastStart = -1; | |
| 551 | 345 } |
| 574 | 346 duration = 0; |
| 551 | 347 break; |
| 578 | 348 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE)) |
| 349 { | |
| 350 detectionState++; | |
| 351 } | |
| 352 break; | |
| 353 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL)) | |
| 551 | 354 { |
| 355 detectionState++; | |
| 356 } | |
| 357 break; | |
| 358 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 359 { | |
| 360 detectionState = DETECT_FALLBACK; | |
| 361 } | |
| 362 break; | |
| 363 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 364 { | |
| 365 detectionState = DETECT_RISEBACK; | |
| 366 } | |
| 367 break; | |
| 368 case DETECT_RISEBACK: | |
| 369 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 370 { | |
| 578 | 371 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 372 { |
| 373 detectionState++; | |
| 374 } | |
| 578 | 375 exit = 1; |
| 376 lastStart = -2; | |
| 551 | 377 } |
| 378 break; | |
| 379 default: | |
| 380 detectionState = DETECT_NOTHING; | |
| 381 exit = 1; | |
| 382 break; | |
| 383 } | |
| 578 | 384 step--; |
| 385 } while((step >= 0) && (!exit)); | |
| 386 | |
| 387 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 388 { | |
| 389 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 390 } | |
| 391 else | |
| 392 { | |
| 393 lastStart = -1; | |
| 551 | 394 } |
| 395 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
|
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396 { |
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397 detectionState = DETECT_NOTHING; |
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398 } |
| 551 | 399 else /* dont detect the same event twice */ |
| 400 { | |
| 401 resetMotionDeltaHistory(); | |
| 402 } | |
| 403 return detectionState; | |
| 404 } | |
| 363 | 405 |
| 551 | 406 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 407 { | |
| 408 pCoord->x = ((cosf(yaw) * cosf(pitch)) * pCoord->x + (cosf(yaw)*sinf(pitch)*sinf(roll) - (sinf(yaw)* cosf(roll))) * pCoord->y + (cosf(yaw)*sinf(pitch)*cosf(roll) + sinf(yaw)*sinf(roll)) * pCoord->z); | |
| 409 pCoord->y = ((sinf(yaw) * cosf(pitch)) * pCoord->x + (sinf(yaw)*sinf(pitch)*sinf(roll) + cosf(yaw) * cosf(roll)) * pCoord->y + ( sinf(yaw) * sinf(pitch) * cosf(roll) - cosf(yaw) * sinf(roll))* pCoord->z); | |
| 410 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 411 } | |
| 412 | |
| 413 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 414 { | |
| 415 SCoord result; | |
| 416 | |
| 417 result.x = cA.x + cB.x; | |
| 418 result.y = cA.y + cB.y; | |
| 419 result.z = cA.z + cB.z; | |
| 420 return result; | |
| 421 } | |
| 422 | |
| 423 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 424 { | |
| 425 SCoord result; | |
|
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426 |
| 551 | 427 result.x = cA.x - cB.x; |
| 428 result.y = cA.y - cB.y; | |
| 429 result.z = cA.z - cB.z; | |
| 430 return result; | |
| 431 } | |
| 432 | |
| 433 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 434 { | |
| 435 SCoord result; | |
| 436 | |
| 437 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 438 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 439 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 440 | |
| 441 return result; | |
| 442 | |
| 443 } | |
| 444 | |
| 445 SCoord CoordMulF(SCoord op, float factor) | |
| 446 { | |
| 447 SCoord result; | |
| 448 result.x = (op.x * factor); | |
| 449 result.y = (op.y * factor); | |
| 450 result.z = (op.z * factor); | |
| 451 | |
| 452 return result; | |
| 453 } | |
|
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|
454 |
| 551 | 455 SCoord CoordDivF(SCoord op, float factor) |
| 456 { | |
| 457 SCoord result; | |
| 458 result.x = (op.x / factor); | |
| 459 result.y = (op.y / factor); | |
| 460 result.z = (op.z / factor); | |
| 461 | |
| 462 return result; | |
| 463 } | |
| 464 | |
| 465 float CoordDot(SCoord cA, SCoord cB) | |
| 466 { | |
| 467 float result; | |
| 468 | |
| 469 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 470 return result; | |
| 471 } | |
| 472 | |
| 473 void calibrateViewport(float roll, float pitch, float yaw) | |
| 474 { | |
| 475 SSettings* pSettings = settingsGetPointer(); | |
| 476 | |
| 621 | 477 pSettings->viewPitch = pitch + 180; |
| 478 pSettings->viewRoll = roll+ 180; | |
| 551 | 479 pSettings->viewYaw = yaw; |
| 480 } | |
| 481 | |
| 482 | |
|
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|
483 float checkViewport(float roll, float pitch, float yaw, uint8_t enableAxis) |
| 551 | 484 { |
| 485 uint8_t retval = 0; | |
| 486 float angleYaw; | |
| 487 float anglePitch; | |
| 488 float angleRoll; | |
| 489 float distance = 0; | |
| 490 float _a, _b; | |
| 491 SCoord u,v,n; | |
| 492 float r; | |
| 493 | |
| 494 SCoord refVec; | |
| 495 SCoord axis_1; | |
| 496 SCoord axis_2; | |
| 497 SCoord curVec; | |
| 498 SCoord resultVec; | |
| 499 | |
| 500 SSettings* pSettings = settingsGetPointer(); | |
| 501 | |
| 621 | 502 roll += 180; |
| 503 pitch += 180; | |
| 504 | |
| 551 | 505 /* calculate base vector taking calibration delta into account yaw (heading) */ |
| 621 | 506 float compYaw; |
| 574 | 507 |
|
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508 if(enableAxis & MOTION_ENABLE_YAW) |
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509 { |
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510 compYaw = 360.0 - yaw; /* turn to 0° */ |
|
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511 compYaw += pSettings->viewYaw; /* consider calib yaw value */ |
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512 compYaw += yaw; |
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513 |
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514 if (compYaw < 0.0) |
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515 { |
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516 compYaw = 360.0 + compYaw; |
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517 } |
| 574 | 518 |
|
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519 if (compYaw > 360.0) |
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520 { |
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521 compYaw = compYaw - 360.0; |
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522 } |
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523 if (compYaw > 360.0) |
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524 { |
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525 compYaw = compYaw - 360.0; |
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526 } |
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527 angleYaw = pSettings->viewYaw * M_PI / 180.0; |
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528 } |
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529 else |
| 551 | 530 { |
|
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531 compYaw = 0.0; |
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532 angleYaw = 0.0; |
| 381 | 533 } |
| 551 | 534 |
|
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535 if(enableAxis & MOTION_ENABLE_PITCH) |
| 381 | 536 { |
|
625
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537 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
|
373
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538 } |
|
625
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539 else |
| 574 | 540 { |
|
625
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541 anglePitch = 0; |
| 574 | 542 } |
|
625
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543 if(enableAxis & MOTION_ENABLE_ROLL) |
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544 { |
|
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545 angleRoll = pSettings->viewRoll * M_PI / 180.0; |
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546 } |
|
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547 else |
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548 { |
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549 angleRoll = 0; |
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|
550 } |
| 551 | 551 |
| 552 refVec.x = 0; | |
| 553 refVec.y = 0; | |
| 554 refVec.z = 1.0; | |
| 555 | |
| 556 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 557 | |
| 558 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 559 axis_1.x = 0; | |
| 560 if(refVec.y >=0) | |
| 561 { | |
| 562 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 563 } | |
| 564 else axis_1.y = -1; | |
| 565 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 566 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 567 | |
| 568 /* check if detection plane is correct */ | |
| 569 u = CoordSub(axis_1,refVec); | |
| 570 v = CoordSub(axis_2,refVec); | |
| 571 n = CoordCross(u,v); | |
| 572 | |
| 573 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 574 { | |
| 575 retval = 2; | |
| 576 } | |
| 577 else | |
| 578 { | |
|
625
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|
579 if(enableAxis & MOTION_ENABLE_PITCH) |
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580 { |
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581 anglePitch = pitch * M_PI / 180.0; |
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582 } |
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583 else |
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|
584 { |
|
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|
585 anglePitch = 0.0; |
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|
586 } |
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|
587 if(enableAxis & MOTION_ENABLE_ROLL) |
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|
588 { |
|
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|
589 angleRoll = roll * M_PI / 180.0; |
|
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|
590 } |
|
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|
591 else |
|
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|
592 { |
|
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|
593 angleRoll = 0.0; |
|
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|
594 } |
|
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|
595 if(enableAxis & MOTION_ENABLE_YAW) |
|
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621
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|
596 { |
|
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|
597 angleYaw = compYaw * M_PI / 180.0; |
|
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|
598 } |
|
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|
599 else |
|
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621
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|
600 { |
|
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|
601 angleYaw = 0.0; |
|
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|
602 } |
|
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|
603 |
| 551 | 604 curVec.x = 0; |
| 605 curVec.y = 0; | |
| 606 curVec.z = 1.0; | |
| 607 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 608 | |
| 609 _a = CoordDot(curVec,n); | |
| 610 _b = CoordDot(refVec,n); | |
| 611 | |
| 612 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 613 { | |
| 614 retval = 3; | |
| 615 } | |
| 616 else | |
| 617 { | |
| 618 r=_a/_b; | |
| 619 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 620 { | |
| 621 retval = 4; | |
| 622 } | |
| 623 } | |
| 624 distance = retval * 1.0; /* just for debugging */ | |
| 625 if(retval == 0) | |
| 626 { | |
| 627 /* start calculating the matchpoint */ | |
| 628 curVec = CoordMulF(curVec,r); | |
| 629 resultVec = CoordSub(refVec,curVec); | |
| 630 | |
| 631 /* calculate the distance between reference and actual vector */ | |
| 632 resultVec.x = resultVec.x * resultVec.x; | |
| 633 resultVec.y = resultVec.y * resultVec.y; | |
| 634 resultVec.z = resultVec.z * resultVec.z; | |
| 635 | |
| 636 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 637 { | |
| 638 distance = 0.0; | |
| 639 } | |
| 640 else | |
| 641 { | |
| 642 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 643 } | |
| 644 } | |
| 645 } | |
| 646 | |
| 647 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */ | |
| 648 { | |
| 649 if(focusCnt < 10) | |
| 650 { | |
| 651 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 652 { | |
| 653 resetMotionDeltaHistory(); | |
| 654 } | |
| 655 focusCnt++; | |
| 656 } | |
| 574 | 657 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 658 { |
| 659 inFocus = 1; | |
| 660 } | |
| 661 } | |
| 662 else | |
| 663 { | |
|
625
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|
664 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 665 { |
| 666 focusCnt--; | |
| 667 } | |
| 668 else | |
| 669 { | |
| 574 | 670 focusCnt = 0; |
| 551 | 671 inFocus = 0; |
| 672 } | |
| 673 } | |
| 674 return distance; | |
|
359
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Added new files for motion detection (shaking) detection
ideenmodellierer
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|
675 } |
| 551 | 676 uint8_t viewInFocus(void) |
| 677 { | |
| 678 return inFocus; | |
| 679 } | |
| 680 void resetFocusState(void) | |
| 681 { | |
| 682 inFocus = 0; | |
| 683 } | |
|
611
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diff
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|
684 |
|
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|
685 void suspendMotionDetection(uint8_t seconds) |
|
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|
686 { |
|
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|
687 suspendMotionDetectionSec = seconds * 10; /* detection function is called every 100ms */ |
|
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|
688 } |
|
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|
689 |
|
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|
690 void HandleMotionDetection(void) |
|
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691 { |
|
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|
692 detectionState_t pitchstate = DETECT_NOTHING; |
|
618
96af74455420
Development bugfix: focus state not remembered:
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|
693 static uint8_t wasInFocus = 0; |
|
625
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694 float focusOffset = 0.0; |
|
611
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|
695 |
|
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|
696 evaluateMotionDelta(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
|
625
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|
697 if(viewInFocus()) |
|
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|
698 { |
|
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|
699 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, (MOTION_ENABLE_PITCH | MOTION_ENABLE_YAW)); |
|
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|
700 } |
|
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|
701 else |
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|
702 { |
|
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changeset
|
703 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, MOTION_ENABLE_ALL); |
|
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|
704 } |
|
611
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Suspend MotionDetection events while diver is operationg the OSTC:
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|
705 if(viewInFocus()) |
|
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Suspend MotionDetection events while diver is operationg the OSTC:
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|
706 { |
|
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|
707 wasInFocus = 1; |
|
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|
708 set_Backlight_Boost(settingsGetPointer()->viewPortMode & 0x03); |
|
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|
709 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
710 if(suspendMotionDetectionSec == 0) /* suspend detection while diver is manually operating the OSTC */ |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
711 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
712 switch(settingsGetPointer()->MotionDetection) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
713 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
714 case MOTION_DETECT_MOVE: pitchstate = detectPitch(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
715 break; |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
716 case MOTION_DETECT_SECTOR: pitchstate = detectSectorButtonEvent(focusOffset); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
717 break; |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
718 case MOTION_DETECT_SCROLL: pitchstate = detectScrollButtonEvent(focusOffset); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
719 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
720 default: |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
721 pitchstate = DETECT_NOTHING; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
722 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
723 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
724 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
725 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
726 if(DETECT_NEG_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
727 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
728 StoreButtonAction((uint8_t)ACTION_PITCH_NEG); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
729 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
730 if(DETECT_POS_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
731 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
732 StoreButtonAction((uint8_t)ACTION_PITCH_POS); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
733 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
734 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
735 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
736 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
737 if(wasInFocus) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
738 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
739 wasInFocus = 0; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
740 if(suspendMotionDetectionSec == 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
741 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
742 if(settingsGetPointer()->design == 7) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
743 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
744 t7_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
745 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
746 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
747 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
748 t3_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
749 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
750 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
751 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
752 set_Backlight_Boost(0); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
753 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
754 if(suspendMotionDetectionSec != 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
755 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
756 suspendMotionDetectionSec--; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
757 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
758 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
759 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
760 |